A message forwarding method and apparatus

Abstract

This application provides a message forwarding method and apparatus. The method is applied to any Fit AP in an AGV system and includes: upon receiving a first wireless message sent by a transceiver module in any AGV, if it is determined that the message carries a first VLAN tag field, converting it into a first wired message carrying the first VLAN tag field, and sending it to the AC for processing according to the first message priority; upon receiving a fourth wired message sent by the AC, determining the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired message, as well as the second message priority of the fourth wired message, converting it into a second wireless message carrying a second VLAN tag field including the determined VLAN identifier and the second message priority, and sending it to the transceiver module according to the second message priority. This application can meet the isolation requirements of communication data.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a message forwarding method and apparatus. Background Technology

[0002] AGV (Automated Guided Vehicle) solutions are increasingly being used in industries such as warehousing, logistics, and power. Because AGVs need to move continuously within a work area, they must have wireless connectivity to communicate with the outside world.

[0003] Currently, AGV systems typically include an AGV ground controller, an access controller (AC), multiple access points (APs), and multiple AGV vehicles. Within an AGV system, each AGV communicates with the AGV ground controller via a connected thin (Fit) AP. Here, both the AGV and its connected Fit AP each have only one radio frequency unit deployed.

[0004] For any AGV in an AGV system, it may include a transceiver module that communicates with the Fit AP connected to the AGV, an onboard control module that communicates with the transceiver module, and an onboard communication module connected to the onboard control module via an Ethernet bus, etc. The data communicated between these onboard communication modules and the AGV ground controller is usually within the same Virtual Local Area Network (VLAN). This fails to meet the requirement of isolating the communication data of the onboard communication modules and may result in receiving unwanted broadcast data, thus affecting the AGV's processing performance and leading to a poor user experience. Summary of the Invention

[0005] To overcome the problems existing in related technologies, this application provides a message forwarding method and apparatus.

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

[0007] When a transceiver module in any AGV connected to the Fit AP in the AGV system receives a first wireless message that needs to be sent to the AGV ground controller in the AGV system, if it is determined that the first wireless message carries a first VLAN tag field, then the first wireless message is converted into a first wired message carrying the first VLAN tag field. Based on the first message priority in the first VLAN tag field, the first wired message is sent to the AC associated with the Fit AP for processing and then forwarded to the AGV ground controller for further processing. Specifically, the first wireless message is received when the transceiver module receives a second wired message carrying the first VLAN tag field from the vehicle control module in the AGV, converting the second wired message into the first wireless message and sending it to the Fit AP according to the first message priority. In the case of AP, the second wired message is obtained by the vehicle control module when it receives the third wired message sent by the vehicle communication module corresponding to the source IP address of the second wired message in the AGV through the Ethernet bus, and when it is determined that the first VLAN tag field needs to be retained when sending the second wired message, the second wired message is sent to the transceiver module according to the priority of the first message. The VLAN identifiers of all vehicle communication modules in the AGV connected to the vehicle control module through the Ethernet bus are not completely the same.

[0008] Upon receiving a fourth wired message from the AC originating from the AGV ground controller and destined for the AGV, the system determines the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired message, as well as the second message priority of the fourth wired message. It then converts the fourth wired message into a second wireless message carrying a second VLAN tag field including the determined VLAN identifier and the second message priority. Based on the second message priority, the system sends the second wireless message to the transceiver module. Upon receiving the second wireless message and determining that it carries the second VLAN tag field, the transceiver module converts the second wireless message into a fifth wired message carrying the second VLAN tag field. Based on the second message priority, it sends this fifth wired message to the vehicle control module for processing and then forwards it to the vehicle communication module corresponding to the destination IP address for further processing. The determined VLAN identifier is the VLAN identifier of the vehicle communication module corresponding to the destination IP address.

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

[0010] Upon receiving a first wired message from the onboard control module of the AGV (Automated Guided Vehicle) that needs to be sent to the ground controller in the AGV system and carries a first VLAN tag field, the system converts the first wired message into a first wireless message carrying the first VLAN tag field. Based on the first message priority in the first VLAN tag field, the system sends the first wireless message to the Fit AP connected to the AGV in the AGV system. This allows the Fit AP, upon recognizing the first VLAN tag field in the first wireless message, to convert the first wireless message into a second wired message carrying the first VLAN tag field and send the second wired message to the Fit AP in the AGV system based on the first message priority. After the AP is associated with the AC, it is forwarded to the AGV ground controller for further processing. The first wired message is obtained by the vehicle control module when it receives the third wired message sent by the vehicle communication module corresponding to the source IP address of the first wired message in the AGV via the Ethernet bus. The vehicle control module processes the third wired message and, when it is determined that the first VLAN tag field needs to be retained when sending the second wired message, it sends it to the transceiver module according to the priority of the first message. The VLAN identifiers of all vehicle communication modules in the AGV connected to the vehicle control module via the Ethernet bus are not completely the same.

[0011] Upon receiving the second wireless message sent by the Fit AP, if it is determined that the second wireless message carries a second VLAN tag field, the second wireless message is converted into a fourth wired message carrying the second VLAN tag field. Based on the second message priority in the second VLAN tag field, the fourth wired message is sent to the vehicle control module in the AGV. The vehicle control module processes the fourth wired message and forwards it to the vehicle communication module corresponding to the destination IP address of the fourth wired message for further processing. The VLAN identifier in the second VLAN tag field is the VLAN identifier of the vehicle communication module corresponding to the destination IP address of the fourth wired message.

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

[0013] The first forwarding module is configured to, upon receiving a first wireless message from a transceiver module in any AGV connected to the Fit AP in the AGV system, which needs to be sent to the AGV ground controller in the AGV system, if it determines that the first wireless message carries a first VLAN tag field, convert the first wireless message into a first wired message carrying the first VLAN tag field, and according to the first message priority in the first VLAN tag field, send the first wired message to the AC associated with the Fit AP for processing before forwarding it to the AGV ground controller for processing. Specifically, the first wireless message is converted from a second wired message carrying the first VLAN tag field sent by the transceiver module in the AGV vehicle to the first wireless message when the transceiver module receives the second wired message carrying the first VLAN tag field, and sends it to the Fit AP according to the first message priority. In the case of AP, the second wired message is obtained by the vehicle control module when it receives the third wired message sent by the vehicle communication module corresponding to the source IP address of the second wired message in the AGV through the Ethernet bus, and when it is determined that the first VLAN tag field needs to be retained when sending the second wired message, the second wired message is sent to the transceiver module according to the priority of the first message. The VLAN identifiers of all vehicle communication modules in the AGV connected to the vehicle control module through the Ethernet bus are not completely the same.

[0014] The second forwarding module is configured to, upon receiving a fourth wired message from the AC originating from the AGV ground controller and destined for the AGV vehicle, determine the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired message, as well as the second message priority of the fourth wired message; convert the fourth wired message into a second wireless message carrying a second VLAN tag field including the determined VLAN identifier and the second message priority; and send the second wireless message to the transceiver module according to the second message priority. This allows the transceiver module, upon receiving the second wireless message and determining that it carries the second VLAN tag field, to convert the second wireless message into a fifth wired message carrying the second VLAN tag field, and, according to the second message priority, send it to the vehicle control module for processing before forwarding it to the vehicle communication module corresponding to the destination IP address for further processing. The determined VLAN identifier is the VLAN identifier of the vehicle communication module corresponding to the destination IP address.

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

[0016] The first forwarding module is configured to, upon receiving a first wired message from the onboard control module of the AGV (Automated Guided Vehicle) that is destined for the ground controller in the AGV system and carries a first VLAN tag field, convert the first wired message into a first wireless message carrying the first VLAN tag field, and, according to the first message priority in the first VLAN tag field, forward the first wireless message to the Fit AP connected to the AGV in the AGV system. This allows the Fit AP, upon determining that the first wireless message carries the first VLAN tag field, to convert the first wireless message into a second wired message carrying the first VLAN tag field, and, according to the first message priority, forward the second wired message to the Fit AP in the AGV system. After the AP is associated with the AC, it is forwarded to the AGV ground controller for further processing. The first wired message is obtained by the vehicle control module when it receives the third wired message sent by the vehicle communication module corresponding to the source IP address of the first wired message in the AGV via the Ethernet bus. The vehicle control module processes the third wired message and, when it is determined that the first VLAN tag field needs to be retained when sending the second wired message, it sends it to the transceiver module according to the priority of the first message. The VLAN identifiers of all vehicle communication modules in the AGV connected to the vehicle control module via the Ethernet bus are not completely the same.

[0017] The second forwarding module is configured to, upon receiving a second wireless message sent by the Fit AP, if it determines that the second wireless message carries a second VLAN tag field, convert the second wireless message into a fourth wired message carrying the second VLAN tag field, and send the fourth wired message to the vehicle control module in the AGV according to the second message priority in the second VLAN tag field. The vehicle control module then processes the fourth wired message and forwards it to the vehicle communication module corresponding to the destination IP address of the fourth wired message for further processing. The VLAN identifier in the second VLAN tag field is the VLAN identifier of the vehicle communication module corresponding to the destination IP address of the fourth wired message.

[0018] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0019] In this embodiment, by setting the VLAN identifiers of all vehicle communication modules connected to the vehicle control module via Ethernet bus in the AGV system to different VLAN identifiers, the VLAN tag field including the relevant VLAN identifier is transmitted in wired and wireless packets by the transceiver module in the AGV and the Fit AP accessed by the AGV. This satisfies the requirement to isolate the communication data of the vehicle communication modules, reduces the transmission of broadcast data, and thus improves the processing performance of the AGV and the user experience.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

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

[0022] Figure 1 One of the flowcharts of a message forwarding method provided in this application embodiment;

[0023] Figure 2 A second schematic flowchart illustrating a message forwarding method provided in an embodiment of this application;

[0024] Figure 3 This is a schematic diagram of the architecture of the AGV system provided in the embodiments of this application;

[0025] Figure 4 This is one of the structural schematic diagrams of a message forwarding device provided in an embodiment of this application;

[0026] Figure 5 This is a second schematic diagram of a message forwarding device provided in an embodiment of this application. Detailed Implementation

[0027] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0028] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0029] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words “if” or “suppose” as used herein may be interpreted as “when…” or “when…”.

[0030] The embodiments of this application will now be described in detail.

[0031] This application provides a message transmission method, which is applied to any Fit AP in an AGV system, such as... Figure 1 As shown, the method may include the following steps:

[0032] S11. When receiving a first wireless message from the transceiver module of any AGV connected to the Fit AP in the AGV system, which needs to be sent to the AGV ground controller in the AGV system, if it is determined that the first wireless message carries a first VLAN tag field, the first wireless message is converted into a first wired message carrying the first VLAN tag field, and according to the first message priority in the first VLAN tag field, the first wired message is sent to the AC associated with the Fit AP for processing and then forwarded to the ground controller for processing.

[0033] In this step, the first wireless message is sent by the transceiver module to the Fit AP when it receives the second wired message carrying the first VLAN tag field from the vehicle control module in the AGV. The transceiver module converts the second wired message into the first wireless message and sends it to the Fit AP according to the priority of the first message.

[0034] Furthermore, the second wired message is obtained by the vehicle control module when it receives the third wired message sent by the vehicle communication module corresponding to the source IP address of the second wired message in the AGV through the Ethernet bus, and when it is determined that the first VLAN tag field needs to be retained when sending the second wired message, the second wired message is sent to the transceiver module according to the priority of the first message.

[0035] In addition, the VLAN IDs of all the on-board communication modules connected to the on-board control module via the Ethernet bus in the AGV are not completely the same. That is, the VLAN IDs of all the on-board communication modules connected to the on-board control module via the Ethernet bus in the AGV can be completely different or partially the same.

[0036] S12. Upon receiving a fourth wired message from the AC originating from the AGV ground controller and destined for the AGV vehicle, determine the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired message, as well as the second message priority of the fourth wired message. Convert the fourth wired message into a second wireless message carrying a second VLAN tag field including the determined VLAN identifier and the second message priority. Based on the second message priority, send the second wireless message to the transceiver module. When the transceiver module receives the second wireless message and determines that it carries the second VLAN tag field, it converts the second wireless message into a fifth wired message carrying the second VLAN tag field. Based on the second message priority, it sends the fifth wired message to the vehicle control module for processing and then forwards it to the vehicle communication module corresponding to the destination IP address for processing.

[0037] In this step, the VLAN identifier is determined as the VLAN identifier of the vehicle communication module corresponding to the aforementioned destination IP address.

[0038] It should be noted that, in this embodiment of the application, for the Fit AP, step S11 can be executed first, followed by step S12. Of course, step S12 can also be executed first, followed by step S11. That is, this application does not limit the execution order of steps S11 and S12 for the Fit AP.

[0039] Specifically, in step S11 above, the Fit AP can determine whether the first wireless packet carries a first VLAN tag field in the following way:

[0040] Determine whether the first wireless message carries a Tag Protocol Identifier (TPID) with a value of 0x8100;

[0041] If the judgment result is yes, then it is determined that the first wireless packet carries the first VLAN tag field;

[0042] If the result is negative, it is determined that the first wireless packet does not carry the first VLAN tag field.

[0043] In step S11 above, the first VLAN tag field can be located between the packet protocol header and the data payload in the first wireless packet; the second VLAN tag field can be located between the packet protocol header and the data payload in the second wireless packet.

[0044] Here, the format of the first VLAN tag field and the second VLAN tag field is the same, both including a TPID with a value of 0x8100, 802.1p priority (i.e., packet priority), VLAN ID, etc.

[0045] In addition, both the first and second wireless messages can be 802.11 data frames, and can be unicast frames or broadcast frames.

[0046] It should be further noted that, in this embodiment, the ports connecting the vehicle control module and the transceiver module can all be configured as trunk ports; the ports on the vehicle control module that connect to various vehicle communication modules (e.g., touch devices, RFID sensors, etc.) connected to it via an Ethernet bus can all be configured as trunk ports. The VLAN identifiers corresponding to these vehicle communication modules are all in the list of VLAN identifiers allowed through the ports connecting the vehicle control module and the transceiver module.

[0047] Of course, the ports connecting the vehicle control module and the transceiver module can all be configured as hybrid ports; the ports on the vehicle control module that connect to each vehicle communication module connected to it via the Ethernet bus can also all be configured as hybrid. The VLAN identifiers corresponding to these vehicle communication modules are also in the list of VLAN identifiers allowed to pass through the ports connecting the vehicle control module and the transceiver module.

[0048] Regardless of the port configuration method used, administrators can flexibly set the PVID and allowed VLAN ID list for these ports, as well as the VLAN IDs corresponding to these vehicle communication modules. As long as the VLAN IDs corresponding to these vehicle communication modules are not completely identical, and the wired packets of these vehicle communication modules are sent to the transceiver module with the relevant VLAN tag field by the vehicle communication module, the communication data of these vehicle communication modules can be isolated. This reduces the transmission of broadcast data, thereby improving the processing performance of the AGV and also enhancing the user experience.

[0049] Furthermore, regardless of the port configuration method used, when the on-board control module in the AGV receives the third wired message sent by the on-board communication module corresponding to the source IP address of the second wired message, it will perform the following operation process before sending it to the transceiver module in the AGV:

[0050] The first operation procedure is as follows: If the third wired message does not carry a VLAN tag field, and the VLAN identifier of the ingress port of the third wired message (i.e., the port of the third wired message received by the vehicle communication module) is in the list of VLAN identifiers allowed by the ingress port, then the third wired message is received, and a third VLAN tag field is added to the third wired message (the message priority (i.e., 802.1P priority) in this field is the port priority of the ingress port, and the VLAN identifier in this field is the PVID of the ingress port). According to its own configured forwarding mode (layer 2 forwarding or layer 3 forwarding), the corresponding message to be sent (i.e., the second wired message) is determined. When it is determined that the first VLAN tag field needs to be retained when sending the second wired message, the second wired message is sent to the transceiver module according to the first message priority.

[0051] The second operation process is as follows: If the third wired message carries a fourth VLAN tag field and the VLAN identifier in the fourth VLAN tag field is in the list of VLAN identifiers allowed to pass through the ingress port of the third wired message, then the third wired message is received, and the corresponding message to be sent (i.e., the second wired message) is determined according to its own configured forwarding mode (layer 2 forwarding or layer 3 forwarding). When it is determined that the first VLAN tag field needs to be retained when sending the second wired message, the second wired message is sent to the transceiver module according to the priority of the first message.

[0052] Here, regardless of the operating procedure, the process of determining the corresponding message to be sent by the vehicle control module, and the process of determining the first VLAN tag field to be retained when sending the second wired message, are existing technologies and will not be described in detail here.

[0053] Furthermore, it should be noted that in step S11 above, when the Fit AP sends the first wired message according to the first message priority, it actually sends the first wired message according to the local priority corresponding to the first message priority. The higher the local priority corresponding to the first message priority, the more likely the first wired message will be sent. In this way, this application can flexibly set the corresponding message priority for each vehicle communication module, further improving the user experience.

[0054] After the Fit AP sends the first wired message to the AC it is connected to, the subsequent forwarding process is the same as the existing forwarding process, and will not be described in detail here.

[0055] Specifically, in step S12 above, the Fit AP can determine the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired packet, as well as the packet priority of the fourth wired packet, in the following ways:

[0056] Determine whether the fourth wired packet carries the third VLAN tag field;

[0057] If the judgment result is yes, then the VLAN identifier in the third VLAN tag field is determined as the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired packet, and the packet priority in the third VLAN tag field is determined as the packet priority of the fourth wired packet.

[0058] If the result is negative, then the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired message is searched in the information table of the AGV vehicle recorded locally. The found VLAN identifier is determined as the priority of the air interface through which the FitAP communicates with the AGV vehicle, and the priority of the fourth message is determined as the message priority of the air interface through which the FitAP communicates with the AGV vehicle.

[0059] Furthermore, in step S12 above, when the Fit AP sends the second wireless message according to the second wireless message priority, it actually sends the second wireless message according to the local priority corresponding to the second wireless message priority. The higher the local priority corresponding to the second wireless message priority, the higher the priority the second wireless message will be sent.

[0060] After the Fit AP sends the second wireless message to the transceiver module in the AGV, the transceiver module adds the second VLAN tag field during the conversion process when converting the second wireless message into a fifth wired message carrying the second VLAN tag field. Other conversion content remains unchanged and will not be described in detail here.

[0061] After the transceiver module sends the fifth wired message to the vehicle control module according to the priority of the second message, the vehicle control module, upon receiving the fifth wired message, will perform the following operation process before sending it to the vehicle communication module corresponding to the aforementioned destination IP address:

[0062] If the system determines that the fifth wired message carries a second VLAN tag field and that the VLAN identifier in the second VLAN tag field is in the list of VLAN identifiers allowed to pass through the ingress port of the fifth wired message, then the system receives the fifth wired message and determines the corresponding message to be sent based on its configured forwarding mode (Layer 2 forwarding or Layer 3 forwarding). If it determines that the VLAN tag field needs to be retained when sending the message to be sent, then the vehicle control module will send the message to be sent to the corresponding vehicle communication module according to the relevant message priority in the VLAN tag field. If it determines that the VLAN tag field needs to be deleted when sending the message to be sent, then the vehicle control module will first delete the VLAN tag field in the message to be sent, and then forward the message to the corresponding vehicle communication module according to the relevant message priority.

[0063] The process by which the vehicle communication module determines that the VLAN tag field needs to be deleted when sending the message to be sent is existing technology and will not be described in detail here.

[0064] In addition, in step S12 above, when the destination IP address is the same as the source IP address in step S11 above, the first packet priority and the second packet priority are the same.

[0065] The above content describes the message forwarding method from the perspective of any Fit AP side in the AGV system. The following describes the message forwarding method from the perspective of any AGV side in the AGV system.

[0066] This application also provides a message transmission method, which is applied to the transceiver module in any AGV vehicle within an AGV system, such as... Figure 2 As shown, the method may include the following steps:

[0067] S22. Upon receiving a first wired message from the onboard control module in the AGV vehicle, which needs to be sent to the ground controller in the AGV system and carries a first VLAN tag field, the first wired message is converted into a first wireless message carrying the first VLAN tag field. Based on the first message priority in the first VLAN tag field, the first wireless message is sent to the Fit AP connected to the AGV vehicle in the AGV system. This allows the Fit AP to convert the first wireless message into a second wired message carrying the first VLAN tag field when it determines that the first wireless message carries the first VLAN tag field. Based on the first message priority, the second wired message is sent to the AC associated with the Fit AP in the AGV system for processing and then forwarded to the ground controller for processing.

[0068] In this step, the first wired message is obtained by the vehicle control module when it receives the third wired message sent by the vehicle communication module corresponding to the source IP address of the first wired message in the AGV through the Ethernet bus. The module processes the third wired message and, when it is determined that the first VLAN tag field needs to be retained when sending the second wired message, it sends it to the transceiver module according to the priority of the first message.

[0069] Furthermore, in this step, the VLAN identifiers of all the on-board communication modules in the AGV that are connected to the on-board control module via the Ethernet bus are not completely identical.

[0070] S23. Upon receiving the second wireless message sent by the Fit AP, if it is determined that the second wireless message carries a second VLAN tag field, the second wireless message is converted into a fourth wired message carrying the second VLAN tag field. Based on the priority of the second message in the second VLAN tag field, the fourth wired message is sent to the vehicle control module in the AGV, so that the vehicle control module can process the fourth wired message and forward it to the vehicle communication module corresponding to the destination IP address of the fourth wired message for processing.

[0071] In this step, the VLAN identifier in the second VLAN tag field is the VLAN identifier of the vehicle communication module corresponding to the destination IP address of the fourth wired packet.

[0072] It should be noted that, in this embodiment of the application, for the transceiver module, step S21 can be executed first, followed by step S22. Of course, step S22 can also be executed first, followed by step S21. That is, this application does not limit the execution order of step S21 and step S22 of the transceiver module.

[0073] It should be further noted that, in the embodiments of this application, the first VLAN tag field may be located between the message protocol header and the data payload in the first wireless message; the second VLAN tag field may be located between the message protocol header and the data payload in the second wireless message.

[0074] Specifically, in step S22 above, the transceiver module can determine whether the second wireless packet carries a second VLAN tag field in the following way:

[0075] Determine whether the second wireless message carries a TPID with a value of 0x8100;

[0076] If the judgment result is yes, then it is determined that the first wireless packet carries the second VLAN tag field;

[0077] If the result is negative, it is determined that the second wireless packet does not carry the second VLAN tag field.

[0078] It should be further noted that, in the embodiments of this application, the configuration of the ports connecting the vehicle control module and the transceiver module, as well as the ports on the vehicle control module that are connected to each vehicle communication module connected to itself via the Ethernet bus, are the same as the configuration described when standing on any Fit Ap side of the AGV system, and will not be described in detail here.

[0079] Furthermore, the specific forwarding process of the vehicle control module forwarding the aforementioned fourth wired message is similar to the specific forwarding process of the vehicle control module forwarding the aforementioned fifth wired message when described from any Fit Ap side in the AGV system, and will not be described in detail again.

[0080] The above message forwarding method will be described in detail below with reference to specific embodiments.

[0081] like Figure 3 As shown, assume that AGV 1 in the AGV system is connected to Fit AP1 in the AGV system. Assume that vehicle communication module 1, vehicle communication module 2 and vehicle communication module 3 in AGV 1 are all connected to the vehicle control module in AGV 1 via Ethernet bus, and that the ports on the vehicle control module that connect to the transceiver module in AGV 1 and these three vehicle communication modules are all trunk ports.

[0082] Assume the MAC address of the transceiver module in AGV 1 is 0000-0000-0010; the MAC address of vehicle communication module 1 in AGV 1 is 0000-0000-0001, the corresponding IP address is 20.0.0.1, and the corresponding VLAN ID is VLAN20; the MAC address of vehicle communication module 2 in AGV 1 is 0000-0000-0002, the corresponding IP address is 30.0.0.1, and the corresponding VLAN ID is VLAN30; the MAC address of vehicle communication module 3 in AGV 1 is 0000-0000-0003, the corresponding IP address is 40.0.0.1, and the corresponding VLAN ID is VLAN40.

[0083] Assume that the PVID of the port on the vehicle control module connected to the vehicle communication module 1 (denoted as Port 1) is VLAN 20; the PVID of the port on the vehicle control module connected to the vehicle communication module 2 (denoted as Port 2) is VLAN 30; the PVID of the port on the vehicle control module connected to the vehicle communication module 3 (denoted as Port 3) is VLAN 40; the PVID of the port on the vehicle control module connected to the transceiver module (denoted as Port 4) is VLAN 50; and the PVID of the port on the transceiver module connected to the vehicle control module (denoted as Port 5) is VLAN 50.

[0084] Here, Figure 3 The AGV system shown also includes other Fit APs and their connected AGV vehicles, etc. Figure 3 Not shown in the image.

[0085] Assume that the vehicle communication module 1 sends wired message 1 to the vehicle control module. In this wired message 1, the VLAN tag field is not carried, and the source IP address of the wired message 1 is 20.0.0.1, the destination IP address is the IP address of the ground controller, the source MAC address is 0000-0000-0001, and the destination MAC address is the MAC address of the ground controller.

[0086] When the vehicle control module receives wired message 1 from vehicle communication module 1 via Port1, it determines that wired message 1 does not carry a VLAN tag field and that the VLAN identifier of Port1 is in the list of VLAN identifiers allowed by Port1. At this time, the vehicle control module receives wired message 1 and adds VLAN tag field 1 to wired message 1 (the message priority in this field (denoted as message priority 1) is the port priority of Port1, and the VLAN identifier in this field is the PVID of Port1 (i.e., VLAN20)). According to the forwarding mode configured by the vehicle control module itself (e.g., Layer 2 forwarding), it determines the corresponding message to be sent (denoted as wired message 2). When it is determined that VLAN tag field 1 needs to be retained when sending wired message 2, it sends wired message 2 to the transceiver module according to the message priority in VLAN tag field 1 carried in wired message 2 (i.e., message priority 1).

[0087] Here, the process by which the vehicle control module determines wired packet 2 is as follows: Based on the destination MAC address of the added wired packet 1, the vehicle control module queries the local MAC address table to obtain the VLAN identifier (VLAN20) and outgoing port (Port4) corresponding to the destination MAC address. It finds that the VLAN identifier corresponding to the destination address is the same as the VLAN identifier in VLAN tag field 1, so it does not modify the added wired packet 1 and uses the added wired packet 1 as the packet to be sent.

[0088] The vehicle control module determines that VLAN tag field 1 needs to be retained when sending wired packet 2 through the following process: When the vehicle control module determines that the VLAN identifier (i.e., VLAN20) in VLAN tag field 1 carried in wired packet 2 is different from the PVID (i.e., VLAN50) of the outgoing port (i.e., Port4), and the VLAN identifier (i.e., VLAN20) in VLAN tag field 1 is a VLAN identifier allowed by Port4, it determines that VLAN tag field 1 needs to be retained when sending wired packet 2.

[0089] When the transceiver module receives wired packet 2 from the vehicle control module via Port5, it discovers that wired packet 2 carries VLAN tag field 1. At this time, the transceiver module modifies the source MAC address of wired packet 2 to its own MAC address (i.e., 0000-0000-0010), then converts it into wireless packet 1 carrying VLAN tag field 1, and sends wireless packet 1 to Fit AP1 according to the packet priority 1 in VLAN tag field 1 carried in wireless packet 1.

[0090] When Fit AP1 receives wireless packet 1, it determines whether wireless packet 1 carries a VLAN tag field. Since wireless packet 1 carries VLAN tag field 1, the determination result is yes. At this time, Fit AP1 converts wireless packet 1 into wired packet 3 carrying VLAN tag field 1, and according to the packet priority 1 in VLAN tag field 1 carried in wired packet 3, it sends wired packet 3 to the AC associated with Fit AP1 for processing and then forwards it to the ground controller for processing.

[0091] Assume Fit AP1 receives a wired message 4 from the AC, originating from the AGV ground controller and destined for AGV 1 (the destination MAC address of the message is 0000-0000-0010, and the destination IP address is 40.0.0.1). Fit AP1 then determines the VLAN identifier corresponding to the destination MAC address and IP address of the wired message 4, as well as the message priority of the wired message 4 (denoted as message priority 2). It then converts the wired message 4 into a wireless message 2 carrying a VLAN tag field 2 containing the determined VLAN identifier (VLAN 40) and message priority 1. Based on the message priority 2 in the VLAN tag field 2 carried in the wireless message 2, the wireless message 2 is sent to the transceiver module.

[0092] When the transceiver module receives wireless packet 2 and determines that wireless packet 2 carries VLAN tag field 2, it converts the wireless packet into wired packet 5 carrying VLAN tag field 2 (the destination MAC address of the packet is 0000-0000-0003), and sends it to the vehicle control module according to the packet priority 2 in VLAN tag field 2 carried in wired packet 5.

[0093] When the vehicle control module receives wired message 5 through Port4, it determines that the wired message 5 carries VLAN tag field 2 and that the VLAN identifier in VLAN tag field 2 is in the VLAN identifier list allowed by Port4. At this time, the vehicle control module receives wired message 5. After that, the vehicle control module determines the corresponding message to be sent according to its own configured forwarding mode (i.e., Layer 2 forwarding).

[0094] Here, the process by which the vehicle control module determines the corresponding message to be sent is as follows: The vehicle control module queries the local MAC address table based on the destination MAC address of wired message 5 to obtain the VLAN identifier (VLAN40) and outgoing port (Port3) corresponding to the destination MAC address. Furthermore, it finds that the VLAN identifier corresponding to the destination address is the same as the VLAN identifier in the VLAN tag field 2, so it does not modify wired message 5 and uses wired message 5 as the message to be sent.

[0095] Subsequently, the vehicle control module determines that the VLAN identifier (i.e., VLAN40) in the VLAN tag field 2 carried in the wired message 5 is the same as the PVID (i.e., VLAN40) of the outgoing port (i.e., Port3), and that the VLAN identifier (i.e., VLAN40) in the VLAN tag field 2 is a VLAN identifier allowed by Port3. At this point, it is determined that the VLAN tag field 2 needs to be deleted when sending the message to be sent. The vehicle control module first deletes the VLAN tag field 2 in the message to be sent, and then forwards the message to be sent to the vehicle communication module 3 through Port3 for processing according to the message priority 2.

[0096] As can be seen from the above technical solutions, in this embodiment of the application, by setting the VLAN identifiers of all the vehicle communication modules in the AGV vehicle connected to the vehicle control module via the Ethernet bus to different VLAN identifiers, the VLAN tag field including the relevant VLAN identifier is transmitted in wired and wireless packets by the transceiver module in the AGV vehicle and the Fit AP accessed by the AGV vehicle. This satisfies the requirement to isolate the communication data of the vehicle communication module, reduces the transmission of broadcast data, thereby improving the processing performance of the AGV vehicle and also improving the user experience.

[0097] Based on the same inventive concept, this application also provides a message forwarding device, which is applied to any Fit AP in an AGV system, and its structural schematic diagram is shown below. Figure 4 As shown, it specifically includes:

[0098] The first forwarding module 41 is configured to, upon receiving a first wireless message from a transceiver module in any AGV connected to the Fit AP in the AGV system, which needs to be sent to the AGV ground controller in the AGV system, if it determines that the first wireless message carries a first VLAN tag field, convert the first wireless message into a first wired message carrying the first VLAN tag field, and according to the first message priority in the first VLAN tag field, send the first wired message to the AC associated with the Fit AP for processing before forwarding it to the AGV ground controller for processing. Specifically, the first wireless message is converted from a second wired message carrying the first VLAN tag field sent by the transceiver module from the vehicle control module in the AGV to the first wireless message, and sent to the Fit AP according to the first message priority. In the case of AP, the second wired message is obtained by the vehicle control module when it receives the third wired message sent by the vehicle communication module corresponding to the source IP address of the second wired message in the AGV through the Ethernet bus, and when it is determined that the first VLAN tag field needs to be retained when sending the second wired message, the second wired message is sent to the transceiver module according to the priority of the first message. The VLAN identifiers of all vehicle communication modules in the AGV connected to the vehicle control module through the Ethernet bus are not completely the same.

[0099] The second forwarding module 42 is configured to, upon receiving a fourth wired message from the AC originating from the AGV ground controller and destined for the AGV vehicle, determine the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired message, as well as the second message priority of the fourth wired message; convert the fourth wired message into a second wireless message carrying a second VLAN tag field including the determined VLAN identifier and the second message priority; and send the second wireless message to the transceiver module according to the second message priority. This allows the transceiver module, upon receiving the second wireless message and determining that it carries the second VLAN tag field, to convert the second wireless message into a fifth wired message carrying the second VLAN tag field, and, according to the second message priority, send it to the vehicle control module for processing before forwarding it to the vehicle communication module corresponding to the destination IP address of the fourth wired message for further processing. The determined VLAN identifier is the VLAN identifier of the vehicle communication module corresponding to the destination IP address.

[0100] Preferably, the first forwarding module 41 is specifically used to determine whether the first wireless packet carries a first VLAN tag field in the following manner:

[0101] Determine whether the first wireless message carries a Tag Protocol Identifier (TPID) with a value of 0x8100;

[0102] If the judgment result is yes, then it is determined that the first wireless packet carries the first VLAN tag field;

[0103] If the result is negative, it is determined that the first wireless packet does not carry the first VLAN tag field.

[0104] Preferably, the first VLAN tag field is located between the packet protocol header and the data payload in the first wireless packet;

[0105] The second VLAN tag field is located between the message protocol header and the data payload in the second wireless message.

[0106] Preferably, the second forwarding module 42 is specifically used to determine the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired packet, as well as the packet priority of the fourth wired packet, through the following methods:

[0107] Determine whether the fourth wired message carries a third VLAN tag field;

[0108] If the determination result is yes, then the VLAN identifier in the third VLAN tag field is determined as the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired packet, and the packet priority in the third VLAN tag field is determined as the packet priority of the fourth wired packet.

[0109] If the result is negative, then the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired message is searched in the information table of the AGV vehicle recorded locally, and the found VLAN identifier is determined as the priority of the air interface through which the Fit AP communicates with the AGV vehicle, and the priority of the fourth message is determined as the message priority of the air interface through which the Fit AP communicates with the AGV vehicle.

[0110] This application also provides a message forwarding device, which is applied to the transceiver module in any AGV vehicle in an AGV system, and its structural schematic diagram is shown below. Figure 5 As shown, it specifically includes:

[0111] The first forwarding module 51 is configured to, upon receiving a first wired message from the onboard control module in the AGV vehicle, which is intended to be sent to the ground controller in the AGV system and carries a first VLAN tag field, convert the first wired message into a first wireless message carrying the first VLAN tag field, and, according to the first message priority in the first VLAN tag field, send the first wireless message to the Fit AP accessed by the AGV vehicle in the AGV system. This allows the Fit AP, upon determining that the first wireless message carries the first VLAN tag field, to convert the first wireless message into a second wired message carrying the first VLAN tag field, and, according to the first message priority, send the second wired message to the Fit AP in the AGV system. After the AP is associated with the AC, it is forwarded to the AGV ground controller for further processing. The first wired message is obtained by the vehicle control module when it receives the third wired message sent by the vehicle communication module corresponding to the source IP address of the first wired message in the AGV via the Ethernet bus. The vehicle control module processes the third wired message and, when it is determined that the first VLAN tag field needs to be retained when sending the second wired message, it sends it to the transceiver module according to the priority of the first message. The VLAN identifiers of all vehicle communication modules in the AGV connected to the vehicle control module via the Ethernet bus are not completely the same.

[0112] The second forwarding module 52 is configured to, upon receiving a second wireless message sent by the Fit AP, if it determines that the second wireless message carries a second VLAN tag field, convert the second wireless message into a fourth wired message carrying the second VLAN tag field, and send the fourth wired message to the vehicle control module in the AGV according to the second message priority in the second VLAN tag field, so that the vehicle control module can process the fourth wired message and forward it to the vehicle communication module corresponding to the destination IP address for processing, wherein the VLAN identifier in the second VLAN tag field is the VLAN identifier of the vehicle communication module corresponding to the destination IP address of the fourth wired message.

[0113] Preferably, the first forwarding module 51 is specifically used to determine whether the second wireless packet carries a second VLAN tag field in the following manner:

[0114] Determine whether the second wireless message carries a Tag Protocol Identifier (TPID) with a value of 0x8100;

[0115] If the judgment result is yes, then it is determined that the first wireless packet carries a second VLAN tag field;

[0116] If the result is negative, it is determined that the second wireless packet does not carry the second VLAN tag field.

[0117] Preferably, the first VLAN tag field is located between the packet protocol header and the data payload in the first wireless packet;

[0118] The second VLAN tag field is located between the message protocol header and the data payload in the second wireless message.

[0119] As can be seen from the above technical solutions, in this embodiment of the application, by setting the VLAN identifiers of all the vehicle communication modules in the AGV vehicle connected to the vehicle control module via the Ethernet bus to different VLAN identifiers, the VLAN tag field including the relevant VLAN identifier is transmitted in wired and wireless packets by the transceiver module in the AGV vehicle and the Fit AP accessed by the AGV vehicle. This satisfies the requirement to isolate the communication data of the vehicle communication module, reduces the transmission of broadcast data, thereby improving the processing performance of the AGV vehicle and also improving the user experience.

[0120] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A message forwarding method, characterized in that, The method is applied to any Fit AP in an Automated Guided Vehicle (AGV) system, and the method includes: When a transceiver module in any AGV connected to the Fit AP in the AGV system receives a first wireless message that needs to be sent to the AGV ground controller in the AGV system, if it is determined that the first wireless message carries a first VLAN tag field, then the first wireless message is converted into a first wired message carrying the first VLAN tag field. Based on the first message priority in the first VLAN tag field, the first wired message is sent to the AC associated with the Fit AP for processing and then forwarded to the AGV ground controller for further processing. Specifically, the first wireless message is received when the transceiver module receives a second wired message carrying the first VLAN tag field from the vehicle control module in the AGV, converting the second wired message into the first wireless message and sending it to the Fit AP according to the first message priority. In the case of AP, the second wired message is obtained by the vehicle control module when it receives the third wired message sent by the vehicle communication module corresponding to the source IP address of the second wired message in the AGV through the Ethernet bus, and when it is determined that the first VLAN tag field needs to be retained when sending the second wired message, the second wired message is sent to the transceiver module according to the priority of the first message. The VLAN identifiers of all vehicle communication modules in the AGV connected to the vehicle control module through the Ethernet bus are not completely the same. Upon receiving a fourth wired message from the AC originating from the AGV ground controller and destined for the AGV, the system determines the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired message, as well as the second message priority of the fourth wired message. It then converts the fourth wired message into a second wireless message carrying a second VLAN tag field including the determined VLAN identifier and the second message priority. Based on the second message priority, the system sends the second wireless message to the transceiver module. Upon receiving the second wireless message and determining that it carries the second VLAN tag field, the transceiver module converts the second wireless message into a fifth wired message carrying the second VLAN tag field. Based on the second message priority, it sends this fifth wired message to the vehicle control module for processing and then forwards it to the vehicle communication module corresponding to the destination IP address for further processing. The determined VLAN identifier is the VLAN identifier of the vehicle communication module corresponding to the destination IP address.

2. The method according to claim 1, characterized in that, The method to determine whether the first wireless packet carries the first VLAN tag field is as follows: Determine whether the first wireless message carries a Tag Protocol Identifier (TPID) with a value of 0x8100; If the judgment result is yes, then it is determined that the first wireless packet carries the first VLAN tag field; If the result is negative, it is determined that the first wireless packet does not carry the first VLAN tag field.

3. The method according to claim 1, characterized in that, The first VLAN tag field is located between the packet protocol header and the data payload of the first wireless packet; The second VLAN tag field is located between the message protocol header and the data payload in the second wireless message.

4. The method according to claim 1, characterized in that, The VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired packet, as well as the packet priority of the fourth wired packet, are determined in the following ways: Determine whether the fourth wired message carries a third VLAN tag field; If the determination result is yes, then the VLAN identifier in the third VLAN tag field is determined as the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired packet, and the packet priority in the third VLAN tag field is determined as the packet priority of the fourth wired packet. If the result is negative, then the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired message is searched in the information table of the AGV vehicle recorded locally, and the found VLAN identifier is determined as the priority of the air interface through which the FitAP communicates with the AGV vehicle, and the priority of the fourth wired message is determined as the message priority of the air interface through which the FitAP communicates with the AGV vehicle.

5. A message forwarding method, characterized in that, The method is applied to the transceiver module in any AGV (Automated Guided Vehicle) system, and the method includes: Upon receiving a first wired message from the onboard control module of the AGV (Automated Guided Vehicle) that needs to be sent to the ground controller in the AGV system and carries a first VLAN tag field, the system converts the first wired message into a first wireless message carrying the first VLAN tag field. Based on the first message priority in the first VLAN tag field, the system sends the first wireless message to the Fit AP connected to the AGV in the AGV system. This allows the Fit AP, upon recognizing the first VLAN tag field in the first wireless message, to convert the first wireless message into a second wired message carrying the first VLAN tag field and send the second wired message to the Fit AP in the AGV system based on the first message priority. After the AP is associated with the AC, it is forwarded to the AGV ground controller for further processing. The first wired message is obtained by the vehicle control module when it receives the third wired message sent by the vehicle communication module corresponding to the source IP address of the first wired message in the AGV via the Ethernet bus. The vehicle control module processes the third wired message and, when it is determined that the first VLAN tag field needs to be retained when sending the second wired message, it sends it to the transceiver module according to the priority of the first message. The VLAN identifiers of all vehicle communication modules in the AGV connected to the vehicle control module via the Ethernet bus are not completely the same. Upon receiving the second wireless message sent by the Fit AP, if it is determined that the second wireless message carries a second VLAN tag field, the second wireless message is converted into a fourth wired message carrying the second VLAN tag field. Based on the second message priority in the second VLAN tag field, the fourth wired message is sent to the vehicle control module in the AGV. The vehicle control module processes the fourth wired message and forwards it to the vehicle communication module corresponding to the destination IP address of the fourth wired message for further processing. The VLAN identifier in the second VLAN tag field is the VLAN identifier of the vehicle communication module corresponding to the destination IP address of the fourth wired message.

6. The method according to claim 5, characterized in that, The method to determine whether the second wireless packet carries a second VLAN tag field is as follows: Determine whether the second wireless message carries a Tag Protocol Identifier (TPID) with a value of 0x8100; If the judgment result is yes, then it is determined that the first wireless packet carries a second VLAN tag field; If the result is negative, it is determined that the second wireless packet does not carry the second VLAN tag field.

7. The method according to claim 5, characterized in that, The first VLAN tag field is located between the packet protocol header and the data payload of the first wireless packet; The second VLAN tag field is located between the message protocol header and the data payload in the second wireless message.

8. A message forwarding device, characterized in that, The device is applied to any Fit AP in an Automated Guided Vehicle (AGV) system, and the device includes: The first forwarding module is configured to, upon receiving a first wireless message from a transceiver module in any AGV connected to the Fit AP in the AGV system, which needs to be sent to the AGV ground controller in the AGV system, if it determines that the first wireless message carries a first VLAN tag field, convert the first wireless message into a first wired message carrying the first VLAN tag field, and according to the first message priority in the first VLAN tag field, send the first wired message to the AC associated with the Fit AP for processing before forwarding it to the AGV ground controller for processing. Specifically, the first wireless message is converted from a second wired message carrying the first VLAN tag field sent by the transceiver module in the AGV vehicle to the first wireless message when the transceiver module receives the second wired message carrying the first VLAN tag field, and sends it to the Fit AP according to the first message priority. In the case of AP, the second wired message is obtained by the vehicle control module when it receives the third wired message sent by the vehicle communication module corresponding to the source IP address of the second wired message in the AGV through the Ethernet bus, and when it is determined that the first VLAN tag field needs to be retained when sending the second wired message, the second wired message is sent to the transceiver module according to the priority of the first message. The VLAN identifiers of all vehicle communication modules in the AGV connected to the vehicle control module through the Ethernet bus are not completely the same. The second forwarding module is configured to, upon receiving a fourth wired message from the AC originating from the AGV ground controller and destined for the AGV vehicle, determine the VLAN identifier corresponding to the destination MAC address and destination IP address of the fourth wired message, as well as the second message priority of the fourth wired message; convert the fourth wired message into a second wireless message carrying a second VLAN tag field including the determined VLAN identifier and the second message priority; and send the second wireless message to the transceiver module according to the second message priority. This allows the transceiver module, upon receiving the second wireless message and determining that it carries the second VLAN tag field, to convert the second wireless message into a fifth wired message carrying the second VLAN tag field, and, according to the second message priority, send it to the vehicle control module for processing before forwarding it to the vehicle communication module corresponding to the destination IP address for further processing. The determined VLAN identifier is the VLAN identifier of the vehicle communication module corresponding to the destination IP address.

9. The apparatus according to claim 8, characterized in that, The first VLAN tag field is located between the packet protocol header and the data payload of the first wireless packet; The second VLAN tag field is located between the message protocol header and the data payload in the second wireless message.

10. A message forwarding device, characterized in that, The device is applied to the transceiver module in any AGV (Automated Guided Vehicle) trolley within an Automated Guided Vehicle (AGV) system, and the device includes: The first forwarding module is configured to, upon receiving a first wired message from the onboard control module of the AGV (Automated Guided Vehicle) that is destined for the ground controller in the AGV system and carries a first VLAN tag field, convert the first wired message into a first wireless message carrying the first VLAN tag field, and, according to the first message priority in the first VLAN tag field, forward the first wireless message to the Fit AP connected to the AGV in the AGV system. This allows the Fit AP, upon determining that the first wireless message carries the first VLAN tag field, to convert the first wireless message into a second wired message carrying the first VLAN tag field, and, according to the first message priority, forward the second wired message to the Fit AP in the AGV system. After the AP is associated with the AC, it is forwarded to the AGV ground controller for further processing. The first wired message is obtained by the vehicle control module when it receives the third wired message sent by the vehicle communication module corresponding to the source IP address of the first wired message in the AGV via the Ethernet bus. The vehicle control module processes the third wired message and, when it is determined that the first VLAN tag field needs to be retained when sending the second wired message, it sends it to the transceiver module according to the priority of the first message. The VLAN identifiers of all vehicle communication modules in the AGV connected to the vehicle control module via the Ethernet bus are not completely the same. The second forwarding module is configured to, upon receiving a second wireless message sent by the Fit AP, if it determines that the second wireless message carries a second VLAN tag field, convert the second wireless message into a fourth wired message carrying the second VLAN tag field, and send the fourth wired message to the vehicle control module in the AGV according to the second message priority in the second VLAN tag field. The vehicle control module then processes the fourth wired message and forwards it to the vehicle communication module corresponding to the destination IP address of the fourth wired message for further processing. The VLAN identifier in the second VLAN tag field is the VLAN identifier of the vehicle communication module corresponding to the destination IP address of the fourth wired message.

11. The apparatus according to claim 10, characterized in that, The first VLAN tag field is located between the packet protocol header and the data payload of the first wireless packet; The second VLAN tag field is located between the message protocol header and the data payload in the second wireless message.

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