Agv communication management method based on 5g communication network

Abstract

The application provides an AGV communication management method based on a 5G communication network, and belongs to the technical field of communication, which is used to improve the control stability and reliability of AGV through TN access and NTN access. The method comprises the following steps: after M automatic guided vehicles (AGVs) access the RAN equipment through the ground network (TN), the RAN equipment determines that N AGVs among the M AGVs need to establish dual connectivity with the RAN equipment, wherein M is an integer greater than 1, and N is a positive integer less than M; the RAN equipment indicates that the N AGVs also need to access the RAN equipment through the non-ground network (NTN), wherein the dual connectivity means that the AGV accesses the RAN equipment through the TN and the NTN at the same time.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to an AGV communication management method based on a 5G communication network. Background Technology

[0002] Automated Guided Vehicles (AGVs) are a key technology in logistics automation. By integrating components such as sensors, actuators, control systems, and navigation systems, AGVs can transport goods without human intervention. AGVs can autonomously navigate in environments such as factories, warehouses, and logistics centers, performing tasks such as loading, unloading, transporting, and sorting.

[0003] The core technologies of AGVs include: 1. Navigation technology: Using various sensors (such as LiDAR, cameras, ultrasonic sensors, etc.) to detect the surrounding environment for autonomous navigation in complex logistics environments. 2. Positioning technology: Using maps and positioning systems, AGVs can accurately know their position in the environment. 3. Path planning technology: Algorithms are used to calculate the most efficient path for the AGV from its starting point to its destination, while considering obstacle avoidance and interaction with other AGVs. 4. Control system technology: This includes drive systems for controlling the speed and direction of the AGV, as well as systems for communicating with other devices in the environment. 5. Robotics technology: AGVs often involve robotics technology, including sensor data processing, motion execution, and interaction with other robots or human operators. 6. Software and algorithms: Complex software systems used to control the behavior of AGVs, including path planning, obstacle avoidance, scheduling, and optimization algorithms.

[0004] Currently, AGVs are gradually developing towards intelligence and networking, aiming to form AGV groups by connecting to 5G networks, thus enabling overall monitoring and control of each AGV at the group level. However, AGVs have high requirements for control reliability, and improving the stability and reliability of AGV control in 5G network scenarios is a problem that needs to be solved. Summary of the Invention

[0005] This application provides an AGV communication management method based on a 5G communication network, which improves the control stability and reliability of AGVs through TN and NTN access.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] Firstly, a 5G communication network-based AGV communication management method is provided, applied to a Radio Access Network (RAN) device. The method includes: after M automated guided vehicles (AGVs) access the RAN device through a ground network (TN), the RAN device determines that N AGVs among the M AGVs need to establish dual connections with the RAN device, where M is an integer greater than 1 and N is a positive integer less than M; the RAN device instructs the N AGVs to also access the RAN device through a non-ground network (NTN), where dual connection means that the AGVs access the RAN device simultaneously through both TN and NTN.

[0008] Optionally, the RAN device determines that N out of the M AGVs need to establish dual connections with the RAN device, including: the RAN device determines N AGVs that need to establish dual connections with the RAN device from the M AGVs based on the positional relationship between the M AGVs, wherein the N AGVs are AGVs that have a close positional relationship with the other MN AGVs in the M AGVs, or the N AGVs are AGVs that have a distant positional relationship with the MN AGVs.

[0009] Optionally, the RAN device determines N AGVs that need to establish dual connections with the RAN device based on the positional relationships among the M AGVs. This includes: the RAN device performing mobility tracking on each of the M AGVs based on their respective positions to obtain the movement trajectories of each of the M AGVs. Specifically, for the i-th AGV among the M AGVs, i iterates from 1 to M. If the RAN device detects a duplicate trajectory in the movement of the i-th AGV, then the RAN device identifies the non-duplicate portion of the i-th AGV's movement trajectory as the i-th AGV's movement trajectory. The movement trajectory of V; the RAN device determines the distance between the M AGVs based on their respective movement trajectories; if the communication mode of the M AGVs is primarily uplink communication, the RAN device determines, based on the distance between the M AGVs, that the N AGVs with the closest positional relationship among the M AGVs need to establish dual connections with the RAN device; if the communication mode of the M AGVs is primarily downlink communication, the RAN device determines, based on the distance between the M AGVs, that the N AGVs with the most distant positional relationship among the M AGVs need to establish dual connections with the RAN device.

[0010] Optionally, the RAN device determines the distances between the M AGVs based on their respective movement trajectories. This includes: for the i-th AGV, as i iterates from 1 to M, the RAN device determines the average distance between the i-th AGV and each of the M-1 AGVs (excluding the i-th AGV) based on the i-th AGV's movement trajectory and their respective movement trajectories, resulting in M-1 average distances for the i-th AGV; the RAN device then performs a weighted summation of these M-1 average distances to obtain the distance of the i-th AGV. This, combined with the result of i iterating from 1 to M, yields the individual distances of the M AGVs, for a total of M distances. Here, the distance of the i-th AGV represents the overall distance between the i-th AGV and the M-1 AGVs. Correspondingly, the RAN device determines the distances between the M AGVs based on their respective movement trajectories. The distance determines the N AGVs among M AGVs whose positional relationships are the N closest and require dual connections with the RAN device. This includes: the RAN device selecting the N smallest distances from the M distances and determining the N AGVs corresponding to the N smallest distances that need dual connections with the RAN device, where the N AGVs corresponding to the N smallest distances are the N AGVs with the N closest relationships; or: the RAN device determines the N AGVs among M AGVs whose positional relationships are the N furthest and require dual connections with the RAN device based on the distances between the M AGVs. This includes: the RAN device selecting the N largest distances from the M distances and determining the N AGVs corresponding to the N largest distances that need dual connections with the RAN device, where the N AGVs corresponding to the N largest distances are the N AGVs with the N furthest relationships.

[0011] Optionally, for the j-th AGV among M-1 AGVs, j iterates from 1 to M-1, determines K1 positions on the movement trajectory of the i-th AGV, and determines K2 positions on the movement trajectory of the j-th AGV, where K1 and K2 are integers greater than 1. If the distance between each of the K1 positions and the K2 positions is determined, a total of K1*K2 distances are obtained. The weighted sum of the K1*K2 distances is the average distance between the i-th AGV and the j-th AGV.

[0012] Optionally, the method further includes: if the communication mode of the M AGVs is mainly uplink communication, then the RAN device instructs the N AGVs to establish a sidelink communication connection with each other; if the communication mode of the M AGVs is mainly downlink communication, then the RAN device instructs the MN AGVs to establish a sidelink communication connection with each other.

[0013] Optionally, the method further includes: during the process of M AGVs accessing the RAN device via TN, the RAN device obtains the capability information of each of the M AGVs; if the RAN device determines, based on the capability information of each of the M AGVs, that the capability information of each AGV in the M AGVs indicates that the AGV supports being a terminal within a group, and that the device type / service type / slice type of the M AGVs is the same, and that all M AGVs support accessing the same RAN device simultaneously via NT and NTN, then the RAN device determines that the M AGVs are identified as the same group based on the number of M AGVs reaching the threshold for the number of groups that can be divided; correspondingly, the RAN device determines that N AGVs among the M AGVs need to establish dual connections with the RAN device, including: in response to the M AGVs being identified as the same group, the RAN device determines that N AGVs among the M AGVs need to establish dual connections with the RAN device.

[0014] Optionally, the RAN device instructs N AGVs to also access the RAN device via a non-terrestrial network (NTN). This includes the RAN device sending instruction information to each of the N AGVs. The instruction information includes an identifier of the band position accessed via the NTN, which belongs to the RAN device. The instruction information implicitly indicates that the terminal receiving the instruction information needs to access the band position via the NTN by carrying the identifier of the band position. The instruction information also includes a multi-antenna access instruction cell, which is used to indicate that the TN access and NTN access of the terminal receiving the instruction information need to use different antenna panels.

[0015] Optionally, NTN access is an architecture that accesses RAN devices via a transparent transmission mode.

[0016] Secondly, a 5G communication network-based AGV communication management device is provided, which is applied to a radio access network (RAN) device. The device is configured such that after M automated guided vehicles (AGVs) access the RAN device through the ground network (TN), the RAN device determines that N AGVs out of the M AGVs need to establish dual connections with the RAN device, where M is an integer greater than 1 and N is a positive integer less than M; the RAN device instructs the N AGVs to also access the RAN device through the non-ground network (NTN), where dual connection means that the AGVs access the RAN device simultaneously through both the TN and NTN.

[0017] Optionally, the RAN device determines that N out of the M AGVs need to establish dual connections with the RAN device, including: the RAN device determines N AGVs that need to establish dual connections with the RAN device from the M AGVs based on the positional relationship between the M AGVs, wherein the N AGVs are AGVs that have a close positional relationship with the other MN AGVs in the M AGVs, or the N AGVs are AGVs that have a distant positional relationship with the MN AGVs.

[0018] Optionally, the RAN device determines N AGVs that need to establish dual connections with the RAN device based on the positional relationships among the M AGVs. This includes: the RAN device performing mobility tracking on each of the M AGVs based on their respective positions to obtain the movement trajectories of each of the M AGVs. Specifically, for the i-th AGV among the M AGVs, i iterates from 1 to M. If the RAN device detects a duplicate trajectory in the movement of the i-th AGV, then the RAN device identifies the non-duplicate portion of the i-th AGV's movement trajectory as the i-th AGV's movement trajectory. The movement trajectory of V; the RAN device determines the distance between the M AGVs based on their respective movement trajectories; if the communication mode of the M AGVs is primarily uplink communication, the RAN device determines, based on the distance between the M AGVs, that the N AGVs with the closest positional relationship among the M AGVs need to establish dual connections with the RAN device; if the communication mode of the M AGVs is primarily downlink communication, the RAN device determines, based on the distance between the M AGVs, that the N AGVs with the most distant positional relationship among the M AGVs need to establish dual connections with the RAN device.

[0019] Optionally, the RAN device determines the distances between the M AGVs based on their respective movement trajectories. This includes: for the i-th AGV, as i iterates from 1 to M, the RAN device determines the average distance between the i-th AGV and each of the M-1 AGVs (excluding the i-th AGV) based on the i-th AGV's movement trajectory and their respective movement trajectories, resulting in M-1 average distances for the i-th AGV; the RAN device then performs a weighted summation of these M-1 average distances to obtain the distance of the i-th AGV. This, combined with the result of i iterating from 1 to M, yields the individual distances of the M AGVs, for a total of M distances. Here, the distance of the i-th AGV represents the overall distance between the i-th AGV and the M-1 AGVs. Correspondingly, the RAN device determines the distances between the M AGVs based on their respective movement trajectories. The distance determines the N AGVs among M AGVs whose positional relationships are the N closest and require dual connections with the RAN device. This includes: the RAN device selecting the N smallest distances from the M distances and determining the N AGVs corresponding to the N smallest distances that need dual connections with the RAN device, where the N AGVs corresponding to the N smallest distances are the N AGVs with the N closest relationships; or: the RAN device determines the N AGVs among M AGVs whose positional relationships are the N furthest and require dual connections with the RAN device based on the distances between the M AGVs. This includes: the RAN device selecting the N largest distances from the M distances and determining the N AGVs corresponding to the N largest distances that need dual connections with the RAN device, where the N AGVs corresponding to the N largest distances are the N AGVs with the N furthest relationships.

[0020] Optionally, for the j-th AGV among M-1 AGVs, j iterates from 1 to M-1, determines K1 positions on the movement trajectory of the i-th AGV, and determines K2 positions on the movement trajectory of the j-th AGV, where K1 and K2 are integers greater than 1. If the distance between each of the K1 positions and the K2 positions is determined, a total of K1*K2 distances are obtained. The weighted sum of the K1*K2 distances is the average distance between the i-th AGV and the j-th AGV.

[0021] Optionally, the device is further configured such that: if the communication mode of the M AGVs is primarily uplink communication, the RAN device instructs the N AGVs to establish a sidelink communication connection with each other; if the communication mode of the M AGVs is primarily downlink communication, the RAN device instructs the M AGVs to establish a sidelink communication connection with each other.

[0022] Optionally, the device is further configured to: during the process of M AGVs accessing the RAN device via TN, the RAN device obtains the capability information of each of the M AGVs; if the RAN device determines, based on the capability information of each of the M AGVs, that the capability information of each AGV in the M AGVs indicates that the AGV supports being a terminal within a group, and that the device type / service type / slice type of the M AGVs is the same, and that all M AGVs support accessing the same RAN device simultaneously via NT and NTN, then the RAN device determines that the M AGVs are identified as the same group based on the number of M AGVs reaching the threshold for the number of groups that can be divided; correspondingly, the RAN device determines that N AGVs among the M AGVs need to establish dual connections with the RAN device, including: in response to the M AGVs being identified as the same group, the RAN device determines that N AGVs among the M AGVs need to establish dual connections with the RAN device.

[0023] Optionally, the RAN device instructs N AGVs to also access the RAN device via a non-terrestrial network (NTN). This includes the RAN device sending instruction information to each of the N AGVs. The instruction information includes an identifier of the band position accessed via the NTN, which belongs to the RAN device. The instruction information implicitly indicates that the terminal receiving the instruction information needs to access the band position via the NTN by carrying the identifier of the band position. The instruction information also includes a multi-antenna access instruction cell, which is used to indicate that the TN access and NTN access of the terminal receiving the instruction information need to use different antenna panels.

[0024] Optionally, NTN access is an architecture that accesses RAN devices via a transparent transmission mode.

[0025] Thirdly, a computer-readable storage medium is provided, comprising: a computer program or instructions; when the computer program or instructions are executed on a computer, the computer causes the computer to perform the method described in the first aspect.

[0026] Fourthly, a computer program product is provided, comprising a computer program or instructions that, when executed on a computer, cause the computer to perform the method described in the first aspect.

[0027] In summary, after M AGVs connect to the RAN device via the TN, the RAN device determines that N AGVs among the M AGVs need to establish dual connections with the RAN device. Since dual connection means that the AGVs connect to the RAN device simultaneously via both the TN and NTN, the RAN device instructs the N AGVs to connect via the NTN. This dual connection improves the communication reliability of the N AGVs, thereby enhancing the stability and reliability of their remote control. Furthermore, for the other MN AGVs besides the N AGVs among the M AGVs, connecting to the RAN device via the NTN allows for the allocation of more NTN resources, further improving their communication reliability and thus enhancing the stability and reliability of their remote control. Attached Figure Description

[0028] Figure 1 A schematic diagram of the architecture of the control system provided in an embodiment of this application;

[0029] Figure 2 A flowchart illustrating the AGV communication management method based on a 5G communication network provided in this application embodiment;

[0030] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0031] This application will present various aspects, embodiments, or features relating to systems that may include multiple devices, components, modules, etc. It should be understood and appreciated that individual systems may include additional devices, components, modules, etc., and / or may not include all the devices, components, modules, etc. discussed in conjunction with the accompanying drawings. Furthermore, combinations of these approaches are also possible.

[0032] In the embodiments of this application, "instruction" can include direct and indirect instructions, as well as explicit and implicit instructions. The information indicated by a certain piece of information (such as the first instruction information, second instruction information, or third instruction information below) is called the information to be instructed. In specific implementation, there are many ways to instruct the information to be instructed, such as, but not limited to, directly instructing the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly instruct the information to be instructed by instructing other information, where there is a correlation between the other information and the information to be instructed. It can also instruct only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various pieces of information, thereby reducing instruction overhead to some extent. Simultaneously, the common parts of various pieces of information can be identified and uniformly indicated to reduce the instruction overhead caused by individually indicating the same information.

[0033] Furthermore, the specific indication method can also be any existing indication method, such as, but not limited to, the above-mentioned indication methods and their various combinations. Specific details of various indication methods can be found in existing technologies, and will not be repeated here. As described above, for example, when multiple pieces of information of the same type need to be indicated, the indication methods for different pieces of information may differ. In the specific implementation process, the required indication method can be selected according to specific needs. This application embodiment does not limit the selected indication method; therefore, the indication methods involved in this application embodiment should be understood to cover various methods that enable the party to be indicated to obtain the information to be indicated.

[0034] It should be understood that the information to be indicated can be sent as a whole or divided into multiple sub-information messages sent separately, and the sending period and / or timing of these sub-information messages can be the same or different. The specific sending method is not limited in this application embodiment. The sending period and / or timing of these sub-information messages can be predefined, for example, according to a protocol, or configured by the sending device by sending configuration information to the receiving device.

[0035] "Predefined" or "pre-configured" can be achieved by pre-saving corresponding codes, tables, or other means that can be used to indicate relevant information in the device. This application does not limit the specific implementation method. "Saving" can refer to saving in one or more memories. These memories can be separate installations or integrated into the encoder, decoder, processor, or communication device. Alternatively, some memories can be separately installed, while others are integrated into the decoder, processor, or communication device. The type of memory can be any form of storage medium, and this application does not limit this.

[0036] The “protocol” mentioned in the embodiments of this application may refer to a protocol family in the field of communication, a standard protocol with a similar protocol family frame structure, or a related protocol applied to future communication systems. The embodiments of this application do not specifically limit this.

[0037] In the embodiments of this application, descriptions such as "when," "under the circumstances," "if," and "if" all refer to the device making corresponding processing under certain objective circumstances, and are not limited to a specific time. They do not require the device to make a judgment action during implementation, nor do they imply any other limitations.

[0038] In the description of the embodiments of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. "And / or" in the embodiments of this application is merely a description of the relationship between the related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone, where A and B can be singular or plural. Furthermore, in the description of the embodiments of this application, unless otherwise stated, "multiple" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c, or at least one of a, b, or c, can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple. Furthermore, to facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that "first" and "second" are not necessarily different. Meanwhile, in the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is being used as an example, illustration, or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of terms such as "exemplary" or "for example" is intended to present related concepts in a concrete manner for ease of understanding.

[0039] The network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0040] To facilitate understanding of the embodiments of this application, let's first take... Figure 1 The control system shown in the diagram is used as an example to describe in detail the control system applicable to the embodiments of this application. For example, Figure 1 A schematic diagram of the architecture of a control system to which the method provided in the embodiments of this application applies.

[0041] like Figure 1 As shown, the control system may include network devices and multiple terminal devices.

[0042] Network equipment can be radio access network (RAN) equipment, which can be equipment that provides access to terminals. For example, RAN equipment can include: 5G, such as a gNB in ​​a new radio (NR) system, or one or a group of antenna panels (including multiple antenna panels) of a 5G base station, or network nodes constituting a gNB, transmission and reception point (TRP) or transmission point (TP), or transmission measurement function (TMF), such as a building base band unit (BBU), or a centralized unit (CU) or distributed unit (DU), an RSU with base station functionality, or a wired access gateway, or a 5G core network element. Alternatively, RAN equipment can also include access points (APs) in wireless fidelity (WiFi) systems, wireless relay nodes, wireless backhaul nodes, various forms of macro base stations, micro base stations (also known as small cells), relay stations, access points, wearable devices, vehicle-mounted equipment, etc. Alternatively, the RAN equipment may also include next-generation mobile communication systems, such as 6G access network equipment, such as 6G base stations, or in next-generation mobile communication systems, the network equipment may have other naming conventions, all of which are covered within the protection scope of the embodiments of this application, and this application does not impose any limitations on them.

[0043] RAN equipment can be deployed in a private network (Non-Public Network, NPN), such as a Public Network Integrated NPN (PNI-NPN) or a Stand-alone Non-Public Network (SNPN). An NPN can be a dedicated network established for a bonding wire industrial park / factory. That is, an NPN is a network that only serves the bonding wire equipment production line. Employees within the bonding wire industrial park / factory, such as their user terminals, or equipment on the bonding wire production line, can access this network; otherwise, they cannot.

[0044] The terminal device can be a terminal with wireless transceiver capabilities or a chip or chip system that can be installed on the terminal. This terminal device can also be referred to as user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent, or user device. In the embodiments of this application, the terminal device can be a mobile phone, tablet computer, computer with wireless transceiver capabilities, virtual reality (VR) terminal device, augmented reality (AR) terminal device, wireless terminal in industrial control, wireless terminal in self-driving, wireless terminal in remote medical care, wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, wireless terminal in smart home, vehicle-mounted terminal, RSU with terminal functionality, etc. The terminal device of this application can also be an on-board module, on-board component, on-board chip, or on-board unit built into a vehicle as one or more components or units. The vehicle can implement the method provided in this application through the built-in on-board module, on-board component, on-board chip, or on-board unit. Communication between terminals can be communication between terminals, also known as side communication.

[0045] The terminal device is equipped with multiple antenna panels, such as a first antenna panel and a second antenna panel. Each of the multiple antenna panels can transmit or receive multiple beams in different directions, which are referred to as the multiple beams of that antenna panel.

[0046] A beam is a directional, special transmission or reception effect formed by the transmitter or receiver of a network device or terminal through an antenna array, similar to the beam of light from a flashlight focused in one direction. Using beams to transmit and receive signals can effectively increase the transmission distance. Beams used for communication between terminals can also be called side-traveling beams.

[0047] The beam can be a wide beam, a narrow beam, or other types of beam. The beamforming technology can be beamforming technology or other technologies. Specifically, beamforming technology can be digital beamforming technology, analog beamforming technology, or hybrid digital / analog beamforming technology, etc.

[0048] Beams are generally associated with resources. For example, during beam measurement, network devices measure different beams using different resources, and the terminal provides feedback on the measured resource quality, allowing the network device to determine the quality of the corresponding beam. During data transmission, beams can also be indicated by their corresponding resources. For instance, network devices use the Transmission Configuration Index (TCI) field in downlink control information (DCI) to indicate a transmission configuration indicator-state, and the terminal determines the beam corresponding to that reference resource based on the reference resource contained in that TCI-state.

[0049] In communication protocols, beams can be specifically represented as digital beams, analog beams, spatial domain filters, spatial filters, spatial parameters, TCI, TCI-states, etc. Beams used for transmitting signals can be called transmission beams (or Tx beams), spatial domain transmission filters, spatial transmission filters, spatial domain transmission parameters, spatial transmission parameters, etc. Beams used for receiving signals can be called reception beams (or Rx beams), spatial domain reception filters, spatial reception filters, spatial domain reception parameters, spatial reception parameters, etc.

[0050] It is understood that the embodiments of this application uniformly use the term "beam" for description, but "beam" can be replaced by other equivalent concepts, and is not limited to the concepts mentioned above.

[0051] It can also be understood that the embodiments of this application are described using AGV as an example of terminal equipment.

[0052] The following will combine Figure 2The interaction process between devices in the above system is described in detail through method embodiments. The AGV communication management method based on a 5G communication network provided in this application can be applied to the above control system, which will be described in detail below.

[0053] Figure 2 This is a flowchart illustrating the AGV communication management method based on a 5G communication network provided in this application embodiment. Specifically, the flow of this AGV communication management method based on a 5G communication network is as follows:

[0054] S201, after M AGVs are connected to the RAN device through the TN, the RAN device determines that N AGVs out of the M AGVs need to establish dual connections with the RAN device, where M is an integer greater than 1 and N is a positive integer less than M.

[0055] TN stands for Terrestrial Network. TN access refers to accessing the RAN equipment via ground-based access devices, such as DUs. Dual connectivity means the AGV simultaneously accesses the RAN equipment via both TN and NTN. NTN stands for Non-Terrestrial Network. TN access refers to accessing the RAN equipment via airborne access devices, such as satellites, high-altitude drones, and high-altitude balloons. In this embodiment, NTN access is achieved through a transparent transmission mode architecture. In transparent transmission mode, the satellite has relay forwarding functionality. The NTN gateway has the functions of a base station or some base station functions. The NTN gateway can be understood as a base station, such as the next-generation node B (gNB). The communication latency of NTN is the transmission latency from the satellite to the NTN gateway. Alternatively, the NTN gateway and base station can be deployed separately. The communication latency of NTN includes two parts: the transmission latency from the satellite to the NTN gateway and the transmission latency from the NTN gateway to the base station. The UE can access the base station via satellite, thereby enabling communication with the data network (DN) through the core network (CN), such as a 5th generation (5G) CN. In other words, the transparent transmission mode allows the terminal to ultimately access the terrestrial access network equipment through the NTN.

[0056] Optionally, after M AGVs are connected to the RAN device via the TN, the RAN device can determine N AGVs from the M AGVs that need to establish dual connections with the RAN device based on the positional relationships between the M AGVs. Here, the N AGVs are either closely related to the other MN AGVs (excluding the N AGVs) in the M AGVs, or they are not closely related to the MN AGVs in the M AGVs.

[0057] For example, a RAN device can perform mobility tracking on each of the M AGVs based on their respective positions, obtaining the movement trajectories of each AGV. Specifically, for the i-th AGV among the M AGVs, where i iterates from 1 to M, if the RAN device detects a duplicate trajectory in the movement of the i-th AGV, it identifies the non-duplicate portion of the i-th AGV's trajectory as its movement trajectory. This is understandable because AGVs typically have pre-configured and relatively fixed routes during operation. Therefore, the RAN device can use this characteristic to determine if a duplicate trajectory has been detected. If so, it indicates that the AGV has completed its path once, thus determining its movement trajectory. Of course, the RAN device needs to first recognize that the accessed terminal is an AGV before it can automatically track its mobility and determine its movement trajectory based on these characteristics, without relying on the Access and Mobility Management Function (AMF) or reporting to the AMF. Otherwise, if the RAN device detects that the type of the access terminal is not AGV, but other types of terminals such as UE, then the RAN device can perform existing technology, with the AMF performing mobility tracking.

[0058] The RAN device can determine the distance between M AGVs based on their respective movement trajectories.

[0059] For example, for the i-th AGV among M AGVs, i iterates from 1 to M. The RAN device can determine the average distance between the i-th AGV and each of the M-1 AGVs other than the i-th AGV based on the movement trajectory of the i-th AGV and the movement trajectories of the M-1 AGVs among the M AGVs, thus obtaining a total of M-1 average distances of the i-th AGV. In one possible implementation, for the j-th AGV among M-1 AGVs, j iterates from 1 to M-1, determining K1 positions on the movement trajectory of the i-th AGV (either randomly or at equal intervals; the number of K1 positions should be as large as possible, as K1 can be considered as discrete values ​​of the movement trajectory of the i-th AGV), and determining K2 positions on the movement trajectory of the j-th AGV (either randomly or at equal intervals; the number of K2 positions should also be as large as possible, as K2 can be considered as discrete values ​​of the movement trajectory of the j-th AGV). K1 and K2 are integers greater than 1. If the distance between each of the K1 positions and the K2 positions is determined, a total of K1*K2 distances are obtained. The weighted sum of the K1*K2 distances is the average distance between the i-th AGV and the j-th AGV. The weight of each distance is related to the location of its endpoint. For example, if the curvature of the trajectory at the first endpoint of the distance is larger, and / or the curvature of the trajectory at the second endpoint of the distance is larger, then the weight of the distance can be larger, and vice versa. The advantage of this is that a larger curvature at the curve of the trajectory leads to a greater change in the trajectory's direction. Increasing the weight at the curvature can take into account, or even amplify, the impact of the trajectory's direction on the distance calculation. In other words, the more curves / arcs each trajectory has, the larger the average distance between the two trajectories, which also reflects a lower probability that the AGVs corresponding to the two trajectories will actually move closer together. Then, the RAN device can sum the weighted average distances of the i-th AGV (M-1 times) to obtain the distance of the i-th AGV. By iterating from 1 to M, the distances of the M AGVs are obtained, for a total of M distances. The distance of the i-th AGV represents the overall distance between the i-th AGV and the M-1 AGVs. Furthermore, the smaller the average distance, the larger the weight, resulting in more AGVs with small average distances. The final weighted distance can be larger, making the distance values ​​of these AGVs more sparse and easier to filter.

[0060] If the communication mode of the M AGVs is primarily uplink communication, the RAN device determines, based on the distances between the M AGVs, the N AGVs with the closest positional relationships among them that need to establish dual connections with the RAN device. For example, the RAN device selects the N smallest distances from the M distances and determines the N AGVs corresponding to these N smallest distances that need to establish dual connections with the RAN device. These N AGVs corresponding to the N smallest distances are the N AGVs with the closest positional relationships. It can be understood that uplink communication mainly involves the M AGVs reporting their own data to the network side. In this case, the N closest AGVs can establish a sidelink to send their own data to other AGVs, which then aggregate and report it, thus strengthening the communication link among these N AGVs, i.e., establishing dual connections.

[0061] If the communication mode of the M AGVs is primarily downlink communication, the RAN device determines, based on the distances between the M AGVs, the N AGVs with the most distant positional relationships among them that need to establish dual connections with the RAN device. For example, determining this involves the RAN device selecting the N largest distances from the M distances and identifying the N AGVs corresponding to these N largest distances that need to establish dual connections with the RAN device. The N AGVs corresponding to these N largest distances are the N AGVs with the most distant positional relationships among them. It can also be understood that downlink communication mainly involves N network sides sending control commands to M AGVs to control the M AGVs. In this case, since AGVs that are relatively close together can establish side links, which can help enhance the stability and reliability of downlink control, it is necessary to instruct AGVs that are relatively sparsely spaced, such as the first N AGVs that are far apart, to establish side links to enhance the stability and reliability of downlink control for these N AGVs.

[0062] Optionally, as described above, the method further includes: if the communication mode of the M AGVs is mainly uplink communication, then the RAN device instructs the N AGVs (i.e., the AGVs with relatively sparse distances) to establish a sidelink communication connection with each other; if the communication mode of the M AGVs is mainly downlink communication, then the RAN device instructs the MN AGVs (i.e., the AGVs with relatively sparse distances) to establish a sidelink communication connection with each other.

[0063] Optionally, the method further includes: during the process of M AGVs accessing the RAN device via TN, the RAN device obtains the capability information of each of the M AGVs; if the RAN device determines, based on the capability information of each of the M AGVs, that the capability information of each AGV in the M AGVs indicates that the AGV supports being a terminal within a group, and that the device type / service type / slice type of the M AGVs is the same, and that all M AGVs support accessing the same RAN device simultaneously via NT and NTN, then the RAN device determines that the M AGVs are identified as the same group based on the number of M AGVs reaching the threshold for the number of groups that can be divided; correspondingly, the RAN device determines that N AGVs among the M AGVs need to establish dual connections with the RAN device, including: in response to the M AGVs being identified as the same group, the RAN device determines that N AGVs among the M AGVs need to establish dual connections with the RAN device.

[0064] S202, the RAN device indicates that N AGVs still need to be connected to the RAN device via NTN.

[0065] The RAN device sends indication information (such as higher-layer signaling or physical-layer signaling) to N AGVs respectively. The indication information includes the identifier of the wavelet accessed through NTN. The wavelet belongs to the RAN device. The indication information implicitly indicates that the terminal receiving the indication information needs to access the wavelet through NTN by carrying the identifier of the wavelet. The indication information also includes multi-antenna access indication cells. The multi-antenna access indication cells are used to indicate that the TN access and NTN access of the terminal receiving the indication information need to use different antenna panels. This makes the reference signals of these AGVs that need to establish dual connections quasi-orthogonal, so as to avoid strict orthogonality and the resulting shortage of available resources.

[0066] In summary, after M AGVs connect to the RAN device via the TN, the RAN device determines that N AGVs among the M AGVs need to establish dual connections with the RAN device. Since dual connection means that the AGVs connect to the RAN device simultaneously via both the TN and NTN, the RAN device instructs the N AGVs to connect via the NTN. This dual connection improves the communication reliability of the N AGVs, thereby enhancing the stability and reliability of their remote control. Furthermore, for the other MN AGVs besides the N AGVs among the M AGVs, connecting to the RAN device via the NTN allows for the allocation of more NTN resources, further improving their communication reliability and thus enhancing the stability and reliability of their remote control.

[0067] The above combination Figure 2This application provides a detailed description of the AGV communication management method based on a 5G communication network, as illustrated in the embodiments of this application. The following details the AGV communication management device based on a 5G communication network used to execute the AGV communication management method based on a 5G communication network provided in the embodiments of this application.

[0068] This device is applied to RAN equipment and is configured such that after M automated guided vehicles (AGVs) connect to the RAN equipment via the ground network TN, the RAN equipment determines that N AGVs out of the M AGVs need to establish dual connections with the RAN equipment, where M is an integer greater than 1 and N is a positive integer less than M; the RAN equipment instructs the N AGVs to also connect to the RAN equipment via the non-ground network NTN, where dual connection means that the AGVs connect to the RAN equipment simultaneously via both TN and NTN.

[0069] Optionally, the RAN device determines that N out of the M AGVs need to establish dual connections with the RAN device, including: the RAN device determines N AGVs that need to establish dual connections with the RAN device from the M AGVs based on the positional relationship between the M AGVs, wherein the N AGVs are AGVs that have a close positional relationship with the other MN AGVs in the M AGVs, or the N AGVs are AGVs that have a distant positional relationship with the MN AGVs.

[0070] Optionally, the RAN device determines N AGVs that need to establish dual connections with the RAN device based on the positional relationships among the M AGVs. This includes: the RAN device performing mobility tracking on each of the M AGVs based on their respective positions to obtain the movement trajectories of each of the M AGVs. Specifically, for the i-th AGV among the M AGVs, i iterates from 1 to M. If the RAN device detects a duplicate trajectory in the movement of the i-th AGV, then the RAN device identifies the non-duplicate portion of the i-th AGV's movement trajectory as the i-th AGV's movement trajectory. The movement trajectory of V; the RAN device determines the distance between the M AGVs based on their respective movement trajectories; if the communication mode of the M AGVs is primarily uplink communication, the RAN device determines, based on the distance between the M AGVs, that the N AGVs with the closest positional relationship among the M AGVs need to establish dual connections with the RAN device; if the communication mode of the M AGVs is primarily downlink communication, the RAN device determines, based on the distance between the M AGVs, that the N AGVs with the most distant positional relationship among the M AGVs need to establish dual connections with the RAN device.

[0071] Optionally, the RAN device determines the distances between the M AGVs based on their respective movement trajectories. This includes: for the i-th AGV, as i iterates from 1 to M, the RAN device determines the average distance between the i-th AGV and each of the M-1 AGVs (excluding the i-th AGV) based on the i-th AGV's movement trajectory and their respective movement trajectories, resulting in M-1 average distances for the i-th AGV; the RAN device then performs a weighted summation of these M-1 average distances to obtain the distance of the i-th AGV. This, combined with the result of i iterating from 1 to M, yields the individual distances of the M AGVs, for a total of M distances. Here, the distance of the i-th AGV represents the overall distance between the i-th AGV and the M-1 AGVs. Correspondingly, the RAN device determines the distances between the M AGVs based on their respective movement trajectories. The distance determines the N AGVs among M AGVs whose positional relationships are the N closest and require dual connections with the RAN device. This includes: the RAN device selecting the N smallest distances from the M distances and determining the N AGVs corresponding to the N smallest distances that need dual connections with the RAN device, where the N AGVs corresponding to the N smallest distances are the N AGVs with the N closest relationships; or: the RAN device determines the N AGVs among M AGVs whose positional relationships are the N furthest and require dual connections with the RAN device based on the distances between the M AGVs. This includes: the RAN device selecting the N largest distances from the M distances and determining the N AGVs corresponding to the N largest distances that need dual connections with the RAN device, where the N AGVs corresponding to the N largest distances are the N AGVs with the N furthest relationships.

[0072] Optionally, for the j-th AGV among M-1 AGVs, j iterates from 1 to M-1, determines K1 positions on the movement trajectory of the i-th AGV, and determines K2 positions on the movement trajectory of the j-th AGV, where K1 and K2 are integers greater than 1. If the distance between each of the K1 positions and the K2 positions is determined, a total of K1*K2 distances are obtained. The weighted sum of the K1*K2 distances is the average distance between the i-th AGV and the j-th AGV.

[0073] Optionally, the device is further configured such that: if the communication mode of the M AGVs is primarily uplink communication, the RAN device instructs the N AGVs to establish a sidelink communication connection with each other; if the communication mode of the M AGVs is primarily downlink communication, the RAN device instructs the M AGVs to establish a sidelink communication connection with each other.

[0074] Optionally, the device is further configured to: during the process of M AGVs accessing the RAN device via TN, the RAN device obtains the capability information of each of the M AGVs; if the RAN device determines, based on the capability information of each of the M AGVs, that the capability information of each AGV in the M AGVs indicates that the AGV supports being a terminal within a group, and that the device type / service type / slice type of the M AGVs is the same, and that all M AGVs support accessing the same RAN device simultaneously via NT and NTN, then the RAN device determines that the M AGVs are identified as the same group based on the number of M AGVs reaching the threshold for the number of groups that can be divided; correspondingly, the RAN device determines that N AGVs among the M AGVs need to establish dual connections with the RAN device, including: in response to the M AGVs being identified as the same group, the RAN device determines that N AGVs among the M AGVs need to establish dual connections with the RAN device.

[0075] Optionally, the RAN device instructs N AGVs to also access the RAN device via a non-terrestrial network (NTN). This includes the RAN device sending instruction information to each of the N AGVs. The instruction information includes an identifier of the band position accessed via the NTN, which belongs to the RAN device. The instruction information implicitly indicates that the terminal receiving the instruction information needs to access the band position via the NTN by carrying the identifier of the band position. The instruction information also includes a multi-antenna access instruction cell, which is used to indicate that the TN access and NTN access of the terminal receiving the instruction information need to use different antenna panels.

[0076] Optionally, NTN access is an architecture that accesses RAN devices via a transparent transmission mode.

[0077] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Exemplarily, the electronic device may be a terminal device, or a chip (system) or other component or assembly that can be disposed in the terminal device. Figure 3 As shown, the electronic device 400 may include a processor 401. Optionally, the electronic device 400 may also include a memory 402 and / or a transceiver 403. The processor 401 is coupled to the memory 402 and the transceiver 403, for example, they can be connected via a communication bus. Alternatively, the electronic device 400 may also be a chip, such as including the processor 401; in this case, the transceiver may be the chip's input / output interface.

[0078] The following is combined with Figure 3 The various components of electronic device 400 are described in detail below:

[0079] The processor 401 is the control center of the electronic device 400. It can be a single processor or a collective term for multiple processing elements. For example, the processor 401 can be one or more central processing units (CPUs), application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement the embodiments of this application, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0080] Optionally, the processor 401 can perform various functions of the electronic device 400 by running or executing software programs stored in the memory 402 and calling data stored in the memory 402, such as performing the aforementioned functions. Figure 2 The method for managing AGV communication based on a 5G communication network is shown.

[0081] In a specific implementation, as one example, processor 401 may include one or more CPUs, for example... Figure 3 CPU0 and CPU1 are shown in the diagram.

[0082] In a specific implementation, as one example, the electronic device 400 may also include multiple processors. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). Here, a processor may refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer programs or instructions).

[0083] The memory 402 is used to store the software program that executes the solution of this application, and is controlled by the processor 401 to execute it. The specific implementation method can be referred to the above method embodiment, and will not be repeated here.

[0084] Optionally, the memory 402 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 402 may be integrated with the processor 401 or exist independently, and may be accessed through the interface circuit of the electronic device 400. Figure 3 (Not shown in the image) is coupled to processor 401, but this embodiment does not specifically limit this.

[0085] Transceiver 403 is used for communication with other electronic devices. For example, if electronic device 400 is a terminal device, transceiver 403 can be used to communicate with a network device or with another terminal device. As another example, if electronic device 400 is a network device, transceiver 403 can be used to communicate with a terminal device or with another network device.

[0086] Alternatively, transceiver 403 may include a receiver and a transmitter. Figure 3 (Not shown separately). The receiver is used to implement the receiving function, and the transmitter is used to implement the transmitting function.

[0087] Alternatively, the transceiver 403 can be integrated with the processor 401, or it can exist independently and be connected via the interface circuit of the electronic device 400. Figure 3 (Not shown in the image) is coupled to processor 401, but this embodiment does not specifically limit this.

[0088] Understandable, Figure 3 The structure of the electronic device 400 shown does not constitute a limitation on the electronic device. Actual electronic devices may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0089] Furthermore, the technical effects of the electronic device 400 can be referred to the technical effects of the methods described in the above method embodiments, and will not be repeated here.

[0090] It should be understood that the processor in the embodiments of this application can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0091] It should also be understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0092] The above embodiments can be implemented, in whole or in part, by software, hardware (such as circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0093] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0094] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be a single item or multiple items.

[0095] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0096] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0097] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0098] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0099] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0100] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0101] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0102] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An AGV communication management method based on a 5G communication network, characterized in that, Applied to radio access network (RAN) equipment, the method includes: After M Automated Guided Vehicles (AGVs) connect to the RAN device via the ground network TN, the RAN device tracks the mobility of each of the M AGVs based on their respective positions, obtaining the movement trajectories of each AGV. For the i-th AGV among the M AGVs, i iterates from 1 to M. If the RAN device detects a duplicate trajectory in the movement of the i-th AGV, it determines the non-repeating portion of the i-th AGV's movement trajectory as the movement trajectory of the i-th AGV; M is an integer greater than 1. The RAN device determines the distance between the M AGVs based on their respective movement trajectories. If the communication mode of the M AGVs is primarily uplink communication, then the RAN device determines, based on the distance between the M AGVs, that the N AGVs with the closest positional relationship among the M AGVs need to establish dual connections with the RAN device, and instructs the N AGVs to establish sidelink communication connections with each other; the N AGVs are the AGVs with the closest positional relationship to the other MN AGVs among the M AGVs excluding the N AGVs. If the communication mode of the M AGVs is primarily downlink communication, then the RAN device determines, based on the distance between the M AGVs, that the N AGVs with the most distant positional relationships among the M AGVs need to establish dual connections with the RAN device, and instructs the M AGVs to establish sidelink communication connections with each other, where N is a positive integer less than M. Furthermore, the RAN device also instructs the N AGVs to access the RAN device via a non-terrestrial network NTN, wherein the dual connection means that the AGVs access the RAN device simultaneously via both TN and NTN.

2. The method according to claim 1, characterized in that, The RAN device determines the distances between the M AGVs based on their respective movement trajectories, including: For the i-th AGV, i iterates from 1 to M. The RAN device determines the average distance between the i-th AGV and the M-1 AGVs, based on the movement trajectory of the i-th AGV and the movement trajectories of the M-1 AGVs other than the i-th AGV, and obtains a total of M-1 average distances of the i-th AGV. The RAN device calculates the weighted sum of the M-1 average distances of the i-th AGV to obtain the distance of the i-th AGV. By iterating from 1 to M, it obtains the distances of the M AGVs individually, for a total of M distances. The distance of the i-th AGV represents the overall distance between the i-th AGV and the M-1 AGVs. Accordingly, the RAN device determines, based on the distances between the M AGVs, that the N AGVs with the closest positional relationships among the M AGVs need to establish dual connections with the RAN device, including: The RAN device selects the N smallest distances from the M distances and determines that the N AGVs corresponding to the N smallest distances need to establish dual connections with the RAN device. The N AGVs corresponding to the N smallest distances are the N most closely related AGVs. Alternatively; the RAN device determines, based on the distances between the M AGVs, that the N AGVs with the most distant positional relationships among the M AGVs need to establish dual connections with the RAN device, including: The RAN device selects the top N largest distances from the M distances and determines that the N AGVs corresponding to the top N largest distances need to establish dual connections with the RAN device. The N AGVs corresponding to the top N largest distances are the N AGVs with the most distant relationships.

3. The method according to claim 2, characterized in that, For the j-th AGV among the M-1 AGVs, j traverses from 1 to M-1, determines K1 positions on the movement trajectory of the i-th AGV, and determines K2 positions on the movement trajectory of the j-th AGV, where K1 and K2 are integers greater than 1. If the distance between each of the K1 positions and the K2 positions is determined, a total of K1*K2 distances are obtained. The weighted sum of the K1*K2 distances is the average distance between the i-th AGV and the j-th AGV.

4. The method according to claim 1, characterized in that, The method further includes: During the process of the M AGVs accessing the RAN device through the TN, the RAN device acquires the capability information of each of the M AGVs; If the RAN device determines, based on the capability information of each of the M AGVs, that the capability information of each AGV indicates that the AGV supports being a terminal within a group, and the M AGVs have the same device type / service type / slice type, and all M AGVs support accessing the same RAN device simultaneously via NT and NTN, then the RAN device determines that the M AGVs are identified as the same group based on the number of M AGVs reaching the threshold for grouping. Accordingly, the RAN device determines that N out of the M AGVs need to establish dual connections with the RAN device, including: In response to the M AGVs being identified as belonging to the same group, the RAN device determines that N AGVs among the M AGVs need to establish dual connections with the RAN device.

5. The method according to claim 1, characterized in that, The RAN device instructs the N AGVs to also access the RAN device via a non-terrestrial network (NTN), including: The RAN device sends indication information to each of the N AGVs. The indication information includes an identifier of the band accessed via NTN, the band belonging to the RAN device. The indication information implicitly indicates that the terminal receiving the indication information needs to access the band via NTN by carrying the identifier of the band. The indication information also includes a multi-antenna access indication element, which is used to indicate that the TN access and NTN access of the terminal receiving the indication information need to use different antenna panels.

6. The method according to claim 1, characterized in that, NTN access is an architecture that accesses the RAN equipment through a transparent transmission mode.

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