AGV map transmission method

Abstract

The invention relates to an AGV map transmission method, and belongs to the field of wireless communication. The invention aims to provide the AGV map transmission method, and when the local environment cannot directly communicate with the AGV, the local AGV map can be efficiently and reliably transmitted to the AGV. The method has the beneficial effects that the fortress machine can automatically transfer the transmitted AGV map file, and the transmission efficiency of the AGV map is greatly improved in combination with a mode of transmitting by using the user-defined TCP message. Meanwhile, the reliability of transmission is ensured by the failure retransmission function and the file integrity verification operation which is automatically carried out after the transmission is completed.

Description

Technical Field

[0001] The invention relates to an AGV map transmission method and belongs to the field of wireless communications. Background Art

[0002] For security reasons, enterprises usually isolate the operating environment of AGVs (automated guided vehicles) from the external network, and the external network can only access the AGVs through a designated bastion host as a springboard. The bastion host is a server that uses various technical means to monitor and record the operations of the operation and maintenance personnel on the servers, network equipment, security equipment, databases and other equipment in the network in a specific network environment in order to protect the network and data from intrusion and damage from external and internal users, so as to centrally report, handle and audit the responsibility.

[0003] This method largely ensures that the operating environment of the AGV will not be damaged by external and internal user intrusions, but on the other hand it also increases the complexity and inconvenience of operation and maintenance operations, especially during the operation of the AGV, it is inevitable that the AGV map needs to be updated. At this time, the technician needs to first transfer the map file from the local environment to the bastion host, and then log in to the bastion host to transfer the map file to the corresponding AGV. In addition, both transmissions require the technician to always pay attention to whether the transmission progress is interrupted. Once the transmission process is interrupted, it can only be restarted. When the network is unstable, the transmission process may be interrupted many times, causing the technician to spend a lot of time and energy to repeat the transmission operation. What's worse is that this shortcoming will be multiplied as the size and number of transmitted files increase.

[0004] After the AGV map transmission is completed, the technicians also need to verify the integrity of the map file to prevent the file data from being lost or damaged and causing production accidents. Under the traditional transmission method, the technicians need to verify the integrity of the map file by observing whether the AGV is running normally, which is not only time-consuming and labor-intensive, but also difficult to ensure the effectiveness of the inspection.

[0005] In addition, traditional transmission methods are usually based on http or sftp protocols, which have low actual transmission efficiency and cannot effectively utilize network bandwidth. In addition, the need to manually transfer files on the bastion host makes efficient transmission even more impossible. Summary of the invention

[0006] The object of the present invention is to provide an AGV map transmission method, which can efficiently and reliably transmit the local AGV map to the AGV when the local environment and the AGV cannot communicate directly.

[0007] In order to achieve the above object, the present invention provides the following technical solutions: An AGV map transmission method, wherein the method comprises the following steps: S10: The file sender constructs information of the map file to be transmitted locally, forms transmission information for the map file, and stores the transmission information locally at the file sender; S20: The file sender establishes transmission channel 1 with the bastion host according to the IP link in the transmission information. After transmission channel 1 is successfully established, the transmission information is sent to the bastion host through transmission channel 1, and the mapping between the transmission information and transmission channel 1 is recorded locally at the file sender. S30: After receiving the transmission information, the bastion host establishes transmission channel 2 with the corresponding AGV car according to the IP link recorded in the transmission information, forwards the received transmission information to the AGV car through transmission channel 2, and then establishes and records the mapping relationship between transmission channel 1 and transmission channel 2 locally on the bastion host through the transmission channel ID; S40: After receiving the transmission information transferred by the bastion host, the AGV saves it locally, modifies the value of the transmitted map file size in the received transmission information according to the map file size received by the AGV, and then returns the modified transmission information to the bastion host through transmission channel 2; S50: After receiving the modified transmission information returned by the AGV, the bastion host calls transmission channel 1 through the ID of transmission channel 2 according to the mapping relationship between transmission channel 1 and transmission channel 2 established and recorded in step S30, and directly forwards the received modified transmission information back to the file sender without parsing; S60: After receiving the modified transmission information returned through the transmission channel 1, the file sender overwrites the local transmission information of the file sender with the modified transmission information; S70: The file sender locates the start position of file reading according to the size of the transmitted map file in the transmission information, and then continuously reads the map file data and sends it to the bastion host through the transmission channel 1, and at the same time updates the size of the transmitted file in the local transmission information of the file sender; S80: After receiving the map file data, the bastion host retrieves the transmission channel 2 through the ID of the transmission channel 1 according to the mapping relationship between the transmission channel 1 and the transmission channel 2 established and recorded in step S30, and directly forwards the data to the AGV car without parsing; S90: After receiving the map file data, the AGV writes the map file data into the local map file of the AGV according to the transmission information stored locally in the AGV and the map file storage location therein, and then updates the size of the transmitted map file of the local transmission information of the AGV; S100: repeating steps S70-S90 until the map file transmission is completed, that is, the size of the transmitted map file reaches the value of the total size of the map file; S110: When the size of the transmitted map file is equal to the total size of the map file, the map file transmission is completed. At this time, the AGV calculates the checksum of the local file of the AGV and compares it with the checksum in the transmission information to determine the integrity of the map file; if the file is complete, a confirmation signal is returned to notify the file sender to end the transmission of the map file; if the file is incomplete, the local file of the AGV is deleted and a retransmission signal is returned to the file sender; S120: If the file sender receives the confirmation signal sent by the AGV, it closes transmission channel 1. After the bastion host receives the closing signal of transmission channel 1, it removes the mapping relationship between transmission channel 1 and transmission channel 2 and closes transmission channel 2. At this point, the map file transmission is completed; If the file sender receives a retransmission signal from the AGV or a transmission interruption occurs, steps S10-S90 are repeated until transmission channel 1 is closed after receiving a confirmation signal from the AGV. After the bastion host receives the closing signal of transmission channel 1, it removes the mapping relationship between transmission channel 1 and transmission channel 2 and closes transmission channel 2. At this point, the map file transmission is completed.

[0008] Among them, in step S10, the transmission information includes the complete IP link from the file sender to the bastion host and then to the AGV car, the total size of the map file, the size of the transmitted map file, the check value of the map file, and the storage location of the map file on the AGV car.

[0009] Wherein, in step S40, the modified transmission information includes the modified size of the transmitted map file.

[0010] Compared with the prior art, the present invention has the following beneficial effects: The beneficial effect of the present invention is that the bastion host can automatically transfer the transmitted AGV map file, and combined with the use of custom TCP packets for transmission, the efficiency of AGV map transmission is greatly improved. At the same time, the failure retransmission function and the automatic file integrity check operation after the transmission is completed ensure the reliability of the transmission.

[0011] 1. The sender, bastion host, and AGV car will deploy the same transmission system, which can update the map to the car in real time during operation; 2. The bastion machine will automatically forward the received map files to the corresponding AGV car, without the need for technicians to operate and pay attention to whether the progress is interrupted, which is convenient to operate; 3. After the transmission is completed, the system (car) will automatically check the integrity of the map file. If it detects that the map file is incomplete, it will automatically retransmit it, avoiding the tedious manual verification; 4. System verification is more accurate and reliable than manual verification; 5. Use custom-formatted TCP packets to implement transmission functions, which can improve transmission efficiency compared to traditional transmission methods usually based on http or sftp protocols; 6. Automatic transmission is more efficient than manual transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the overall structure of AGV map transmission; Figure 2 This is the timing diagram of AGV map transmission. DETAILED DESCRIPTION

[0013] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0014] like Figure 1 and Figure 2 As shown, an AGV map transmission method comprises the following steps: S10: The file sender constructs information of the map file to be transmitted locally, forms transmission information for the map file, and stores the transmission information locally at the file sender. The transmission information includes the complete IP link from the file sender to the bastion host and then to the AGV (constructing the file transmission route), the total size of the map file, the size of the transmitted map file (contained in the transmission information), the checksum of the map file, and the storage location of the map file on the AGV.

[0015] S20: The file sender establishes transmission channel 1 with the bastion host according to the IP link in the transmission information. After transmission channel 1 is successfully established, the transmission information is sent to the bastion host through transmission channel 1, and the mapping between the transmission information and transmission channel 1 is recorded locally at the file sender.

[0016] S30: After receiving the transmission information, the bastion host establishes transmission channel 2 with the corresponding AGV car according to the IP link recorded in the transmission information, forwards the received transmission information to the AGV car through transmission channel 2, and then establishes and records the mapping relationship between transmission channel 1 and transmission channel 2 locally on the bastion host through the transmission channel ID.

[0017] S40: After receiving the transmission information relayed by the bastion host, the AGV saves it locally to the AGV, modifies the value of the transmitted map file size in the received transmission information according to the map file size received by the AGV, and then returns the modified transmission information to the bastion host through transmission channel 2. Preferably, the modified transmission information includes the modified transmitted map file size.

[0018] S50: After the bastion host receives the modified transmission information returned by the AGV, it calls transmission channel 1 through the ID of transmission channel 2 according to the mapping relationship between transmission channel 1 and transmission channel 2 established and recorded in step S30, and directly forwards the received modified transmission information back to the file sender without parsing.

[0019] S60: After receiving the modified transmission information returned through the transmission channel 1, the file sender overwrites the local transmission information of the file sender with the modified transmission information.

[0020] S70: The file sender locates the start position of file reading according to the size of the map file that has been transmitted in the transmission information, and then continuously reads the map file data and sends it to the bastion host through transmission channel 1, and updates the size of the file that has been transmitted in the local transmission information of the file sender. This avoids the need to start the file transmission from the beginning after the transmission is interrupted, thereby improving the efficiency of file retransmission.

[0021] S80: After receiving the map file data, the bastion host calls transmission channel 2 through the ID of transmission channel 1 according to the mapping relationship between transmission channel 1 and transmission channel 2 established and recorded in step S30, and directly forwards the data to the AGV car without parsing, so as to avoid additional performance loss caused by the file data landing on the bastion host.

[0022] S90: After the AGV receives the map file data, it writes the map file data into the local map file of the AGV according to the transmission information stored locally in the AGV and the map file storage location therein, and then updates the size of the transmitted map file of the local transmission information of the AGV.

[0023] S100: Repeat steps S70-S90 until the map file transmission is completed, that is, the size of the transmitted map file reaches the value of the total size of the map file.

[0024] S110: When the size of the transmitted map file is equal to the total size of the map file, the map file transmission is completed. At this time, the AGV calculates the checksum of the local file of the AGV and compares it with the checksum in the transmission information to determine the integrity of the map file. If the file is complete, a confirmation signal is returned to notify the file sender to end the transmission of the map file. If the file is incomplete, the local file of the AGV is deleted and a retransmission signal is returned to the file sender.

[0025] S120: If the file sender receives the confirmation signal sent by the AGV, it closes transmission channel 1. After receiving the closing signal of transmission channel 1, the bastion host removes the mapping relationship between transmission channel 1 and transmission channel 2 and closes transmission channel 2. At this point, the map file transmission is completed.

[0026] If the file sender receives a retransmission signal from the AGV or a transmission interruption occurs, steps S10-S90 are repeated until a confirmation signal from the AGV is received and transmission channel 1 is closed. After the bastion host receives the closing signal of transmission channel 1, it removes the mapping relationship between transmission channel 1 and transmission channel 2 and closes transmission channel 2. At this point, the map file transmission is completed.

Claims

1. An AGV map transmission method, characterized in that: The method comprises the steps of: S10: The file sender constructs information of the map file to be transmitted locally, forms transmission information for the map file, and stores the transmission information locally at the file sender; S20: The file sender establishes transmission channel 1 with the bastion host according to the IP link in the transmission information. After transmission channel 1 is successfully established, the transmission information is sent to the bastion host through transmission channel 1, and the mapping between the transmission information and transmission channel 1 is recorded locally at the file sender. S30: After receiving the transmission information, the bastion host establishes transmission channel 2 with the corresponding AGV car according to the IP link recorded in the transmission information, forwards the received transmission information to the AGV car through transmission channel 2, and then establishes and records the mapping relationship between transmission channel 1 and transmission channel 2 locally on the bastion host through the transmission channel ID; S40: After receiving the transmission information transferred by the bastion host, the AGV saves it locally, modifies the value of the transmitted map file size in the received transmission information according to the map file size received by the AGV, and then returns the modified transmission information to the bastion host through transmission channel 2; S50: After receiving the modified transmission information returned by the AGV, the bastion host calls transmission channel 1 through the ID of transmission channel 2 according to the mapping relationship between transmission channel 1 and transmission channel 2 established and recorded in step S30, and directly forwards the received modified transmission information back to the file sender without parsing; S60: After receiving the modified transmission information returned through the transmission channel 1, the file sender overwrites the local transmission information of the file sender with the modified transmission information; S70: The file sender locates the start position of file reading according to the size of the transmitted map file in the transmission information, and then continuously reads the map file data and sends it to the bastion host through the transmission channel 1, and at the same time updates the size of the transmitted file in the local transmission information of the file sender; S80: After receiving the map file data, the bastion host retrieves the transmission channel 2 through the ID of the transmission channel 1 according to the mapping relationship between the transmission channel 1 and the transmission channel 2 established and recorded in step S30, and directly forwards the data to the AGV car without parsing; S90: After receiving the map file data, the AGV writes the map file data into the local map file of the AGV according to the transmission information stored locally in the AGV and the map file storage location therein, and then updates the size of the transmitted map file of the local transmission information of the AGV; S100: repeating steps S70-S90 until the map file transmission is completed, that is, the size of the transmitted map file reaches the value of the total size of the map file; S110: When the size of the transmitted map file is equal to the total size of the map file, the map file transmission is completed. At this time, the AGV calculates the checksum of the local file of the AGV and compares it with the checksum in the transmission information to determine the integrity of the map file; if the file is complete, a confirmation signal is returned to notify the file sender to end the transmission of the map file; if the file is incomplete, the local file of the AGV is deleted and a retransmission signal is returned to the file sender; S120: If the file sender receives the confirmation signal sent by the AGV, it closes transmission channel 1. After the bastion host receives the closing signal of transmission channel 1, it removes the mapping relationship between transmission channel 1 and transmission channel 2 and closes transmission channel 2. At this point, the map file transmission is completed; If the file sender receives a retransmission signal from the AGV or a transmission interruption occurs, steps S10-S90 are repeated until transmission channel 1 is closed after receiving a confirmation signal from the AGV. After the bastion host receives the closing signal of transmission channel 1, it removes the mapping relationship between transmission channel 1 and transmission channel 2 and closes transmission channel 2. At this point, the map file transmission is completed.

2. The AGV map transmission method according to claim 1, characterized in that: In step S10, the transmission information includes the complete IP link from the file sender to the bastion host and then to the AGV, the total size of the map file, the size of the transmitted map file, the checksum of the map file, and the storage location of the map file on the AGV.

3. The AGV map transmission method according to claim 1, characterized in that: In step S40, the modified transmission information includes the modified size of the transmitted map file.

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