Data communication method and device based on industrial Internet of Things, medium and equipment

Abstract

The embodiment of the invention provides a data communication method and device based on industrial Internet of Things, a medium and equipment. The method comprises the following steps: receiving broadcast messages sent by each second AGV adjacent to a first AGV; judging whether the second AGV meets a relay condition or not based on the broadcast message; if the relay condition is met, the data link priority of each second AGV is determined based on the broadcast message, a data forwarding packet carrying the priority is sent to the second AGV whose priority is higher than a preset threshold, and if only the data forwarding broadcast sent by the second AGV is received within a preset time, the data forwarding packet is sent to the second AGV. According to the method, the data forwarding broadcast information of the highest priority information is sent to other surrounding second AGVs, the second AGVs establish data transmission links with third AGVs with the highest priority in the second AGVs, and the problem of low data transmission efficiency caused by the fact that effective data transmission links cannot be accurately established among the AGVs is solved.

Description

Technical Field

[0001] The present application relates to the field of data communication technology, and in particular to a data communication method, device, medium and equipment based on industrial Internet of Things. Background Art

[0002] At present, in some application areas of the Industrial Internet of Things, such as Automatic Guided Vehicle (AGV) clusters, high-speed rail train segments and other network devices, in addition to conventional methods such as Wi-Fi or Bluetooth for short-distance communication, there are also some special communication methods. For example: for communication between train segments in the railway industry, trains mostly use ultra-high-speed train communication protocols based on on-board systems, with a frequency of 3.7 to 3.9 GHz and a transmission distance of 4.2 km; for short-distance application scenarios such as AGV cluster communication, in order to reduce costs, short-distance communication methods similar to low-cost Bluetooth will also be used.

[0003] In the prior art, the Bluetooth-based AGV cluster communication method mainly uses Bluetooth broadcasting to realize the discovery of adjacent nodes. For each AGV, it can only obtain the wireless broadcast information of the nodes near the AGV from the broadcast of the surrounding nodes; the main method of communication between AGVs is: when the AGV needs to send a data packet to a specific AGV, the AGV first discovers the surrounding nodes, and if it finds the target AGV logo in the broadcast packet, it sends the data packet to the target AGV; after the node discovery between AGVs is completed and the communication link is established, the method of data packet transmission between AGVs is point-to-point transmission; when the AGV has a communication link with multiple AGVs, the AGV realizes multi-node concurrent transmission in the following way: the AGV uses multiple paths to send data point-to-point according to the connected Bluetooth link, and uses a specific port to identify the path. When the AGV receives the data packet, it will record the port number of the source AGV, and send the corresponding response packet to the specific AGV through the port number.

[0004] However, when there are a large number of AGVs or when motion interference occurs between AGVs, resulting in poor link quality, it is impossible to accurately establish an effective data transmission link between AGVs, resulting in low data transmission efficiency; and when AGVs send multiple data packets through multiple Bluetooth links, there may be a problem that one or more AGVs cannot receive some data packets. Summary of the invention

[0005] The main purpose of this application is to provide a data communication method, device, medium and equipment based on the industrial Internet of Things, aiming to solve the technical problem of low data transmission efficiency caused by the inability to accurately establish an effective data transmission link between AGVs when there are a large number of AGVs or when motion interference occurs between AGVs resulting in poor link quality.

[0006] To achieve the above-mentioned purpose, the present application provides a data communication method based on industrial Internet of Things, which is applied to the first AGV car, including: receiving broadcast messages sent by each second AGV car, and each second AGV car is adjacent to the first AGV car; judging whether the second AGV car meets the relay condition based on the broadcast message; if the relay condition is met, determining the data link priority of each second AGV car based on the broadcast message, and sending a data forwarding packet carrying the priority to the second AGV car whose priority is higher than a preset threshold; receiving data forwarding broadcast information sent by each second AGV car, sending the data forwarding broadcast information carrying the highest priority information to other surrounding second AGV cars, and establishing a data transmission link with the third AGV car with the highest priority among the second AGV cars, and transmitting data based on the data transmission link.

[0007] Optionally, judging whether the second AGV cart meets the relay condition based on the broadcast message includes: obtaining the communication link quality between each second AGV cart and the first AGV cart and the relative position of the second AGV cart and each first AGV cart based on the broadcast message; judging whether the relative position is less than a first preset distance; if the relative position is less than the first preset distance, continuing to judge whether the communication link quality is lower than a preset threshold; if the communication link quality is lower than the preset threshold, determining that the second AGV cart meets the relay condition; otherwise, the second AGV cart does not meet the relay condition.

[0008] Optionally, before receiving the data forwarding broadcast information sent by each second AGV cart and sending the data forwarding broadcast information carrying the highest priority information to other surrounding second AGV carts, the data communication method based on industrial Internet of Things also includes: determining the second AGV cart that is closest to the first AGV cart in relative position among each second AGV cart based on the broadcast message as a pre-selected relay, and establishing a data transmission link between the pre-selected relay and the first AGV cart; determining whether the data transmission link between the second AGV cart and the pre-selected relay is interrupted, and when the data transmission link is interrupted, searching for the next pre-selected relay from the second AGV cart based on the highest priority information, and establishing a data transmission link between the next pre-selected relay and the first AGV cart.

[0009] In addition, to achieve the above-mentioned purpose, the present application provides a data communication method based on the industrial Internet of Things, which is applied to the third AGV vehicle. The data communication method based on the industrial Internet of Things includes: obtaining broadcast messages of each of the surrounding second AGV vehicles, and obtaining status information and priority information of each of the second AGV vehicles based on the broadcast messages, wherein the status information includes the signal strength of the surrounding vehicles; obtaining a preset range where the second AGV vehicles with signal strength greater than or equal to a preset threshold are located, and sending a data forwarding packet within the preset range; receiving the data broadcast information within the preset range, and according to the data broadcast information, taking each of the second AGV vehicles with the highest priority within the preset range as the next pre-selected relay, and establishing a data transmission link between the next pre-selected relay and the first AGV vehicle.

[0010] Optionally, according to the data broadcast information, the second AGV car with the highest priority within the preset range is used as the next pre-selected relay, and a data transmission link between the next pre-selected relay and the first AGV car is established, including: obtaining the first forwarding node number recorded when receiving the data forwarding packet from the first AGV car; obtaining the second forwarding node number recorded when each of the second AGV cars receives the data forwarding packet from the first AGV car; if the first forwarding node number is equal to the second forwarding node number, then determining the data forwarding path based on the first forwarding node, and establishing a data transmission link between the first AGV car and the third AGV car based on the data forwarding path; if the first forwarding node number is less than the second forwarding node number, then taking the second AGV car with the highest priority within the preset range as the root node, and updating the second forwarding node number of the second AGV car as the root node number, searching for the data forwarding path with the highest communication link quality to the first AGV car based on the root node, and establishing a data transmission link between the first AGV car and the second AGV car based on the data forwarding path; if the first forwarding node number is greater than the second forwarding node number number, and the second forwarding node number is a divisor of the first forwarding node number, then the second forwarding node number is used as the divisor, and the transmission power of the second AGV car with the highest priority within the preset range is used as the dividend for division operation to obtain the first divisor, and the data forwarding path with the highest communication link quality is determined based on the first divisor, and the data transmission link between the first AGV car and the second AGV car is established based on the third forwarding path; if the second forwarding node number is not a divisor of the first forwarding node number, the second AGV car with the highest priority within the preset range is set as the root node, and it is determined whether the root node contains a leaf node. If the root node contains a leaf node, the data forwarding path with the highest communication link quality is determined based on the second forwarding node number, and the data transmission link between the first AGV car and the second AGV car is established based on the data forwarding path; if it does not contain a leaf node, the forwarding node number of the root node is reset to the second forwarding node number, the node number of the root node is synchronized, the data forwarding path is determined based on the second forwarding node number, and the data transmission link between the first AGV car and the second AGV car is established based on the fifth forwarding path.

[0011] In addition, to achieve the above-mentioned purpose, the present application provides a data communication method based on the industrial Internet of Things, which is applied to the second AGV cart, and is characterized in that the data communication method based on the industrial Internet of Things includes: receiving broadcast messages from other second AGV carts, and obtaining status information and priority information of other second AGV carts based on the broadcast messages; according to the acquired status information and the priority information, screening the second AGV carts whose status information is higher than a preset threshold among other second AGV carts, and obtaining the fourth AGV cart and the corresponding first link quality and priority information; obtaining the second link quality of the current second AGV cart; determining the root node based on the first link quality and the second link quality, and determining the next relay node based on the root node.

[0012] Optionally, the root node is determined based on the first link quality and the second link quality, and the next relay node is determined based on the root node, including: if the first link quality is greater than the second link quality, the second AGV car is used as the root node, and the fourth AGV car with the highest first link quality is used as the relay node; if the first link quality is less than the second link quality, the second AGV car is used as the root node, and the fourth AGV car with the highest priority is used as the relay node.

[0013] In addition, in order to achieve the above-mentioned purpose, the present application also provides a data communication device based on the industrial Internet of Things, including: a first receiving module, used to receive broadcast messages sent by each second AGV car, and each second AGV car is adjacent to the first AGV car; a first judgment module, used to judge whether the second AGV car meets the relay condition based on the broadcast message; a first sending module, used to determine the data link priority of each second AGV car based on the broadcast message if the relay condition is met, and send a data forwarding packet carrying the priority to the second AGV car whose priority is higher than a preset threshold; a link establishment module, used to receive the data forwarding broadcast information sent by each second AGV car, send the data forwarding broadcast information carrying the highest priority information to other surrounding second AGV cars, and establish a data transmission link with the third AGV car with the highest priority among the second AGV cars, and transmit data based on the data transmission link.

[0014] In addition, in order to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, which includes instructions, and when the instructions are executed on a computer, the computer executes the data communication method based on industrial Internet of Things in any of the above-mentioned embodiments.

[0015] In order to achieve the above-mentioned purpose, the present application also provides an electronic device, which includes a processor, a communication interface, a memory and a communication bus. The processor, the communication interface and the memory communicate with each other through the communication bus. The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the data communication method based on the industrial Internet of Things described in any of the above embodiments.

[0016] The embodiment of the present application proposes a data communication method, device, medium and equipment based on the industrial Internet of Things, which receives broadcast messages sent by each second AGV car adjacent to the first AGV car; determines whether the second AGV car meets the relay conditions based on the broadcast messages; if the relay conditions are met, the qualified relay nodes are screened out by judging whether the relay conditions are met, thereby preliminarily improving the reliability of the data transmission link, and determines the data link priority of each second AGV car based on the broadcast message, and sends a data forwarding packet carrying the priority to the second AGV car with a priority higher than a preset threshold. This step further screens out the nodes with high priority from each node that meets the requirements; if only the data forwarding broadcast sent by the second AGV car is received within a preset time, the data forwarding broadcast information with the highest priority information is sent to other surrounding second AGV cars, and the second AGV car establishes a data transmission link with the third AGV car with the highest priority among the second AGV cars, transmits data based on the data transmission link, and prevents the generation of broadcast storms by setting a waiting time. The above measures solve the problem of low data transmission efficiency due to the inability to accurately establish an effective data transmission link between AGV cars. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of a data communication method based on the industrial Internet of Things provided in an embodiment of the present application;

[0018] Figure 2 A first structural block diagram of a data communication device based on the industrial Internet of Things provided in this embodiment;

[0019] Figure 3 A second structural block diagram of the data communication device based on the industrial Internet of Things provided in this embodiment;

[0020] Figure 4 A third structural block diagram of the data communication device based on the industrial Internet of Things provided in this embodiment;

[0021] Figure 5 A schematic diagram of the computer storage medium structure provided for this embodiment;

[0022] Figure 6 This is a schematic diagram of the structure of an electronic device provided in this embodiment.

[0023] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0024] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0025] The present embodiment provides a data communication method for communicating between AGV carts or robots through a relay link, and avoiding the problem of broadcast storms in data communication. The data communication method can ensure that the short-distance communication path is the shortest and of the highest quality, and ensure the safe and efficient transmission of data. In the relay network of the AGV cart, the time for the first AGV cart to obtain data communication with the adjacent AGV cart (for example, the second AGV cart) is less than the preset time threshold T0. The preset threshold is less than 2000ms (i.e., 2s). When the transmission time is less than the preset threshold, the problem of node communication congestion caused by multi-hop links can be solved.

[0026] Among them, the preset threshold T0 satisfies:

[0027]

[0028] Where d represents the transmission distance of communication between AGVs, l represents the length of the communication device of the AGV, e represents the maximum allowed number of hops of the relay network between the AGV and the adjacent AGV, and V AGV Indicates the running speed of the AGV, Δt AGV represents the time difference between AGV cars, C represents the speed of light propagation, d min Indicates the time required for each AGV to obtain data. Among them, the time difference Δt AGV It includes the opening time of the communication node of the AGV, the data transmission time in the relay network, and the data acquisition and sending time of the AGV.

[0029] Figure 1 A flow chart of a data communication method based on the industrial Internet of Things provided in an embodiment of the present application. The method can be executed by a processor of the first AGV vehicle. Figure 1 , the data communication method based on industrial Internet of Things may include:

[0030] S10, receiving a broadcast message sent by each second AGV, each second AGV being adjacent to the first AGV;

[0031] S20, judging whether the second AGV meets the relay condition based on the broadcast message;

[0032] In an embodiment of the present application, step S20 may include the following execution steps:

[0033] S21, obtaining the communication link quality between the second AGV and the first AGV and the relative position of the second AGV and the first AGV based on the broadcast message;

[0034] S22. Determine whether the relative position is less than a first preset distance; if the relative position is less than the first preset distance, continue to determine whether the communication link quality is lower than a preset threshold; if the communication link quality is lower than the preset threshold, determine that the second AGV meets the relay condition; otherwise, the second AGV does not meet the relay condition.

[0035] Among them, whether the second AGV trolley meets the relay condition can be judged not only by receiving the broadcast message of the second AGV trolley, but also by judging the status data of the second AGV trolley, wherein the status data of the second AGV trolley can be obtained by means of a low-power wide area network. If the relay condition is judged based on the AGV trolley broadcast sent by the second AGV trolley, the processor of the first AGV trolley can compare the signal power carried in the broadcast message sent by the second AGV trolley with the preset reference signal power. When the difference between the reference signal power and the signal power carried in the broadcast message is less than the first preset distance, it is determined that the second AGV trolley is within the preset range of the first AGV trolley, and thus meets the preliminary relay condition. The position of the second AGV trolley can be located by the positioning signal received by the positioning module. After the first AGV trolley receives the positioning position of the second AGV trolley, it can calculate the distance between the first AGV trolley and the second AGV trolley. When the first AGV trolley determines that the second AGV trolley is within its own range, the second AGV trolley initially meets the relay condition. If the distance condition is met, it is then determined whether the communication link quality is lower than a preset threshold.

[0036] Exemplarily, the relay condition may also refer to that the quality of the communication link is greater than a preset relay standard, for example, the preset relay standard may be 15 db. The relay range of the first AGV and the second AGV may be preconfigured.

[0037] S30, if the relay condition is met, determine the data link priority of each second AGV based on the broadcast message, and send a data forwarding packet carrying the priority to the second AGV whose priority is higher than a preset threshold;

[0038] Specifically, after determining that the second AGV meets the relay conditions, the processor can calculate the priority of the second AGV based on the AGV location information and AGV identification information carried in the broadcast message sent by the second AGV. When the priority of the second AGV is greater than or equal to the preset priority, the second AGV preselects the relay node. The AGV with the highest priority sends a data forwarding broadcast carrying a priority to other second AGVs, and the preset relay standard is used to indicate the priority of the second AGV.

[0039] S40, receiving data forwarding broadcast information sent by each second AGV car, sending data forwarding broadcast information carrying the highest priority information to other surrounding second AGV cars, and establishing a data transmission link with the third AGV car with the highest priority among the second AGV cars, and transmitting data based on the data transmission link.

[0040] Specifically, after receiving the data forwarding broadcast sent by the second AGV car, the first AGV car can set a preset waiting time. If the data forwarding broadcast sent by other second AGV cars is not received within the preset time, the second AGV car that has confirmed that it has received the data forwarding broadcast has the highest priority, and the first AGV car sends a data forwarding broadcast to the surrounding second AGV cars, and the data forwarding broadcast carries the information that the second AGV car has the highest priority. The process of establishing a relay link between the first AGV car and the second AGV car can avoid the problems of high bit error rate or link quality and link congestion in the data forwarding process. When the response of the next second AGV car is not received within the preset time, the second AGV car is the best forwarding node. In this way, the possibility of a broadcast storm caused by the data forwarding broadcast sent by multiple second AGV cars can be eliminated. During data relay, a channel competition mechanism can also be added to the second AGV car with the highest priority to avoid interference from the wireless channel during data communication. For example, a competition window is set and the time interval is set to 50ms.

[0041] In an embodiment of the present application, before step S40, the data communication method based on the industrial Internet of Things may further include the following execution steps:

[0042] S50, based on the broadcast message, determine the second AGV trolley closest to the first AGV trolley among the second AGV trolleys as the pre-selected relay, and establish a data transmission link between the pre-selected relay and the first AGV trolley;

[0043] S60, determining whether the data transmission link between the second AGV and the pre-selected relay is interrupted. When the data transmission link is interrupted, searching for the next pre-selected relay from the second AGV based on the highest priority information, and establishing a data transmission link between the next pre-selected relay and the first AGV.

[0044] Specifically, when there are at least two second AGV carts that meet the relay conditions, the second AGV cart that meets the relay conditions and is closest to the first AGV cart is used as the pre-selected relay, and a data transmission link is established between the pre-selected relay and the first AGV cart, and when the data transmission link between the pre-selected relay and the second AGV cart is interrupted, the next pre-selected relay is selected from the second AGV carts, and a data transmission link is established between the next pre-selected relay and the first AGV cart.

[0045] The processor can complete the establishment of a data transmission link between the first AGV and surrounding AGVs by adjacent nodes by executing steps S50 to S60.

[0046] Based on the above embodiments, the present application further provides a data communication method based on the industrial Internet of Things, which is applied to a third AGV vehicle. The method can be executed by a processor of the third AGV vehicle. The data communication method based on the industrial Internet of Things can also include the following execution steps:

[0047] S70, obtaining broadcast messages of surrounding second AGVs, and obtaining status information and priority information of each second AGV based on the broadcast messages, wherein the status information includes signal strength of surrounding vehicles;

[0048] The second AGV uses its on-board communication system to receive broadcast messages from surrounding AGVs. These messages contain rich data, such as the status information and priority information of the AGV. The status information can include key parameters such as the location, speed, direction, and signal strength of the AGV.

[0049] S80, obtaining a preset range where a second AGV vehicle having a signal strength greater than or equal to a preset threshold is located, and sending a data forwarding packet to the preset range.

[0050] Specifically, the second AGV screens out AGVs whose signal strength reaches or exceeds the preset signal strength threshold. This step ensures that only AGVs with good signal quality are considered as potential relay nodes for data transmission. For AGVs within the preset range, the third AGV sends data forwarding packets to them. These data forwarding packets can contain signals requesting relays, as well as the status information and priority information of the second AGV itself, so that other AGVs can use this information for evaluation.

[0051] Exemplarily, the second AGV can be a robot or a sensor node. This embodiment is described by taking the AGV as an example. Exemplarily, the preset threshold L_ Threshold It can be calculated by the following formula:

[0052] L_ Threshold =L min +V AGV *t1

[0053] Among them, V AGV Indicates the running speed of the AGV, t1 indicates the delay time between AGVs, and Lmin indicates the predetermined time threshold. For example, the communication threshold of the AGV is 5m, the delay standard is 1s, and the delay time of the relay communication between the AGV and other AGVs is 3s, then the communication distance of the AGV satisfies 5m. The communication threshold of the AGV can also be set to the communication threshold of the preset link, which refers to the link with the longest distance. If the communication standard between AGVs is set to 1000m, the communication threshold between AGVs is greater than 500m.

[0054] It should be noted that the data forwarding packet sent by the second AGV may include the device identification code, location information and duration of the data packet of the second AGV.

[0055] S90: Use the second AGV with the highest priority within the preset range as the next pre-selected relay, and establish a data transmission link between the next pre-selected relay and the first AGV.

[0056] In this step, once the root node and relay node are determined, the second AGV will establish a stable data transmission link with the second AGV with the highest priority within the preset range.

[0057] In an embodiment of the present application, step S90 may further include the following execution steps:

[0058] S91, obtaining the first forwarding node number recorded when receiving a data forwarding packet from the first AGV;

[0059] S92, obtaining the number of second forwarding nodes recorded when each second AGV receives a data forwarding packet from the first AGV;

[0060] In step S91-step S92, when the third AGV receives the data forwarding packet from the first AGV, it will record the number of first forwarding nodes, that is, the number of intermediate nodes from the first AGV to the third AGV. At the same time, other second AGVs will also record the number of second forwarding nodes, that is, the number of nodes from the first AGV to other second AGVs within the preset range.

[0061] S93, if the number of the first forwarding nodes is equal to the number of the second forwarding nodes, determining a data forwarding path based on the first forwarding nodes, and establishing a data transmission link between the first AGV and the third AGV based on the data forwarding path;

[0062] Specifically, the third AGV will compare the first forwarding node number and the second forwarding node number. If the two are equal, it means that the data transmission path between the third AGV and the first AGV is already optimized. At this time, the third AGV will establish a data transmission link with the first AGV based on the data forwarding path determined by the first forwarding node number.

[0063] S94, if the number of the first forwarding nodes is less than the number of the second forwarding nodes, the second AGV with the highest priority within the preset range is used as the root node, and the second forwarding node number of the second AGV is updated as the root node number, and a data forwarding path with the highest communication link quality to the first AGV is searched based on the root node, and a data transmission link between the first AGV and the second AGV is established based on the data forwarding path;

[0064] Among them, if the number of the first forwarding nodes is less than the number of the second forwarding nodes, the third AGV will select the AGV with the highest priority in the preset range as the new root node, and update the second forwarding node number of the second AGV to the root node number. Then, the second AGV will search for the data forwarding path with the highest communication link quality to the first AGV, and establish a data transmission link with the first AGV based on this path.

[0065] S95. If the number of the first forwarding nodes is greater than the number of the second forwarding nodes, and the number of the second forwarding nodes is a divisor of the first forwarding nodes, a division operation is performed with the second forwarding node number as a divisor and the transmission power of the second AGV with the highest priority within a preset range as a dividend to obtain a first divisor, a data forwarding path with the highest communication link quality is determined based on the first divisor, and a data transmission link between the first AGV and the second AGV is established based on the third forwarding path;

[0066] If the number of the first forwarding nodes is greater than the number of the second forwarding nodes, and the number of the second forwarding nodes is a divisor of the number of the first forwarding nodes, the third AGV will perform a division operation to determine the data forwarding path with the highest communication link quality. In the operation, the number of the second forwarding nodes is used as the divisor, and the transmission power of the second AGV with the highest priority is used as the dividend.

[0067] S96. If the number of the second forwarding nodes is not a divisor of the number of the first forwarding nodes, a second AGV with the highest priority within a preset range is set as a root node, and it is determined whether the root node contains a leaf node. If the root node contains a leaf node, a data forwarding path with the highest communication link quality is determined based on the number of the second forwarding nodes, and a data transmission link between the first AGV and the second AGV is established based on the data forwarding path.

[0068] If the second forwarding node number is not a divisor of the first forwarding node number, the second AGV will set the AGV with the highest priority as the root node and check whether the root node contains a leaf node. If it does, the second AGV will determine the data forwarding path with the highest communication link quality based on the second forwarding node number and establish a data transmission link.

[0069] S97, if it does not contain a leaf node, reset the forwarding node number of the root node to the second forwarding node number, synchronize the node number of the root node, determine the data forwarding path based on the second forwarding node number, and establish a data transmission link between the first AGV car and the second AGV car based on the fifth forwarding path.

[0070] If the root node does not contain a leaf node, the second AGV will reset the forwarding node number of the root node to the second forwarding node number and synchronize the node number of the root node. Then, the second AGV will determine the data forwarding path based on the new forwarding node number and establish a data transmission link with the first AGV.

[0071] By executing the above steps, the third AGV can intelligently manage and optimize the data transmission link with the first AGV, ensuring the efficiency and security of data transmission while adapting to dynamic changes in the Internet of Vehicles environment.

[0072] Based on the above embodiments, the present invention further provides a data communication method based on the industrial Internet of Things, which is used for a second AGV vehicle. The method may include the following execution steps:

[0073] S101, receiving broadcast messages from other second AGVs, and obtaining status information and priority information of other second AGVs based on the broadcast messages;

[0074] S102, based on the acquired status information and priority information, select the second AGVs whose status information is higher than a preset threshold value from other second AGVs, and obtain the fourth AGV and the corresponding first link quality and priority information;

[0075] S103, based on each AGV having a value higher than a preset threshold, correspondingly determining the first link quality of each AGV;

[0076] S104, obtaining the second link quality of the current second AGV;

[0077] S105: Determine a root node based on the first link quality and the second link quality, and determine a next relay node based on the root node.

[0078] In step S101-step S105, the second AGV first receives broadcast messages from surrounding AGVs, which contain status information and priority information of surrounding AGVs. The second AGV selects AGVs with signal strength higher than a preset threshold based on the received status information and priority information. This step ensures that only AGVs with better signal quality are considered as potential relay nodes for data transmission. For the selected AGVs, the second AGV evaluates the quality of the first link with them, which includes signal stability, transmission rate and reliability. At the same time, the second AGV also evaluates its own second link quality, that is, the communication capability of the second AGV as a potential root node. The second AGV compares the first link quality and the second link quality, and selects the one with higher link quality as the root node. If the first link quality is higher, the second AGV selects the AGV with the highest priority as the next pre-selected relay node and establishes a data transmission link. Once the root node and relay node are determined, the second AGV establishes a stable data transmission link with these nodes. Among them, establishing a stable data transmission link involves frame encapsulation, transparent transmission, error control and other technologies of the data link layer to ensure accurate data transmission, which are not within the scope of the present invention and will not be described in detail here.

[0079] The second AGV continuously monitors network conditions and link quality, and dynamically adjusts the selection of root nodes and relay nodes based on real-time data. This dynamic adjustment helps to cope with the dynamics of AGVs and changes in the network environment. The second AGV can intelligently manage and optimize the data transmission link with the first AGV, ensuring the efficiency and security of data transmission while adapting to dynamic changes in the Internet of Vehicles environment.

[0080] In an embodiment of the present application, step S105 may include the following specific execution process:

[0081] S1051. If the quality of the first link is greater than the quality of the second link, the second AGV is used as the root node, and the fourth AGV with the highest first link quality is used as the relay node;

[0082] S1052: If the quality of the first link is less than the quality of the second link, the second AGV is used as the root node, and the fourth AGV with the highest priority is used as the relay node.

[0083] When the second AGV determines that its first link quality (communication quality of surrounding AGVs) is greater than the second link quality (communication quality of the second AGV itself), the second AGV sets itself as the root node. This is because the AGV as the root node needs to have a higher communication quality to ensure the stability and efficiency of data transmission. At this time, the second AGV will select the surrounding AGV with the highest first link quality as a relay node to ensure that the data can be transmitted to a more distant node or the final destination through the best path.

[0084] If the quality of the first link is less than the quality of the second link, the second AGV will still be the root node, but the fourth AGV with the highest priority will be selected as the relay node. The priority can be determined based on a variety of factors, such as the energy efficiency, data processing capabilities, and historical communication success rate of the AGV. This selection helps optimize the use of network resources and ensures that the priority of data transmission matches the needs of the network.

[0085] Once the root node and relay nodes are determined, the second AGV will establish a stable data transmission link with these nodes. Through the above steps, the second AGV can intelligently manage and optimize the data transmission link with the first AGV, ensuring the efficiency and security of data transmission while adapting to dynamic changes in the Internet of Vehicles environment.

[0086] Based on the above embodiments, the present invention further provides a data communication device 200 based on the industrial Internet of Things, which is applied to a first AGV vehicle. Figure 2 The first structural block diagram of the data communication device based on the industrial Internet of Things provided in this embodiment is shown in FIG. Figure 2The communication device 200 may include a first receiving module 201, a first judging module 202, a first sending module 203 and a link establishing module 204, wherein the first receiving module is used to receive broadcast messages sent by each second AGV car, and each second AGV car is adjacent to the first AGV car; the first judging module is used to judge whether the second AGV car meets the relay condition based on the broadcast message; the first sending module is used to determine the data link priority of each second AGV car based on the broadcast message if the relay condition is met, and send a data forwarding packet carrying the priority to the second AGV car with a priority higher than a preset threshold; the link establishing module is used to receive the data forwarding broadcast information sent by each second AGV car, send the data forwarding broadcast information carrying the highest priority information to other surrounding second AGV cars, and establish a data transmission link with the third AGV car with the highest priority among the second AGV cars, and transmit data based on the data transmission link.

[0087] In an embodiment of the present invention, the first judgment module 202 can also be used to obtain the communication link quality between each second AGV cart and the first AGV cart and the relative position of the second AGV cart and each first AGV cart based on the broadcast message; judge whether the relative position is less than the first preset distance; if the relative position is less than the first preset distance, continue to judge whether the communication link quality is lower than the preset threshold; if the communication link quality is lower than the preset threshold, determine that the second AGV cart meets the relay condition; otherwise, the second AGV cart does not meet the relay condition.

[0088] In an embodiment of the present invention, the data communication device 200 based on the industrial Internet of Things may also include a relay link establishment module 205. The relay link establishment module 205 may be used to determine the second AGV trolley that is closest to the first AGV trolley in the second AGV trolley based on the broadcast message as a pre-selected relay, and establish a data transmission link between the pre-selected relay and the first AGV trolley; determine whether the data transmission link between the second AGV trolley and the pre-selected relay is interrupted. When the data transmission link is interrupted, find the next pre-selected relay from the second AGV trolley based on the highest priority information, and establish a data transmission link between the next pre-selected relay and the first AGV trolley.

[0089] Based on the above embodiments, the present invention further provides a data communication device 300 based on the industrial Internet of Things, which is applied to the second AGV vehicle. Figure 3 The second structural block diagram of the data communication device based on the industrial Internet of Things provided in this embodiment is shown in FIG. Figure 3The communication device 300 may include an information acquisition module 301, a data sending module 302 and a subsequent relay link establishment module 303, wherein the information acquisition module 301 is used to obtain the broadcast messages of each of the second AGV vehicles around, and obtain the status information and priority information of each of the second AGV vehicles based on the broadcast messages, wherein the status information includes the signal strength of the surrounding vehicles; the data sending module 302 is used to obtain the preset range where the second AGV vehicles with signal strength greater than or equal to a preset threshold are located, and send data forwarding packets within the preset range; the subsequent relay link establishment module 303 is used to receive the data broadcast information within the preset range, and according to the data broadcast information, each of the second AGV vehicles with the highest priority within the preset range is used as the next pre-selected relay, and establish a data transmission link between the next pre-selected relay and the first AGV vehicle.

[0090] In an embodiment of the present invention, the subsequent relay link establishment module 303 can also be used to obtain the first forwarding node number recorded when receiving a data forwarding packet from the first AGV cart; obtain the second forwarding node number recorded when each of the second AGV carts receives a data forwarding packet from the first AGV cart; if the first forwarding node number is equal to the second forwarding node number, determine the data forwarding path based on the first forwarding node, and establish a data transmission link between the first AGV cart and the third AGV cart based on the data forwarding path; if the first forwarding node number is less than the second forwarding node number, use the second AGV cart with the highest priority within the preset range as the root node, and update the second forwarding node number of the second AGV cart as the root node number, search for the data forwarding path with the highest communication link quality to the first AGV cart based on the root node, and establish a data transmission link between the first AGV cart and the second AGV cart based on the data forwarding path; if the first forwarding node number is greater than the second forwarding node number, and the second forwarding node number is a divisor of the first forwarding node number, use the second The number of forwarding nodes is the divisor, and the transmission power of the second AGV car with the highest priority within the preset range is used as the dividend for division operation to obtain a first divisor. The data forwarding path with the highest communication link quality is determined based on the first divisor, and a data transmission link between the first AGV car and the second AGV car is established based on the third forwarding path; if the second number of forwarding nodes is not a divisor of the first number of forwarding nodes, the second AGV car with the highest priority within the preset range is set as the root node, and it is determined whether the root node contains a leaf node. If the root node contains a leaf node, the data forwarding path with the highest communication link quality is determined based on the second number of forwarding nodes, and the data transmission link between the first AGV car and the second AGV car is established based on the data forwarding path; if it does not contain a leaf node, the forwarding node number of the root node is reset to the second forwarding node number, the node number of the root node is synchronized, the data forwarding path is determined based on the second number of forwarding nodes, and the data transmission link between the first AGV car and the second AGV car is established based on the fifth forwarding path.

[0091] Based on the above embodiment, the present invention further provides a data communication device 400 based on the industrial Internet of Things, which is applied to the second AGV vehicle. Figure 4 The third structural block diagram of the data communication device based on the industrial Internet of Things provided in this embodiment is shown in FIG. Figure 4The communication device 400 includes a second receiving module 401, a second judgment module 402, a third receiving module 403 and an output module 404, wherein the second receiving module 401 is used to receive broadcast messages from other second AGV vehicles, and obtain the status information and priority information of other second AGV vehicles based on the broadcast messages; the second judgment module 402 is used to screen the second AGV vehicles whose status information is higher than a preset threshold among other second AGV vehicles according to the acquired status information and priority information, and obtain the fourth AGV vehicle and the corresponding first link quality and priority information; the third receiving module 403 is used to obtain the second link quality of the current second AGV vehicle; the output module 404 is used to determine the root node based on the first link quality and the second link quality, and determine the next relay node based on the root node.

[0092] In an embodiment of the present invention, the output module 404 can also be used to use the second AGV car as the root node and the fourth AGV car with the highest first link quality as the relay node if the first link quality is greater than the second link quality; if the first link quality is less than the second link quality, the second AGV car is used as the root node and the fourth AGV car with the highest priority is used as the relay node.

[0093] Readable storage medium, reference Figure 5 , the computer-readable storage medium shown is a CD 50, on which a computer algorithm, i.e., an algorithm product, is stored. When the computer algorithm is run by the microprocessor, it will implement the steps recorded in the above method implementation, for example, receiving a broadcast message sent by each second AGV car, each second AGV car is adjacent to the first AGV car; judging whether the second AGV car meets the relay condition based on the broadcast message; if the relay condition is met, determining the data link priority of each second AGV car based on the broadcast message, and sending a data forwarding packet carrying the priority to the second AGV car whose priority is higher than a preset threshold; receiving the data forwarding broadcast information sent by each second AGV car, sending the data forwarding broadcast information carrying the highest priority information to other surrounding second AGV cars, and establishing a data transmission link with the third AGV car with the highest priority among the second AGV cars, and transmitting data based on the data transmission link.

[0094] It should be noted that examples of computer-readable storage media may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0095] In addition, based on the above embodiment, the embodiment of the present application further provides a terminal device, Figure 6 A block diagram of an exemplary terminal device 60 suitable for implementing the embodiments of the present application is shown, and the terminal device 60 may be a computer system or a server. Figure 6 The terminal device 60 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0096] refer to Figure 6 , the components of the terminal device 60 may include but are not limited to: one or more processors or processing units 601, a system memory 602, and a bus 603 connecting different system components (including the system memory 602 and the processing unit 601).

[0097] The terminal device 60 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the terminal device 60, including volatile and non-volatile media, removable and non-removable media.

[0098] The system memory 602 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 6021 and / or cache memory 6022. The terminal device 60 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the ROM 6023 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 is not shown in the Figure 6 As shown in the figure, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) can be provided. In these cases, each drive can be connected to a bus 603 connecting different system components through one or more data medium interfaces. The system memory 602 may include at least one algorithm product, which has a set (e.g., at least one) algorithm module, which is configured to perform the functions of each embodiment of the present application.

[0099] An algorithm / utility 6025 having a set (at least one) of algorithm modules 6024 may be stored, for example, in system memory 602, and such algorithm modules 6024 include, but are not limited to, an operating system, one or more application algorithms, other algorithm modules, and algorithm data, each of which or some combination may include an implementation of a network environment. Algorithm modules 6024 generally perform the functions and / or methods of the embodiments described herein.

[0100] The terminal device 60 may also communicate with one or more external devices 604 (e.g., a keyboard, a pointing device, a display, etc.). Such communication may be performed via an input / output (I / O) interface 605. Furthermore, the terminal device 60 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 606. Figure 6 As shown, the network adapter 606 communicates with other modules (such as the processing unit 601, etc.) of the terminal device 60 via the bus 603 that connects different system components. Figure 6 Not shown, other hardware and / or software program modules may be used in conjunction with terminal device 60 .

[0101] The processing unit 601 executes various functional applications and data processing by running the algorithm stored in the system memory 602, for example, receiving the broadcast message sent by each second AGV car, each second AGV car is adjacent to the first AGV car; judging whether the second AGV car meets the relay condition based on the broadcast message; if the relay condition is met, the data link priority of each second AGV car is determined based on the broadcast message, and a data forwarding packet carrying the priority is sent to the second AGV car with a priority higher than a preset threshold; receiving the data forwarding broadcast information sent by each second AGV car, sending the data forwarding broadcast information carrying the highest priority information to other surrounding second AGV cars, and establishing a data transmission link with the third AGV car with the highest priority among the second AGV cars, and transmitting data based on the data transmission link. The specific implementation method of each step will not be repeated here. It should be noted that although several units / modules or sub-units / sub-modules of the data communication device based on the industrial Internet of Things are mentioned in the above detailed description, this division is only exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided into multiple units / modules to be embodied.

[0102] In the description of the present application, it should be noted that the terms "first", "second" and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0103] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0104] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0105] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0106] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0107] If the function is implemented in the form of a software program functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software program product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., various media that can store algorithm codes.

[0108] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

[0109] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0110] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A data communication method based on industrial Internet of Things, characterized in that: Applied to the first AGV, the data communication method based on the industrial Internet of Things includes: Receiving broadcast messages sent by each second AGV, each of which is adjacent to the first AGV; Determine whether the second AGV meets the relay condition based on the broadcast message; If the relay condition is met, the data link priority of each second AGV is determined based on the broadcast message, and a data forwarding packet carrying the priority is sent to the second AGV whose priority is higher than a preset threshold; Receive the data forwarding broadcast information sent by each of the second AGV vehicles, send the data forwarding broadcast information carrying the highest priority information to other surrounding second AGV vehicles, and establish a data transmission link with the third AGV vehicle with the highest priority among the second AGV vehicles, and transmit data based on the data transmission link.

2. The data communication method based on industrial Internet of Things according to claim 1, characterized in that: The determining whether the second AGV meets the relay condition based on the broadcast message includes: Based on the broadcast message, the communication link quality between each of the second AGVs and the first AGV and the relative position of the second AGV and each of the first AGVs are acquired; Determining whether the relative position is less than a first preset distance; If the relative position is less than the first preset distance, continue to determine whether the communication link quality is lower than a preset threshold; If the communication link quality is lower than the preset threshold, it is determined that the second AGV meets the relay condition; Otherwise, the second AGV does not meet the relay condition.

3. The data communication method based on industrial Internet of Things according to claim 1, characterized in that: Before receiving the data forwarding broadcast information sent by each second AGV car and sending the data forwarding broadcast information carrying the highest priority information to other surrounding second AGV cars, the data communication method based on the industrial Internet of Things also includes: Based on the broadcast message, determine the second AGV trolley closest to the first AGV trolley among the second AGV trolleys as a pre-selected relay, and establish a data transmission link between the pre-selected relay and the first AGV trolley; Determine whether the data transmission link between the second AGV and the pre-selected relay is interrupted. When the data transmission link is interrupted, find the next pre-selected relay from the second AGV based on the highest priority information, and establish a data transmission link between the next pre-selected relay and the first AGV.

4. A data communication method based on industrial Internet of Things, characterized in that: Applied to the third AGV, the data communication method based on the industrial Internet of Things includes: Obtaining broadcast messages of the surrounding second AGVs, and obtaining status information and priority information of the surrounding second AGVs based on the broadcast messages, wherein the status information includes the signal strength of the surrounding vehicles; Acquire a preset range where the second AGV vehicle with a signal strength greater than or equal to a preset threshold is located, and send a data forwarding packet to the preset range; Receive the data broadcast information within the preset range, select each of the second AGVs with the highest priority within the preset range as the next pre-selected relay according to the data broadcast information, and establish a data transmission link between the next pre-selected relay and the first AGV.

5. The data communication method based on industrial Internet of Things according to claim 4, characterized in that: The method of selecting the second AGV with the highest priority in the preset range as the next pre-selected relay according to the data broadcast information, and establishing a data transmission link between the next pre-selected relay and the first AGV, the second AGV and the first AGV, includes: Obtain the first forwarding node number recorded when receiving the data forwarding packet from the first AGV; Obtain the number of second forwarding nodes recorded when each of the second AGVs receives a data forwarding packet from the first AGV; If the number of the first forwarding nodes is equal to the number of the second forwarding nodes, a data forwarding path is determined based on the first forwarding nodes, and a data transmission link between the first AGV and the third AGV is established based on the data forwarding path; If the number of the first forwarding nodes is less than the number of the second forwarding nodes, the second AGV with the highest priority within the preset range is used as the root node, and the second forwarding node number of the second AGV is updated as the root node number, and the data forwarding path with the highest communication link quality to the first AGV is searched based on the root node, and a data transmission link between the first AGV and the second AGV is established based on the data forwarding path; If the first number of forwarding nodes is greater than the second number of forwarding nodes, and the second number of forwarding nodes is a divisor of the first number of forwarding nodes, a division operation is performed with the second number of forwarding nodes as a divisor and the transmission power of the second AGV with the highest priority within the preset range as a dividend to obtain a first divisor, the data forwarding path with the highest communication link quality is determined based on the first divisor, and a data transmission link between the first AGV and the second AGV is established based on a third forwarding path; If the number of the second forwarding nodes is not a divisor of the number of the first forwarding nodes, the second AGV with the highest priority within the preset range is set as the root node, and it is determined whether the root node contains a leaf node. If the root node contains a leaf node, the data forwarding path with the highest communication link quality is determined based on the second forwarding node number, and a data transmission link between the first AGV and the second AGV is established based on the data forwarding path; If no leaf node is included, reset the forwarding node number of the root node to the second forwarding node number, synchronize the node number of the root node, determine the data forwarding path based on the second forwarding node number, and establish a data transmission link between the first AGV cart and the second AGV cart based on the fifth forwarding path.

6. A data communication method based on industrial Internet of Things, applied to the second AGV vehicle, characterized in that: The data communication method based on industrial Internet of Things includes: Receive broadcast messages from other second AGVs, and obtain status information and priority information of other second AGVs based on the broadcast messages; According to the acquired state information and priority information, the second AGV trolleys whose state information is higher than a preset threshold are screened out from other second AGV trolleys to obtain the fourth AGV trolley and the corresponding first link quality and priority information; Obtain the second link quality of the second AGV vehicle at present; A root node is determined based on the first link quality and the second link quality, and a next relay node is determined based on the root node.

7. The data communication method based on industrial Internet of Things according to claim 6, characterized in that: The determining the root node based on the first link quality and the second link quality, and determining the next relay node based on the root node, comprises: If the first link quality is greater than the second link quality, the second AGV is used as the root node, and the fourth AGV with the highest first link quality is used as the relay node; If the first link quality is less than the second link quality, the second AGV is used as the root node, and the fourth AGV with the highest priority is used as the relay node.

8. A data communication device based on industrial Internet of Things, characterized in that: include: A first receiving module is used to receive a broadcast message sent by each second AGV, each of which is adjacent to the first AGV; A first judgment module, used to judge whether the second AGV meets the relay condition based on the broadcast message; A first sending module, configured to determine the data link priority of each second AGV based on the broadcast message if the relay condition is met, and send a data forwarding packet carrying the priority to the second AGV whose priority is higher than a preset threshold; A link establishment module is used to receive data forwarding broadcast information sent by each of the second AGV vehicles, send the data forwarding broadcast information carrying the highest priority information to other surrounding second AGV vehicles, and establish a data transmission link with the third AGV vehicle with the highest priority among the second AGV vehicles, and transmit data based on the data transmission link.

9. A computer-readable storage medium, characterized in that: It includes instructions, which, when executed on a computer, enable the computer to execute the data communication method based on the industrial Internet of Things as described in any one of claims 1 to 7.

10. An electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus, characterized in that: a memory for storing a computer program, A processor, wherein the processor is used to execute a computer program stored in a memory to implement the data communication method based on the industrial Internet of Things as described in any one of claims 1 to 7.

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