AGV wireless optical communication system and fast switching control method

Abstract

The present application relates to the field of optical communication technology, and specifically relates to an AGV wireless optical communication system and a fast switching control method, which comprises a warehouse fixed end and an AGV mobile end, the warehouse fixed end comprises a wireless optical networking server, a first network switching subsystem and a first wireless optical communication subsystem, the AGV mobile end comprises an FPGA control board, a CPU processing board, a second network switching subsystem and a second wireless optical communication subsystem, the wireless optical networking server generates a detected UDP broadcast packet, the first network switching subsystem is used for data service switching of an AGV server service interface, the FPGA control board sends the detected signal packet to the CPU processing board for processing, and the processing result is used to produce a control instruction and is sent to the second network switching subsystem, so that data service switching of an AGV service network port is realized, the system can improve the reliability of wireless optical communication establishment and the efficiency of network switching, and provides a reliable and stable wireless optical communication link between the AGV and a warehouse server.

Description

Technical Field

[0001] This invention relates to the field of optical communication technology, and in particular to an AGV wireless optical communication system and a fast switching control method. Background Technology

[0002] With the development of smart warehousing, traditional manual loading, in-warehouse transportation, and sorting in large warehousing nodes are gradually moving towards unmanned and intelligent processes. In smart warehousing, AGVs (Automated Guided Vehicles) play a crucial role.

[0003] AGVs are modern technologies such as automatic navigation and autonomous obstacle avoidance that intelligently transform logistics and warehousing, enabling intelligent and automated logistics transportation and warehouse management. They require no human driver and can automatically travel according to preset routes or instructions to complete tasks such as handling and retrieving goods. AGVs offer numerous advantages, including high transportation efficiency, energy saving, reliable operation, and flexible transportation capabilities.

[0004] However, under conditions of high security and confidentiality requirements such as strong electromagnetic interference and electronic silence, when AGVs in smart warehouses communicate via wireless optical networking, the Ethernet port changes due to movement and turning, and the network cannot converge quickly. Communication may be interrupted for up to 10-30 seconds, causing the AGV to be unable to communicate with the server. Summary of the Invention

[0005] The purpose of this invention is to provide an AGV wireless optical communication system and a fast switching control method, which aims to solve the problem that when the Ethernet port of an AGV changes due to movement or turning, the network cannot converge quickly, and communication will be interrupted for 10-30 seconds, causing the AGV to be unable to communicate with the server.

[0006] To achieve the above objectives, in a first aspect, the present invention provides an AGV wireless optical communication system, comprising a warehouse fixed end and an AGV mobile end, wherein the warehouse fixed end and the AGV mobile end are connected. The warehouse fixed end includes a wireless optical networking server, a first network switching subsystem, and a first wireless optical communication subsystem, wherein the first network switching subsystem is connected to the wireless optical networking server and the first wireless optical communication subsystem respectively. The AGV mobile end includes an FPGA control board, a CPU processing board, a second network switching subsystem, and a second wireless optical communication subsystem, wherein the FPGA control board is connected to the CPU processing board, the second network switching subsystem, and the second wireless optical communication subsystem respectively, and the first wireless optical communication subsystem is connected to the second wireless optical communication subsystem.

[0007] The wireless optical networking server is used to generate UDP broadcast packets for detection and periodically send control signals to the network, serving as both a control initiator and a signal source.

[0008] The first network switching subsystem is used to transmit probed UDP broadcast packets to realize data service exchange in the direction of the AGV server service interface;

[0009] The first wireless optical communication subsystem is used to establish a wireless laser communication link with the second wireless optical communication subsystem;

[0010] The FPGA control board is used for Ethernet packet framing / deframing, packet filtering, packet loss statistics, communication link quality statistics, and data forwarding operations, and forwards the detection signal packets received by the second wireless optical communication subsystem to the CPU processing board.

[0011] The CPU processing board is used to process the probe packets, execute the optimal control switching strategy, generate the optimal control method, and generate control commands from the processing results, which are then sent to the second network switching subsystem.

[0012] The second network switching subsystem is used to transmit probed UDP broadcast packets to realize data service exchange in the direction of the AGV service network port;

[0013] The second wireless optical communication subsystem is used to establish a wireless laser communication link with the first wireless optical communication subsystem.

[0014] The second wireless optical communication module is interconnected with the FPGA control board, the CPU processing board and the second network switching subsystem via an Ethernet cable.

[0015] The FPGA control board includes a packet interface module, a packet filtering module, a packet processing module, a CPU control bus module, and a link selection module.

[0016] The packet interface module is used for Ethernet packet framing and deframing.

[0017] The packet filtering module is used to identify ARP packets, ICMP packets, and service data packets;

[0018] The data packet processing module is used for processing various types of data packets, calculating packet loss rate, identifying MAC link information, and reporting relevant information to the CPU control bus module.

[0019] The CPU control bus module is used to implement the control functions of the FPGA;

[0020] The link selection module is used for data transmission routing.

[0021] Secondly, the present invention also provides a fast switching control method for AGV wireless optical communication, applied to the AGV wireless optical communication system as described in the first aspect above, comprising the following steps:

[0022] The wireless optical networking server sends UDP broadcast packets to the first network switching subsystem at 1ms intervals.

[0023] The second wireless optical communication subsystem sends the port information of the UDP packets received in the FPGA control board to the CPU processing board.

[0024] The CPU processing board selects the highest priority port to establish a connection with the internal switching chip based on port priority.

[0025] The FPGA control board sends broadcast packets using the MAC address of the AGV's network port, causing the second network switching subsystem to update the MAC address table, thus enabling the AGV server to establish a connection with the AGV.

[0026] The CPU processing board's method of selecting the highest-priority port to establish a connection with the internal switching chip based on port priority also includes:

[0027] The CPU processing board analyzes factors such as the quality of the probe packets, changes in signal optical power, and packet loss rate. It then uses a hierarchical analysis method to determine the weights of each factor, predicts the probability of link interruption, calculates the total network connectivity function, and uses an iterative algorithm to find the maximum decision criterion. This determines the link switching scheme, which is then executed by the FPGA control board.

[0028] This invention discloses an AGV wireless optical communication system. The wireless optical networking server and the first network switching subsystem are installed in a cabinet. The first wireless optical communication subsystem is installed on the warehouse wall. All components are interconnected via Ethernet cables. The wireless optical networking server generates UDP broadcast packets for detection and periodically sends control signals to the network, serving as both a control initiator and signal source. The first network switching subsystem transmits the detected UDP broadcast packets and facilitates data service exchange in the AGV server's service interface direction. The first wireless optical communication subsystem establishes a wireless optical communication link with the second wireless optical communication subsystem of the AGV mobile terminal. Four second wireless optical communication subsystems, each corresponding to wireless optical signal transmission and reception in four directions, are installed on the four sides of the AGV to establish wireless optical communication links with the second wireless communication subsystems. The FPGA control board is the core forwarding and control unit of this system and is responsible for the second wireless optical communication... The bridge between the wireless optical communication subsystem, the CPU processing board, and the second network switching subsystem has functions such as Ethernet packet framing / deframing, packet filtering, packet loss statistics, communication link quality statistics, and data forwarding. It forwards the probe signal packets received by the second wireless optical communication subsystem to the CPU processing board. The CPU processing board processes the probe packets, executes the optimal control switching strategy, generates the optimal control method, and generates control commands based on the processing results, which are then sent to the second network switching subsystem. At the AGV mobile terminal, the FPGA control board is interconnected with the second wireless optical communication subsystem, the CPU processing board, and the second network switching subsystem via Ethernet cables. This system, through multi-point deployment of wireless optical communication units and a rapid communication switching control method, effectively improves the reliability of wireless optical communication establishment and the efficiency of network switching, providing a reliable and stable wireless optical communication link between the AGV and the warehouse server. This solves the problem that changes in the Ethernet port caused by AGV movement and turning result in network slow convergence, leading to communication interruptions lasting 10-30 seconds and preventing the AGV from communicating with the server. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a connection diagram of an AGV wireless optical communication system provided by the present invention.

[0031] Figure 2This is a block diagram of the FPGA control board of an AGV wireless optical communication system provided by the present invention.

[0032] Figure 3 This is a schematic diagram of the decision-making and control process in communication networks.

[0033] Figure 4 This is a schematic diagram illustrating the optimal switching action strategy that is stable over time using an iterative algorithm.

[0034] Figure 5 This is a schematic diagram of the deployment location of an AGV wireless optical communication system provided by the present invention.

[0035] Figure 6 This is a flowchart of a fast switching control method for AGV wireless optical communication provided by the present invention.

[0036] In the diagram: 1-Warehouse fixed end, 2-AGV mobile end, 3-Wireless optical networking server, 4-First network switching subsystem, 5-First wireless optical communication subsystem, 6-FPGA control board, 7-CPU processing board, 8-Second network switching subsystem, 9-Second wireless optical communication subsystem, 10-Packet interface module, 11-Packet filtering module, 12-Packet processing module, 13-CPU control bus module, 14-Link selection module. Detailed Implementation

[0037] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0038] Please see Figures 1 to 2 In a first aspect, the present invention provides an AGV wireless optical communication system, including a warehouse fixed terminal 1 and an AGV mobile terminal 2, wherein the warehouse fixed terminal 1 and the AGV mobile terminal 2 are connected. The warehouse fixed terminal 1 includes a wireless optical networking server 3, a first network switching subsystem 4 and a first wireless optical communication subsystem 5, wherein the first network switching subsystem 4 is connected to the wireless optical networking server 3 and the first wireless optical communication subsystem 5 respectively. The AGV mobile terminal 2 includes an FPGA control board 6, a CPU processing board 7, a second network switching subsystem 8 and a second wireless optical communication subsystem 9, wherein the FPGA control board 6 is connected to the CPU processing board 7, the second network switching subsystem 8 and the second wireless optical communication subsystem 9 respectively, and the first wireless optical communication subsystem 5 is connected to the second wireless optical communication subsystem 9.

[0039] The wireless optical networking server 3 is used to generate UDP broadcast packets for detection and periodically send control signals to the network, serving as both a control initiator and a signal source.

[0040] The first network switching subsystem 4 is used to transmit probed UDP broadcast packets to realize data service exchange in the direction of the AGV server service interface;

[0041] The first wireless optical communication subsystem 5 is used to establish a wireless laser communication link with the second wireless optical communication subsystem 9;

[0042] The FPGA control board 6 is used for Ethernet packet framing / deframing, packet filtering, packet loss statistics, communication link quality statistics and data forwarding operations, and forwards the detection signal packets received by the second wireless optical communication subsystem 9 to the CPU processing board 7.

[0043] The CPU processing board 7 is used to process the probe packets, execute the optimal control switching strategy, generate the optimal control method, and generate control commands from the processing results, which are then sent to the second network switching subsystem 8.

[0044] The second network switching subsystem 8 is used to transmit probed UDP broadcast packets to realize data service exchange in the direction of the AGV service network port;

[0045] The second wireless optical communication subsystem 9 is used to establish a wireless laser communication link with the first wireless optical communication subsystem 5.

[0046] In this embodiment of the invention, the wireless optical networking server 3 and the first network switching subsystem 4 are installed in a cabinet, and the first wireless optical communication subsystem 5 is installed on the warehouse wall. All parts are interconnected via Ethernet cables. The wireless optical networking server 3 generates UDP broadcast packets for detection and periodically sends control signals to the network, serving as both a control initiator and signal source. The first network switching subsystem 4 transmits the detected UDP broadcast packets and implements data service exchange in the direction of the AGV server's service interface. The first wireless optical communication subsystem 5 and the second wireless optical communication subsystem 9 of the AGV mobile terminal 2 establish a wireless optical communication link. The four second wireless optical communication subsystems 9 correspond to wireless optical signal transmission and reception in four directions and are installed on the four sides of the AGV to establish wireless optical communication links with the second wireless communication subsystem. The FPGA control board 6 is the core forwarding and control unit of this system and is the second wireless optical communication subsystem 9. The bridge between the CPU processing board 7 and the second network switching subsystem 8 has functions such as Ethernet packet framing / deframing, packet filtering, packet loss statistics, communication link quality statistics, and data forwarding. It forwards the probe signal packets received by the second wireless optical communication subsystem 9 to the CPU processing board 7. The CPU processing board 7 processes the probe packets, executes the optimal control switching strategy, generates the optimal control method, and generates control commands based on the processing results, which are then sent to the second network switching subsystem 8. At the AGV mobile terminal 2, the FPGA control board 6 is interconnected with the second wireless optical communication subsystem 9, the CPU processing board 7, and the second network switching subsystem 8 via Ethernet cables. This system, through multi-point deployment of wireless optical communication units and a rapid communication switching control method, can effectively improve the reliability of wireless optical communication establishment and the efficiency of network switching, providing a reliable and stable wireless optical communication link between the AGV and the warehouse server. This solves the problem that changes in the Ethernet port caused by AGV movement and turning result in the network not converging quickly, leading to communication interruptions lasting 10-30 seconds and preventing the AGV from communicating with the server.

[0047] Furthermore, the FPGA control board 6 includes a packet interface module 10, a packet filtering module 11, a packet processing module 12, a CPU control bus module 13, and a link selection module 14;

[0048] The packet interface module 10 is used for Ethernet packet framing and deframing.

[0049] The data packet filtering module 11 is used to identify ARP packets, ICMP packets, and service data packets;

[0050] The data packet processing module 12 is used for processing various data packets, calculating packet loss rate, identifying MAC link information, and reporting relevant information to the CPU control bus module 13.

[0051] The CPU control bus module 13 is used to implement the control functions of the FPGA;

[0052] The link selection module 14 is used for data transmission routing.

[0053] In this embodiment of the invention, the CPU control bus module 13 is mainly responsible for the control functions of the FPGA, the Ethernet packet interface module 10 is mainly responsible for Ethernet packet framing and deframing, the packet filtering module 11 is mainly responsible for identifying ARP packets, ICMP packets, and service packets, the packet processing module 12 is mainly responsible for processing various types of packets, calculating packet loss rate, MAC identification and other link information, and reporting the relevant information to the CPU control bus module 13, and the link selection module 14 is mainly responsible for data transmission routing, selecting data for uplink to the service terminal, and selecting the link exit for downlink packets and service packets from the CPU processing board 7. The selection rules are determined by the CPU processing board 7.

[0054] Please see Figures 3 to 6 Secondly, the present invention also provides a fast switching control method for AGV wireless optical communication, applied to the AGV wireless optical communication system as described in the first aspect above, comprising the following steps:

[0055] S1 wireless optical networking server 3 sends UDP broadcast packets to the first network switching subsystem 4 at 1ms intervals;

[0056] The S2 second wireless optical communication subsystem 9 sends the port information of the UDP packets received in the FPGA control board 6 to the CPU processing board 7.

[0057] The CPU processing board 7 described in S3 selects the port with the highest priority to establish a connection with the internal switching chip based on the port priority.

[0058] S4 controls the FPGA control board 6 to send broadcast packets using the MAC address of the AGV network port, causing the second network switching subsystem 8 to update the MAC address table, thus enabling the AGV server to establish a connection with the AGV.

[0059] Specifically:

[0060] The AVG mobile terminal is registered in the wireless optical networking server 3. The wireless optical networking server 3 sends UDP probe packets to all the AVG mobile terminals through the network switching unit at 1ms intervals. The AGV mobile terminal 2 sends the probe packets and receiving port information received by the second wireless optical communication subsystem 9 to the CPU processing board 7. The CPU processing board 7 determines the packet loss rate of the probe packets based on the received UDP data packets and interface information, and selects the receiving optical path priority, sets the best receiving interface, and sets the port priority. The CPU processing board 7 controls the AVG service port data to establish a connection with the AVG internal switching unit through the selected port and forward the data. At the same time, the CPU processing board 7 controls the FPGA control board 6 to send probe response packets with the MAC address of the AGV network port as the source address, prompting the server network switching unit to quickly update the MAC address table. At this time, the AGV server can quickly establish a physical connection with the AGV. When the AGV mobile terminal 2 is controlled to send a turn, the receiving optical path changes, triggering the CPU to select the optical path again. The above steps are repeated to achieve uninterrupted communication of the AGV.

[0061] This method integrates the changes in probe packet quality, signal optical power, and packet loss rate to achieve optimal control switching for multiple AGVs operating simultaneously. It proposes an AGV wireless optical communication network system model and a communication network decision control process method. By analyzing factors such as probe packet quality, signal optical power changes, and packet loss rate, the weights of each factor are determined on the CPU processing board 7 using the hierarchical analysis method, and the link interruption probability is predicted. The total network connectivity function is calculated, and the maximum decision criterion is obtained using an iterative algorithm. This determines the link switching scheme, which is then executed by the FPGA control board 6.

[0062] System Modeling

[0063] Based on the movement patterns of the AGV vehicles in the warehouse and their network connectivity with the warehouse, a mathematical model is established. This model transforms the problem of ensuring communication switching rate and quality into finding the optimal solution for a mathematical function. The processor then performs optimization calculations to obtain the optimal switching control algorithm.

[0064] The system communication handover control decision-making process includes the control decision time, system network state, network handover actions and handover control strategies, effect functions, and transition probabilities. The modeling process is as follows:

[0065] The switching control decision point during the AGV vehicle movement is represented by the variable T, T = {1, 2, 3, …, N}, where the random variable N represents the duration of AGV vehicle communication. Let M be the total number of communication links, and the link switching selection sequence be A = {1, 2, 3, …, M}, where αt ∈ A represents the communication link selected at decision time t.

[0066] Let S denote the system communication state space, βt∈S denote the system state before the link switching action αt, and βt+1∈S denote the system state after the state space action αt is taken. Therefore, the communication network state transition probability is P[βt+1|βt, αt]. The state of the system communication at the next moment depends only on the current switching action and the communication network state. The decision criterion for the communication control decision at time t is δt: S→A, which constitutes the network switching action strategy π = (δ1, δ2, ..., δN).

[0067] The utility function Γ(βt, αt) of the AGV vehicle communication link represents the utility provided by the selected network for the link in the time period (t, t+1), while the cost function ζ(βt, αt) represents the additional overhead caused by network switching. The link reward function is the difference between the utility function and the cost function, i.e., γ(βt, αt) = Γ(βt, αt) - ζ(βt, αt).

[0068] Let Rπ(s) be the expected total reward function from the first switching control decision point to the termination of the connection, and let the initial system state be s, then:

[0069]

[0070] In the formula Represent the expectation of π and the initial state s. Let N represent the expected value at time N. Assume the random variable N follows a geometric distribution with parameter λ (the discount factor of the reward function), meaning the average connection time for AGV vehicle communication is 1 / (1-λ), where 0 ≤ λ ≤ 1. Therefore, the state transition probability of the communication network P(N=n) = λn-1(1-λ), then... It can be transformed into:

[0071]

[0072] Therefore, the problem of selecting the optimal network in AGV vehicle communication link establishment is to find the optimal switching control action strategy π*, such that for any other action strategy π, the following is satisfied: During the control process, to ensure that the decision criterion for AGV vehicles to switch networks is stationary, i.e., δt=δ, the stationary action strategy is π=(δ1,δ2,…,δN). Therefore, the problem becomes finding the optimal decision criterion δ* that maximizes the total reward function.

[0073] Analysis of communication elements

[0074] To calculate the optimal control algorithm for the network, it is necessary to first analyze the attributes of the network influencing factors and the channel characteristics, obtain the utility function of each attribute, then determine the state transition probability matrix through the state space, and finally determine the weight of each attribute using the comprehensive weight method and complete the optimal network selection using the value iteration method.

[0075] In the AGV vehicle networking model, network attributes include transmission rate, average latency, and average jitter rate. Network switching overhead and the probability of transmission channel interruption are the main factors affecting network switching selection decisions. Assume the current system state is s, a is the action at the current decision moment, and s' is the system state after the decision. The data transmission rate provided by the network directly affects the communication quality of the vehicle. However, when a certain rate is reached, the utility value brought by the rate to the link does not increase with the rate increase. Therefore, the utility function of the transmission rate follows the law of diminishing marginal returns, and the utility function Γb(s, a) of the transmission rate can be expressed as:

[0076]

[0077] In the formula and These represent the minimum and saturation rates required for data transmission in the vehicle-to-everything (V2X) network, respectively. The parameter that affects the marginal effect of the curve is determined by both the target rate and the saturation rate.

[0078] The average latency and jitter introduced by the network also follow the law of diminishing marginal utility, therefore its utility function and They are respectively

[0079]

[0080]

[0081] In the formula and These represent the minimum latency and the maximum acceptable latency for vehicle communication, respectively, and are parameters related to the marginal effect of latency. Determined by the target latency and the minimum latency, and These represent the minimum jitter rate and the maximum jitter rate to ensure normal communication in the Internet of Vehicles (IoV), respectively. The target jitter rate and the minimum jitter rate determine... .

[0082] Utility function for network switching overhead ,have:

[0083]

[0084] In the formula This represents the overhead required for switching. The utility function value is 0 when no vertical switch occurs or only a horizontal switch occurs.

[0085] To measure the link quality of AGV vehicle communication, the important indicator of channel outage probability will be obtained by analyzing channel characteristics. Fading in AGV communication channels includes large-scale fading and small-scale fading. Large-scale fading consists of path loss and shadowing fading.

[0086]

[0087] In the formula and Let represent the reference distance and the actual distance, respectively, and n represent the path loss factor that varies with the environment, while shadow fading... This indicates that the mean is 0 and the standard deviation is 0. It follows a log-normal distribution.

[0088] Because the wireless optical signal transmission in AGV vehicle networking is obstructed by other AGV vehicles, goods, and shelves, the non-line-of-sight component dominates the channel. Therefore, the signal envelope z(t) = |r(t)| follows a Rayleigh distribution.

[0089]

[0090] The power of the received optical link signal follows an exponential distribution:

[0091]

[0092] Assuming the channel noise is additive white Gaussian noise, the received signal-to-noise ratio can be expressed as: When the received signal-to-noise ratio is less than the minimum threshold When this happens, the connection may be interrupted, so the channel characteristics are described by the probability of interruption:

[0093]

[0094] Based on the network attribute utility function, the interruption probability utility function can be derived. for

[0095]

[0096] In the formula and These represent the minimum interruption probability and the maximum acceptable interruption probability parameters for vehicle communication, respectively. It is determined by the target interruption probability and the minimum interruption probability.

[0097] Find the optimal network control algorithm

[0098] The state space of the communication network system is .in , , , Let represent the speed, latency, jitter rate, and outage probability of the m-network, respectively. To reduce the number of elements in the state space, let , , , ,in , , , These represent the maximum transmission rate, latency, jitter rate, and outage probability of the m network, respectively.

[0099] Considering the current system state as s and the chosen action as a, the utility function of the link can be defined as:

[0100]

[0101] in, , , , These are utility functions representing transmission rate, latency, jitter rate, and interruption probability, respectively. , , , These represent the weights of the utility functions for each attribute.

[0102] Considering link switching overhead The reward function can be obtained as follows:

[0103]

[0104] Assume the current state and the state after making a network selection are s and s, respectively. If the joint probability densities of the attributes of different networks are independent, then the state transition probability is...

[0105]

[0106] For a network m assuming it has l states, the state transition probability matrix of network m can be represented as Pm.

[0107]

[0108] The state transition probability matrix can be used to predict the state transition of the system after a switching decision is made.

[0109] make The reward function represents the system state s. This indicates that the current system state is s and the next state is s. The transition probability can be obtained from this:

[0110] System reward equation:

[0111]

[0112] The optimal network selection equation for the system can be expressed as:

[0113]

[0114] The solution to this formula is to find the optimal decision criterion. This causes the total reward function to reach its maximum value. .

[0115] Value Iteration Algorithm

[0116] In order to obtain The optimal decision-making strategy and the corresponding maximum reward function value are used to find the optimal switching action strategy that is stable over time using an iterative algorithm.

[0117] The algorithm process is as follows:

[0118] For any system state s, let the first iteration Let ε be an arbitrarily small positive number: ε > 0, and initialize the number of iterations k = 0;

[0119] Based on the optimal network selection equation for the system, calculate the maximum reward function value for each iteration for any system state s. ;

[0120] If the difference between two consecutive iterations is less than the threshold value, that is... If the result is positive, proceed to step 4; otherwise, continue to k+1, return to step 2, and continue iterating.

[0121] For system state s, the optimal decision criterion is: The iteration process ends.

[0122] In the algorithm, to ensure that the iterative process can converge, the value of ε is set according to the CPU processing capability. The system takes the value of 0.0001. Through iterative calculation, the system's reward function can be obtained to approach the maximum value and converge.

[0123] The above description is merely a preferred embodiment of the AGV wireless optical communication system and fast switching control method of the present invention. It should not be construed as limiting the scope of the present invention. Those skilled in the art can understand that all or part of the processes of the above embodiments can be implemented, and equivalent changes made in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. An AGV wireless optical communication system, characterized in that... ； The system includes a fixed warehouse terminal and an AGV mobile terminal, which are connected to each other. The fixed warehouse terminal includes a wireless optical networking server, a first network switching subsystem, and a first wireless optical communication subsystem. The first network switching subsystem is connected to both the wireless optical networking server and the first wireless optical communication subsystem. The AGV mobile terminal includes an FPGA control board, a CPU processing board, a second network switching subsystem, and a second wireless optical communication subsystem. The FPGA control board is connected to the CPU processing board, the second network switching subsystem, and the second wireless optical communication subsystem. The first wireless optical communication subsystem is connected to the second wireless optical communication subsystem. The wireless optical networking server is used to generate UDP broadcast packets for detection and periodically send control signals to the network, serving as both a control initiator and a signal source. The first network switching subsystem is used to transmit probed UDP broadcast packets to realize data service exchange in the AGV server service access direction; The first wireless optical communication subsystem is used to establish a wireless laser communication link with the second wireless optical communication subsystem; The FPGA control board is used for Ethernet packet framing / deframing, packet filtering, packet loss statistics, communication link quality statistics, and data forwarding operations, and forwards the detection signal packets received by the second wireless optical communication subsystem to the CPU processing board. The CPU processing board is used to process the probe packets, execute the optimal control switching strategy, generate the optimal control method, and generate control commands from the processing results, which are then sent to the second network switching subsystem. The second network switching subsystem is used to transmit probed UDP broadcast packets to realize data service exchange in the direction of the AGV service network port; The second wireless optical communication subsystem is used to establish a wireless laser communication link with the first wireless optical communication subsystem; The FPGA control board includes a packet interface module, a packet filtering module, a packet processing module, a CPU control bus module, and a link selection module. The packet interface module is used for Ethernet packet framing and deframing. The packet filtering module is used to identify ARP packets, ICMP packets, and service data packets; The data packet processing module is used for processing various types of data packets, calculating packet loss rate, identifying MAC link information, and reporting relevant information to the CPU control bus module. The CPU control bus module is used to implement the control functions of the FPGA; The link selection module is used for data transmission routing; The FPGA control board is interconnected with the second wireless optical communication subsystem, the CPU processing board, and the second network switching subsystem via an Ethernet cable.

2. A fast switching control method for AGV wireless optical communication, applied to the AGV wireless optical communication system as described in any one of claims 1, characterized in that, Includes the following steps: The wireless optical networking server sends UDP broadcast packets to the first network switching subsystem at 1ms intervals. The FPGA control board sends the port information of the UDP packets received in the second wireless optical communication subsystem to the CPU processing board. The CPU processing board selects the highest priority port to establish a connection with the internal switching chip based on port priority. The FPGA control board sends broadcast packets using the MAC address of the AGV's network port, causing the second network switching subsystem to update the MAC address table, thus enabling the AGV server to establish a connection with the AGV.

3. The AGV wireless optical communication fast switching control method as described in claim 2, characterized in that... ； The CPU processing board further includes selecting the highest priority port to establish a connection with the internal switching chip based on port priority: The CPU processing board analyzes factors such as the quality of the probe packets, changes in signal optical power, and packet loss rate. It then uses a hierarchical analysis method to determine the weights of each factor, predicts the probability of link interruption, calculates the total network connectivity function, and uses an iterative algorithm to find the maximum decision criterion. This determines the link switching scheme, which is then executed by the FPGA control board.

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