Scheduling method, device and equipment of AGV (automatic guided vehicle) and storage medium

Abstract

The invention provides a scheduling method, device and equipment for an automated guided vehicle (AGV), and a storage medium, and the method comprises the steps: introducing a basic service set coloring value Bscolor, and redefining the basic service set coloring value Bscolor as a quantitative index representing the current load state of a wireless access point (AP), thereby enabling the AGV to comprehensively consider the scanned link quality of each AP and the current load condition, and improving the scheduling efficiency of the AGV. The target AP with strong signal and light load is intelligently selected from the scanned APs, so that the problems of single-point overload and resource idleness caused by uneven deployment are effectively avoided while the communication quality of the AGV is ensured, and the overall resource utilization rate of an industrial wireless network is improved. The method is suitable for various IP network environments and various network topology structures, can be used for traditional copper cable access and wireless access scenes, and can also be used for optical fiber access scenes including an FTTR (Fiber To The Room) all-optical access network.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to a scheduling method, apparatus, device and storage medium for automated guided vehicles (AGVs). Background Technology

[0002] Existing AGV (Automated Guided Vehicle) scheduling schemes typically select target APs (Access Points) for AGV access based on the signal strength of each AP. However, due to differences in the physical location, antenna orientation, and transmission power of APs in actual network deployments, APs located in central areas or unobstructed locations often have wider coverage and higher signal strength, leading to multiple AGVs simultaneously selecting them as target APs for access. This results in excessive load on individual APs, air interface resource congestion, increased latency, higher packet loss rates, and even connection interruptions. Meanwhile, APs with slightly weaker signals but lighter actual loads remain underutilized or even idle for extended periods, resulting in low overall air interface resource utilization efficiency of the wireless network. Summary of the Invention

[0003] In view of this, in order to solve the above-mentioned technical problems, this application provides a scheduling method, device, equipment and storage medium for automated guided vehicles (AGVs), which effectively solves the problems of uneven AP load and waste of air interface resources caused by relying solely on signal strength in related technologies, and improves the overall resource utilization rate of industrial wireless networks.

[0004] Specifically, this application is implemented through the following technical solution: According to a first aspect of the embodiments of this application, a scheduling method for automated guided vehicles (AGVs) is provided, the method being applied to AGVs, the method comprising: A signal scan is performed on the first wireless frequency band to obtain the signal strength of each wireless access point (AP) in the current network and the basic service set coloring value (Bsscolor) of each AP; each AP in the current network provides services to the AGV on the second wireless frequency band; the Bsscolor of any AP is used to indicate the current load of that AP; Based on the signal strength and Bsscolor of each AP in the current network, the target AP is determined; If the currently accessed AP is not the target AP, switch to the target AP so that the target AP can provide services to the AGV on the second wireless frequency band.

[0005] Optionally, the Bsscolor of any AP is the load level corresponding to the number of AGVs currently connected to the AP; wherein, each load level corresponds to a range of AGV access numbers, and the ranges of AGV access numbers corresponding to each load level do not overlap; the load level increases as the number of AGVs connected increases.

[0006] Optionally, a signal scan is performed on the first wireless frequency band to obtain the signal strength of each wireless access point (AP) in the current network and the basic service set coloring value (Bsscolor) of each AP, including: Scan on the first radio frequency band to receive beacon frames sent by each AP in the current network on the first radio frequency band; the beacon frame sent by any AP carries at least the Bsscolor corresponding to the AP's Basic Service Set (BSS) on the second radio frequency band; Parse the Beacon frames sent by each AP to obtain the Bsscolor of that AP, and use the Received Signal Strength Indicator (RSSI) measured when receiving the Beacon frames as the signal strength of that AP.

[0007] Optionally, the target AP is determined based on the signal strength and Bsscolor of each AP in the current network topology, including: Based on the signal strength of each AP in the current network, a candidate AP set is selected from the APs in the current network; wherein, the candidate AP set includes at least the first AP whose signal strength is greater than the first signal strength threshold, and at least one other AP whose signal strength is within a set range from the signal strength of the first AP; The target AP is selected from the candidate AP set based on the Bsscolor of each AP in the candidate AP set.

[0008] Optionally, selecting the target AP from the candidate AP set includes: Based on the Bsscolor of each AP in the candidate AP set, APs with Bsscolor less than the coloring value threshold are selected as reference APs from the candidate AP set. If the number of reference APs is 1, then the reference AP is used as the target AP; If the number of reference APs is greater than 1, then an AP with a signal strength greater than the second signal strength threshold is selected from among the reference APs as the target AP.

[0009] Optionally, if an AP is already connected, the candidate AP set may also include at least one AP in the current network whose signal strength minus the signal strength of the currently connected AP is greater than a preset handover threshold.

[0010] According to a second aspect of the embodiments of this application, a scheduling device for an automated guided vehicle (AGV) is provided, the device being applied to the AGV, the device comprising: The scanning module is configured to perform signal scanning on the first wireless frequency band to obtain the signal strength of each wireless access point (AP) in the current network and the basic service set coloring value (Bsscolor) of each AP; each AP in the current network provides services to the AGV on the second wireless frequency band; the Bsscolor of any AP is used to indicate the current load of that AP. The target AP determination module is configured to determine the target AP based on the signal strength and Bsscolor of each AP in the current network. The access module is configured to switch access to the target AP when the currently accessed AP is not the target AP, so that the target AP can provide services to the AGV on the second wireless frequency band.

[0011] Optionally, the Bsscolor of any AP is the load level corresponding to the number of AGVs currently connected to the AP; wherein, each load level corresponds to a range of AGV access numbers, and the ranges of AGV access numbers corresponding to each load level do not overlap; the load level increases as the number of AGVs connected increases.

[0012] Optionally, the scanning module is specifically configured as follows: Scan on the first radio frequency band to receive beacon frames sent by each AP in the current network on the first radio frequency band; the beacon frame sent by any AP carries at least the Bsscolor corresponding to the AP's Basic Service Set (BSS) on the second radio frequency band; Parse the Beacon frames sent by each AP to obtain the Bsscolor of that AP, and use the Received Signal Strength Indicator (RSSI) measured when receiving the Beacon frames as the signal strength of that AP.

[0013] Optionally, the target AP determination module is specifically configured as follows: The candidate determination module is configured to select a set of candidate APs from the APs in the current network based on the signal strength of each AP in the current network; wherein, the set of candidate APs includes at least a first AP whose signal strength is greater than a first signal strength threshold, and at least one other AP whose signal strength is within a set range from the signal strength of the first AP. The decision module is configured to select the target AP from the candidate AP set based on the Bsscolor of each AP in the candidate AP set.

[0014] Optionally, the decision module is specifically configured as follows: Based on the Bsscolor of each AP in the candidate AP set, APs with Bsscolor less than the coloring value threshold are selected as reference APs from the candidate AP set; if the number of reference APs is 1, then the reference AP is selected as the target AP; if the number of reference APs is greater than 1, then APs with signal strength greater than the second signal strength threshold are selected from the reference APs as the target AP.

[0015] Optionally, if an AP is already connected, the candidate AP set may also include at least one AP in the current network whose signal strength minus the signal strength of the currently connected AP is greater than a preset handover threshold.

[0016] According to a third aspect of the embodiments of this application, a scheduling system for an automated guided vehicle (AGV) is provided. The scheduling system includes at least one AGV and multiple access points (APs) within a network. Each AP in the network provides services to the AGV on a second wireless frequency band. The Bsscolor of any AP is used to indicate the current load of that AP. Each AP broadcasts its Bsscolor on the first wireless frequency band; Any AGV currently connected to the network performs a signal scan on the first wireless frequency band to obtain the signal strength and Bsscolor of each AP in the current network; based on the signal strength and Bsscolor of each AP in the current network, a target AP is determined; if the currently connected AP is not the target AP, the AGV switches to the target AP so that the target AP provides services to the AGV on the second wireless frequency band.

[0017] According to a fourth aspect of the embodiments of this application, an electronic device is provided, the electronic device comprising: a memory and a processor; the memory being used to store a computer program; the processor being used to execute the above-described scheduling method for automated guided vehicles (AGVs) by invoking the computer program.

[0018] According to a fifth aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the above-described scheduling method for automated guided vehicles (AGVs).

[0019] The technical solutions provided in this application embodiment may include the following beneficial effects: In the technical solution provided in this application, by introducing the basic service set coloring value Bsscolor and redefining it as a quantitative indicator representing the current load status of wireless access points (APs), the AGV can comprehensively consider the link quality and current load of each scanned AP, intelligently selecting a target AP with a strong signal and light load from among the scanned APs. This effectively avoids single-point overload and resource idleness caused by uneven deployment while ensuring AGV communication quality, thus improving the overall resource utilization of the industrial wireless network. Furthermore, the Bsscolor corresponding to the second wireless frequency band used to carry data services between the AGV and APs is broadcast on the first wireless frequency band, ensuring that the AGV's load perception process takes place on a channel isolated from the service frequency band, guaranteeing that the AGV will not interfere with ongoing data services during load perception.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Furthermore, no embodiment in this application needs to achieve all the effects described above. Attached Figure Description

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

[0022] Figure 1A This is a schematic diagram of a network architecture shown in an exemplary embodiment of this application; Figure 1B This is a schematic flowchart illustrating an automated guided vehicle (AGV) scheduling method according to an exemplary embodiment of this application; Figure 1C This is a schematic diagram illustrating an exemplary embodiment of the present application of a process for determining a target AP based on the signal strength and Bsscolor of each AP in the current network. Figure 1D This is a schematic diagram illustrating an exemplary embodiment of this application of selecting the target AP from among the APs in the current network; Figure 2 This is an exemplary embodiment of the present application illustrating the architecture and interaction of a scheduling system for an automated guided vehicle (AGV). Figure 3A This is a schematic diagram illustrating a network AP distribution and initial Bsscolor of an exemplary embodiment of this application; Figure 3B This is a schematic diagram illustrating the selection of an access node for a newly connected vehicle, as shown in an exemplary embodiment of this application. Figure 3CThis is a schematic diagram illustrating the change of access node when a vehicle travels to point B, as shown in an exemplary embodiment of this application. Figure 3D This is a schematic diagram illustrating the change of access node when a vehicle travels to point C, as shown in an exemplary embodiment of this application. Figure 4 This is a schematic diagram of the structure of a scheduling device for an automated guided vehicle (AGV) as illustrated in an exemplary embodiment of this application; Figure 5 This is a hardware schematic diagram of an electronic device illustrated in an exemplary embodiment of this application. Detailed Implementation

[0023] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims. It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another.

[0024] With the rapid development of intelligent manufacturing and intelligent warehousing systems, AGVs, as key material handling equipment, have been deployed on a large scale in factories, logistics centers, and other scenarios. AGVs rely on wireless local area networks to achieve real-time communication with the scheduling system, including receiving task instructions, reporting locations, and providing status feedback. Therefore, high requirements are placed on the stability, latency, and reliability of the wireless network.

[0025] In existing AGV scheduling schemes, when an AGV selects a target AP for access from the wireless network covering its work area, it typically makes a decision based on the Received Signal Strength Indicator (RSSI) of each scanned AP. Specifically, the AGV usually selects the AP with the strongest signal for initial access. During AGV operation, if it detects that the RSSI of the currently connected AP drops below a preset threshold, or that the signal strength of a neighboring AP is significantly better than the currently connected AP, then the target AP for access is changed.

[0026] However, due to differences in factors such as the physical location, antenna direction, and transmission power of APs in actual network deployments, some APs located in central areas or unobstructed locations have wide signal coverage and high signal strength. As a result, they are selected by multiple AGVs as target APs for access at the same time, causing excessive access load on a single AP, congestion of air interface resources, and problems such as increased latency, increased packet loss rate, and even connection interruption. At the same time, APs with slightly weaker signals but lighter actual loads are in a state of low utilization or even idle for a long time. This leads to low air interface resource utilization efficiency of the overall wireless network and weakens the collaborative operation capability and system robustness of the AGV group.

[0027] In view of this, this application proposes a scheduling method for automated guided vehicles (AGVs). This method introduces a basic service set coloring value, Bsscolor, and redefines it as a quantitative index characterizing the current load status of wireless access points (APs). This allows the AGV to comprehensively consider the link quality and current load of each scanned AP, intelligently selecting a target AP with a strong signal and light load from among the scanned APs. While ensuring the communication quality of the AGV, it maintains the load balance among the APs in the network, effectively solving the problems of uneven AP load and wasted air interface resources caused by relying solely on signal strength in related technologies, and improving the overall resource utilization of industrial wireless networks.

[0028] The scheduling method for automated guided vehicles (AGVs) proposed in this application is applicable to wireless networking scenarios under various IP network environments and multiple network topologies. It can be used in both traditional copper cable access and wireless access scenarios, as well as fiber optic access scenarios, including FTTR (fiber to the room) all-optical access networks.

[0029] See Figure 1A The exemplary diagram illustrates a network architecture. This embodiment provides a scheduling method for automated guided vehicles (AGVs), involving at least the AGVs and a wireless network comprised of multiple wireless access points (APs). When the AGV moves within the coverage area of ​​this network, it dynamically selects a target AP from the network for access according to the scheduling method provided in this embodiment and interacts with that target AP to achieve efficient, low-interference, and load-balanced wireless communication connections.

[0030] As shown in the figure, the network includes multiple Access Points (APs). These APs work together to cover the factory or warehouse area, forming a seamless roaming network. Each AP can provide data services to each AGV connected to it. Each AP can operate simultaneously on a first wireless frequency band and a second wireless frequency band. In this network, each AP operates on the second wireless frequency band, which is used to carry data services generated by the interaction between the AP and the AGV. That is, the AP provides data services to the AGVs connected to it on the second wireless frequency band. Each AP corresponds to a Basic Service Set (BSS) on the second wireless frequency band, and this BSS is configured with a BSScolor value. The BSScolor of any AP reflects the current load status of the AP on the second wireless frequency band and is dynamically adjusted as the number of AGVs served by the AP changes.

[0031] In this embodiment, in order to enable the AGV to perceive the load status of each AP within its scanning range in real time without interrupting the main data service communication, each AP periodically broadcasts its Bsscolor through a first wireless frequency band different from the second wireless frequency band. This allows the AGV to perform passive scanning on the first wireless frequency band to obtain the Bsscolor of each AP within its scanning range, and to maintain a continuous and stable data service connection with the currently connected AP on the second wireless frequency band when the AGV is currently connected to an AP.

[0032] Each access point (AP) can periodically transmit beacon frames using the first radio frequency band. These beacon frames carry at least the Bsscolor of the BSS corresponding to the AP in the second radio frequency band, and may also carry the unique identifier (BSSID) of the BSS corresponding to the AP in the second radio frequency band, thus broadcasting the AP's Bsscolor on the first radio frequency band. The first and second radio frequency bands are different from each other; for example, the second frequency band is 5 GHz used for data services, and the first frequency band is 2.4 GHz used for AP load awareness.

[0033] The AGV can perform signal scanning on the first wireless frequency band to obtain the signal strength and corresponding BSScolor value of each AP within its scanning range. This allows the AGV to comprehensively consider the link quality and load status of each scanned AP, and select or switch to the AP with the strongest signal and lowest load based on the comprehensive evaluation results. Compared with the access strategy in related technologies that relies solely on signal strength and directly selects the AP with the strongest signal, this embodiment effectively avoids the problem of AP load imbalance caused by uneven network deployment or differences in AP configuration. For example, in related technologies, an AP located in the center may be accessed by multiple AGVs simultaneously due to its signal coverage advantage, resulting in excessive load on the AP, air interface resource congestion, increased latency, and even packet loss. At the same time, APs with slightly weaker signals but lighter actual loads are in a state of low utilization for a long time, leading to uneven distribution of air interface resources and a decrease in overall throughput efficiency in the entire wireless network. This embodiment introduces real-time load information carried by BSSColor, enabling AGV access decisions to shift towards a comprehensive consideration of signal strength and AP current load optimization, thereby improving network resource balance and resource utilization, and effectively enhancing overall system throughput and service reliability.

[0034] Based on the above architecture diagram, the scheduling method of Automated Guided Vehicle (AGV) provided in this application can be applied to any of the above AGVs. The method is suitable for complex industrial scenarios such as intelligent manufacturing and warehousing logistics with high-density AGV operation, and has good practicality and scalability.

[0035] See Figure 1B The flowchart shown is an example of a scheduling method for an automated guided vehicle (AGV), which may include at least the following steps: S101, a signal scan is performed on the first wireless frequency band to obtain the signal strength of each wireless access point (AP) in the current network and the basic service set coloring value (Bsscolor) of each AP; each AP in the current network provides services to the AGV on the second wireless frequency band; the Bsscolor of any AP is used to indicate the current load of the AP. In this embodiment, the first wireless frequency band refers to a wireless communication frequency band used to assist in sensing and acquiring load information. This frequency band does not directly provide data services to the AGV, but rather serves as a dedicated detection channel for the AGV to scan the status information of surrounding APs. For example, if the second wireless frequency band is 5 GHz, then the first wireless frequency band can be 2.4 GHz, to fully utilize the physical characteristics of the 2.4 GHz frequency band, such as longer propagation distance, stronger penetration, and wider coverage, effectively improving the reliability and breadth of environmental sensing.

[0036] In this embodiment, each AP operates on the second wireless frequency band, and the BSS color of the BSS corresponding to any AP on the second wireless frequency band is broadcast on the first wireless frequency band. By monitoring the status information of each AP, such as current load and signal strength, on the first frequency band, the AGV can efficiently obtain the link quality and load status of the AP without interfering with the main service communication. This achieves a dual-frequency band architecture that separates the control plane and data plane, ensuring high-performance transmission of the AGV's main data services on the second wireless frequency band, while also achieving lightweight and low-overhead network status awareness.

[0037] Signal strength indicates the strength of the signal received by a wireless terminal from an access point (AP). In this embodiment, it can be represented by the Received Signal Strength Indicator (RSSI), measured in dBm. A stronger signal generally indicates better link quality. For example, if AP1 has an RSSI of -60 dBm, while AP2 has an RSSI of -80 dBm, the former has a stronger signal and typically exhibits a more stable communication link and a higher data transmission rate.

[0038] Bsscolor, a key technology introduced in the IEEE 802.11ax (Wi-Fi 6) standard, was originally used for spatial multiplexing. By assigning color identifiers to different BSSs (Basic Service Sets), it allows BSSs of different colors to transmit concurrently even when channel occupancy is detected but their colors differ, thereby improving spectral efficiency. In this embodiment, Bsscolor is creatively redefined as a load indicator, directly representing the current AGV access load of the AP. This semantic redefinition enables the AGV to utilize existing fields in the standard Beacon frame to obtain higher-layer load information without additional signaling overhead.

[0039] The AP's Bsscolor is dynamically adjusted when the number of AGVs connected to the AP changes: the AP continuously monitors the number of AGVs it serves, and re-determines the Bsscolor when the number of AGVs connected to the AP changes, and broadcasts the re-determined Bsscolor in subsequent Beacon frames to ensure that the information obtained by AGV scanning always reflects the latest load status of the AP.

[0040] There is a preset correspondence between the Bsscolor of any AP and the number of AGVs currently connected on the second wireless band of that AP; the preset correspondence includes: the Bsscolor of any AP is the load level corresponding to the number of AGVs currently connected to that AP; wherein, each load level corresponds to a range of AGV access numbers, the ranges of AGV access numbers corresponding to each load level do not overlap, and the load level increases with the increase of the number of AGVs connected.

[0041] For example, a load range mapping relationship can be pre-defined, which defines multiple non-overlapping ranges for the number of AGVs that can be accessed, and each range corresponds to a unique load level; each load level is mapped to a Bsscolor. For example, the following mapping rule can be set: Number of connected devices: 0-20 → Load level: "Light load" → Bsscolor = 1; Number of connected devices: 21-40 → Load level: "Medium" → Bsscolor = 2; Number of connected devices: 41-60 → Load level: "Heavy" → Bsscolor = 3; Number of connected devices: 61-80 → Load level: "Overloaded" → Bsscolor = 4; Number of connected devices ≥ 80 → Load level "Overload" → Bsscolor = 5; The Bsscolor of any AP can be determined based on the range of AGV connections currently belonging to that AP, thus defining the load level corresponding to the number of AGVs and obtaining the corresponding Bsscolor. For example, if the AP currently has 9 AGVs connected, then Bsscolor = 1. If the number of currently connected AGVs changes, such as adding 15 AGVs to AP1 on top of the existing 9, then AP1's Bsscolor will be updated to 2.

[0042] Under the current network topology, if the maximum number of AGVs accessed by each wireless access point (AP) during the same time period does not exceed 63, the BSScolor of any AP can be directly set to the number of AGVs currently accessed by that AP. For example, if AP1 currently has 3 AGVs accessed, then AP1's BSSColor = 3; and if the number of currently accessed AGVs changes, such as adding 2 AGVs to AP1, then AP1's BSSColor will be updated to 5, and this new value will be broadcast in the next Beacon frame.

[0043] In this embodiment, the AGV scans the first wireless frequency band via a Wi-Fi network card to obtain the signal strength of each wireless access point (AP) in the current network and the Basic Service Set Colorization (Bsscolor) of each AP. Based on the periodic broadcast of beacon frames by each AP on the first wireless frequency band, the AGV can scan the first wireless frequency band to listen for and receive the beacon frames sent by each AP in the current network. It then parses the received beacon frames of each AP to obtain their Bsscolor. The Received Signal Strength Indicator (RSSI) measured by hardware when receiving the beacon frame is used as the signal strength of the AP to which the beacon frame belongs. Thus, the AGV obtains a neighboring AP list containing a triple of "AP identifier - signal strength - Bsscolor," which serves as the basic input for selecting a target AP.

[0044] S102, Based on the signal strength of each AP in the current network and the Bsscolor of each AP, determine the target AP; The target AP refers to the access point that the AGV plans to connect to during its current movement, after comprehensively evaluating each AP based on its signal strength and BSScolor. This target AP is not simply chosen based on the strongest signal, but rather a globally optimal solution considering link quality and network load. This target AP could be a newly discovered neighboring AP or an AP already connected.

[0045] Therefore, when selecting a target AP, if the AP with the strongest signal strength among the currently scanned APs also has the smallest Bsscolor, then the AP with the strongest signal strength can be directly selected as the target AP. For example, the current scanned AP1, AP2, AP3, and AP4 are as follows: AP1: RSSI = -55 dBm, Bsscolor =3 AP2: RSSI = -60 dBm, Bsscolor =5 AP3: RSSI = -62 dBm, Bsscolor =5 AP4: RSSI = -58 dBm, Bsscolor =7 In this example, AP1 is the AP with the strongest signal and the lowest Bsscolor, indicating that the AP has excellent link quality and the lightest current load, making it an ideal access point. Therefore, it can be directly identified as the target AP.

[0046] In real-world industrial deployments, the AP with the strongest signal is often prioritized for access by multiple AGVs due to its central location or coverage advantage, resulting in a high Bsscolor. In this case, optimal signal strength and optimal load no longer coincide. To address this more common scenario, this embodiment introduces a structured multi-level evaluation mechanism to achieve a balance between link quality and network load. See also... Figure 1C The illustrative diagram illustrates a process for determining a target AP based on the signal strength and Bsscolor of each AP in the current network topology. The target AP can be determined through the following steps S1021-S1022: 1021. Based on the signal strength of each AP in the current network, select a candidate AP set from the APs in the current network; wherein the candidate AP set includes at least a first AP whose signal strength is greater than a first signal strength threshold and at least one other AP whose signal strength is within a set range from the signal strength of the first AP.

[0047] The set range represents a pre-configured signal strength tolerance threshold, such as 6 dBm, used to define which APs have signal strengths sufficiently close to the first AP, thus qualifying them for inclusion in the candidate AP set. This ensures that the differences in signal strength among the APs in the candidate AP set are controlled within an acceptable performance fluctuation range, guaranteeing that all candidate APs possess basically usable link quality. This set range should not be too large to avoid introducing too many weak signal interference items, and its value can be dynamically adjusted according to the actual deployment environment (such as factory layout and interference levels). For example, this set range can be configured as an adaptive threshold, dynamically adjusted based on the movement status of the AGV (Automated Guided Vehicle): when the AGV is detected to be stationary, the set range is narrowed to focus on the optimal signal area and improve connection stability; when the terminal is detected to be moving, the set range is widened to include potential target APs on the path ahead in advance, supporting smooth roaming.

[0048] In determining at least one other AP whose signal strength differs from that of the first AP within a set range, if the number of first APs with signal strength greater than a first signal strength threshold is greater than one, then any of the following strategies can be used to acquire other APs to balance handover stability, load balancing, or avoid introducing low-quality links: Based on the AP with the strongest signal strength among the first APs, at least one other AP whose signal strength is within a set range from that AP can be obtained, so as to ensure that all candidate APs are in a high-quality coverage area close to the optimal signal. Alternatively, to retain more potential switching APs, for each first AP, other APs whose signal strength differs from that of the first AP within a set range can be obtained, and one or more other APs can be selected from them to provide more options for subsequent determination of the target AP.

[0049] The candidate AP set is a subset of potentially accessible APs initially selected from all APs scanned by the AGV in the current network before determining the target AP. This set includes the AP with the strongest signal among the scanned APs, and also includes other APs whose signal strength differs from the target AP within a set range, ensuring that the candidate AP set covers all options with sufficiently good signal strength. For example, if the signal strength of the strongest AP is -55 dBm, and the set range is 6 dB, then all APs with signal strength ≥ -61 dBm can be included in the candidate AP set. This set range avoids the risk of load concentration that might arise from relying solely on the single strongest AP, while maintaining focus on high-signal areas.

[0050] In the case of currently connected APs, the candidate AP set also includes at least one AP in the current network whose signal strength minus the signal strength of the currently connected AP is greater than a preset handover threshold. The preset handover threshold is a signal gain threshold (e.g., 8 dBm) specifically designed for AGV roaming triggering in the AP-connected state, used to measure whether the signal strength of the scanned AP is significantly stronger than the AP currently connected to by the AGV. For example, if the signal of the AP currently connected to the AGV is -70 dBm, while the signal of a neighboring AP is -60 dBm (difference 10 dBm > 8 dBm), the neighboring AP is included in the candidate AP set if it does not fall within the set range centered on the first AP. This avoids the AGV remaining on the AP with degraded signal for an extended period due to a sticky effect, ensuring timely response when a significantly better link appears.

[0051] 1022. Select the target AP from the candidate AP set based on the Bsscolor of each AP in the candidate AP set.

[0052] Since the differences in signal strength among the candidate APs are controlled within an acceptable range of performance fluctuations, the AP with the lightest load can be selected as the target AP from the candidate AP set.

[0053] For example, in general industrial logistics or warehousing and handling scenarios where load fluctuations are allowed within a certain range, any AP whose Bsscolor is less than the coloring value threshold can be selected as the target AP from the candidate AP set. For instance, if the candidate AP set includes AP_A (Bsscolor=4), AP_B (Bsscolor=7), and AP_C (Bsscolor=3), and the threshold is set to 5, then AP_A and AP_C can be selected as the target AP either randomly or by following historical preferences.

[0054] Alternatively, when selecting the target AP from the candidate AP set, the AP with a Bsscolor less than a coloring value threshold can be selected as a reference AP based on the Bsscolor of each AP in the candidate AP set. Further, if the number of reference APs is 1, then that reference AP is selected as the target AP; if the number of reference APs is greater than 1, then an AP with a signal strength greater than a second signal strength threshold is selected as the target AP.

[0055] The coloring threshold represents the maximum acceptable load level, and its value can be dynamically determined based on network deployment strategies, AGV service density, historical load statistics, or QoS guarantee requirements. For example, in high-density AGV operating areas, a lower coloring threshold can be set to prioritize lightly loaded APs; in coverage edge areas, the threshold can be appropriately relaxed to avoid handover failures.

[0056] To enhance the robustness of determining the target AP, if no AP with a Bsscolor less than the coloring value threshold exists during the selection of the reference AP, the AP with the smallest Bsscolor can be selected as the reference AP from the candidate AP set. That is, the reference AP is one or more APs with the smallest Bsscolor in the candidate AP set. Alternatively, when determining the reference AP from the candidate AP set, the coloring value threshold can be disregarded, and the AP with the smallest Bsscolor can be directly selected as the reference AP from the candidate AP set. This simplifies the decision-making logic and ensures that the selection objective is to minimize the load.

[0057] The second signal strength threshold is an independently set signal quality threshold used to ensure that the final selected target AP not only has a light load (lower Bsscolor) but also sufficient wireless link quality to support stable communication. This second signal strength threshold is functionally and numerically independent of the first signal strength threshold used to construct the candidate AP set. The first signal strength threshold is used to initially select the set of APs with available signal within the coverage area, while the second signal strength threshold is used to preferentially select APs with better signal quality among those with low load, in order to maintain link reliability and service experience assurance after handover.

[0058] When the number of APs with signal strength greater than the second signal strength threshold among the reference APs is greater than one, the AP with the smallest Bsscolor among those APs with signal strength greater than the second signal strength threshold can be selected as the target AP to ensure load balancing and communication efficiency among APs. Alternatively, the AP with the largest signal strength can be selected as the target AP to maintain communication quality and throughput performance by prioritizing the AP with the best channel conditions. When there are no APs with signal strength greater than the second signal strength threshold among the reference APs, a fallback strategy can be adopted: the AP with the largest signal strength among the reference APs can be selected as the target AP to maximize link quality under acceptable load conditions.

[0059] This method prioritizes access points with light current loads while ensuring link quality, effectively avoiding air interface congestion, latency jitter, or packet loss caused by overload of a single AP. It improves the stability of AGV communication and the overall network resource utilization, and is suitable for industrial automation scenarios with dense AGV deployment and high requirements for connection determinism and service fairness.

[0060] like Figure 1D An exemplary schematic diagram illustrates the selection of the target AP from among the APs in the current network. The signal strength and Bsscolor of AP1 to AP5 obtained by AGV scanning are as follows: AP1: RSSI = -55 dBm, Bsscolor=9; AP2: RSSI = -58 dBm, Bsscolor=2; AP3: RSSI = -65 dBm, Bsscolor=5; AP4: RSSI = -60 dBm, Bsscolor=2; AP5: RSSI = -70 dBm, Bsscolor=1; With a range of 6 dB, and using the strongest signal AP1 (RSSI = -55 dBm) as the benchmark, all APs with RSSI ≥ -61 dBm can be included in the candidate set. Therefore, the candidate AP set includes: AP1 (-55 dBm), AP2 (-58 dBm), and AP4 (-60 dBm). AP3 (-65 dBm) is excluded because its signal strength is below -61 dBm, and AP5 (-70 dBm) is also not considered because its signal is too weak.

[0061] For the candidate AP set, if the coloring value threshold is 4, then AP2 and AP4 with Bsscolor less than 4 are selected as reference APs.

[0062] Since there are two reference APs, we further compare the signal strength of the two APs. If we set the second signal strength threshold to -60dBm, then AP2, whose signal strength is greater than the second signal strength threshold, is selected as the target AP. If we set the second signal strength threshold to -65dBm, then the signal strengths of both AP2 and AP4 are greater than the second signal strength threshold. In this case, we can further select AP2, which has a stronger signal strength, as the target AP, or arbitrarily select one AP as the target AP.

[0063] S103, when the currently accessed AP is not the target AP, switch to access the target AP so that the target AP can provide services to the AGV on the second wireless frequency band.

[0064] This implementation step is the execution phase of the AGV access decision. It dynamically determines whether to trigger a roaming handover based on the target AP identified in the previous steps, ensuring that the AGV can receive data services from the target AP on the second wireless frequency band. Specifically, the AGV determines whether its currently connected AP is the same as the identified target AP. If they are not the same AP, the AGV actively disconnects from its existing AP and switches to the target AP. After the handover, the target AP provides subsequent data service to the AGV on the second wireless frequency band.

[0065] When the currently connected AP is the target AP, the AGV continues to maintain its connection to the target AP, allowing the target AP to provide services to the AGV on the second wireless frequency band. That is, if the AP currently connected to the AGV is the same as the determined target AP, there is no need to switch APs; the AGV continues to maintain its existing AP connection, and the already connected AP continues to provide services to the AGV on the second wireless frequency band. This method avoids unnecessary and frequent AP switching and ensures a timely response when a better AP option becomes available.

[0066] Assuming the AGV is currently connected to AP1, which provides services to the AGV on the second wireless frequency band, and the target AP is determined to be AP2 after scanning and evaluation. Since the currently connected AP is AP1 and the target AP is AP2, and the two APs are not the same, the AGV disconnects from AP1 and connects to AP2, which then provides services to the AGV on the second wireless frequency band.

[0067] If the target AP is determined to be AP1 after scanning and evaluation, then the currently connected AP and the target AP are the same AP. In this case, the AGV maintains its connection with AP1, and AP1 continues to provide services to the AGV on the second wireless frequency band, thus avoiding unnecessary signaling overhead and potential connection interruption risks.

[0068] In this embodiment, by redefining Bsscolor as a quantitative indicator representing the current load of an AP, and using the current load and signal strength of the AP together as the basis for the AGV to select a target AP, the AGV comprehensively considers the link quality and current load of each scanned AP, and intelligently selects a target AP with a strong signal and light load from among the scanned APs. While ensuring the communication quality of the AGV, it effectively avoids the problem of single-point overload and resource idleness caused by uneven deployment, and improves the air interface utilization and service fairness of the entire wireless network.

[0069] In addition, this embodiment adopts a perception-service architecture that separates the first wireless frequency band and the second wireless frequency band. The second wireless frequency band is dedicated to carrying data services between the AGV and the AP, while the first wireless frequency band serves as an independent detection channel for broadcasting and scanning Bsscolor and signal strength. This allows the AGV's load perception process to be carried out on a channel isolated from the service frequency band. The AGV can obtain the load and link status of each AP in the network in real time without interrupting the main communication or increasing the service channel overhead, thus maintaining the efficient and stable operation of the entire wireless network.

[0070] See Figure 2 An exemplary diagram of the architecture interaction of an automated guided vehicle (AGV) scheduling system is shown. The AGV scheduling system provided in this embodiment includes at least one AGV 201 and multiple wireless access points (APs) 202 deployed in the AGV's operating area. The multiple APs 202 constitute a wireless network covering the entire operating area.

[0071] In this system, each AP 202 in the network operates on the second wireless frequency band to provide actual data service to the AGV 201 accessing this AP. Each AP 202 corresponds to a BSS on the second wireless frequency band, and its configured BSScolor is redefined to indicate the current load status of the AP, which can be represented by the number of currently accessed AGVs or a preset load level corresponding to the number of AGVs.

[0072] To achieve efficient broadcasting of load status, each AP 202 performs a broadcast operation 210 to periodically broadcast its BSScolor on a first radio band different from the second radio band. For example, AP 202 can periodically send Beacon frames via the first radio band, such as 2.4 GHz, which carry the BSScolor of the AP corresponding to the second radio band, such as 5 GHz.

[0073] Accordingly, any AGV currently connected to the network performs signal scanning 220 to scan the first wireless frequency band, obtaining the signal strength and Bsscolor of each AP 202 in the current network; based on the signal strength and Bsscolor of each AP in the current network, AGV 201 executes target AP selection logic 230 to determine the target AP from the scanned APs; and AGV 201 executes switching control logic 240: when the currently connected AP is not the target AP, step 241 is executed to switch access to the target AP, so that the target AP provides services to the AGV on the second wireless frequency band; when the currently connected AP is the target AP, the AGV continues to be connected to the target AP, so that the target AP provides services to the AGV on the second wireless frequency band. Based on this, the determined target AP ultimately provides continuous and stable data services to the AGV on the second wireless frequency band, thereby achieving highly reliable, low-interference, and load-balanced wireless communication guarantees.

[0074] It should be noted that the specific operation processes performed by AGV 201 in this embodiment, such as signal scanning, target AP selection logic, and switching control logic, are consistent with those described in the aforementioned method embodiments, and will not be repeated here. This system architecture, through dual-band collaborative design and Bsscolor semantic redefinition, effectively solves the problem of uneven AP load caused by relying solely on signal strength in traditional AGV scheduling, thereby improving the overall efficiency and service determinism of the industrial wireless network.

[0075] To enable those skilled in the art to better understand the AGV scheduling method provided in this application, this embodiment provides a specific implementation method for load perception based on Bsscolor and target AP decision-making in combination with signal strength. Through multiple continuous scenario illustrations, it intuitively demonstrates how the AGV integrates signal strength and AP load information to achieve dynamic and balanced network access during movement.

[0076] In this embodiment, Bsscolor is used to identify the current number of AGVs connected to the AP, with a value range of [0:63]. This value linearly maps to the actual number of AGVs connected to the AP. For example, a Bsscolor value of 60 indicates that the AP's current number of connected vehicles is close to saturation and the load is high; a Bsscolor value of 10 indicates that the AP's current number of connected vehicles is low, with a large capacity remaining. Each AP uses the 5GHz band to carry data services and broadcasts its 5GHz band Bsscolor on the 2.4GHz band. Each AGV scans the 2.4GHz band to obtain the current number of connected vehicles at each AP and uses this information, combined with signal strength factors, to rationally plan the access nodes.

[0077] (1) The network consists of four wireless access points: AP1, AP2, AP3, and AP4, all managed by the AC (Access Controller). See [link to relevant documentation] Figure 3A The example shown illustrates the distribution of APs in a network and the initial Bsscolor. During initial network operation, all APs have a Bsscolor of 0, indicating that no AGVs are currently connected. When an AGV connects to an AP, the AP's Bsscolor automatically increments by 1 to reflect its load status in real time.

[0078] (2) Assuming the network has been running for some time, see Figure 3B The exemplary diagram illustrates the selection of access nodes for a newly joined AGV, with the access status of each AP as shown in the figure. At this time, a newly joined AGV departs from point A and obtains the Bsscolor and signal strength of each AP through a 2.4GHz frequency band scan: AP_1 connects to 12 AGVs (Bsscolor=12), with a signal strength RSSI=-59 dBm; AP_2 connects to 56 AGVs (Bsscolor=56), with a signal strength RSSI=-52 dBm; AP_3 connects to 7 AGVs (Bsscolor=7), with a signal strength RSSI=-68 dBm; AP_4 connects to 2 AGVs (Bsscolor=2), with a signal strength RSSI=-75 dBm; After comprehensive evaluation, it was found that AP_3 and AP_4 had low loads but weak signals, and their signal quality did not meet the requirements. AP_2 had the strongest signal strength, but its current load was close to saturation. AP_1 had a strong signal strength and a small number of current accesses, making it suitable as the target AP. Following the target AP selection method described in the aforementioned embodiment, the candidate AP set includes AP_2 with the strongest signal strength and AP_1 with a signal strength difference from AP_2 within a set range, such as 8 dBm. AP_1, with the lightest load, is selected as the target AP from this candidate AP set.

[0079] Therefore, the AGV selected AP_1 as the initial access node and established a data connection on the 5GHz band to begin business communication.

[0080] (3) As the AGV moves from point A to point B, the signal strength received from AP1 weakens. See [link / reference] Figure 3C The example diagram illustrates the access node change when the AGV reaches point B. The AGV scans the 2.4GHz band again to obtain the latest Bsscolor and signal strength of each AP: AP_1 connects to 14 AGVs (Bsscolor=14), with a signal strength RSSI=-65dBm; AP_2 connects to 50 AGVs (Bsscolor=50), signal strength RSSI=-50dBm; AP_3 connects to 9 AGVs (Bsscolor=9), with a signal strength RSSI=-58dBm; AP_4 connects to 4 AGVs (Bsscolor=4), with a signal strength RSSI=-69dBm; Using the same target AP selection logic, and considering both Bsscolor and signal strength, it was found that: AP_2 has the strongest signal but its current load is close to saturation; AP_4 has a low load but its signal is too weak, and its signal quality does not meet the requirements. Compared to the currently connected AP1, AP3 has a lower load and a stronger signal. Therefore, the AGV determined that it should switch to AP3 to obtain better link quality and load balancing. The AGV executed a roaming procedure, disconnected from AP1, successfully connected to AP3, and continued to transmit service data in the 5GHz band.

[0081] (4) When the AGV continues to run to point C, see Figure 3D The example diagram illustrates the change in access nodes when the AGV reaches point C. At this point, the network environment changes: the number of AP3 accesses increases to 39 (Bsscolor=39), and the load increases significantly; while AP4 has a higher signal strength and currently only has 11 AGVs accessing it (Bsscolor=11), with a moderate load.

[0082] Post-scan evaluation by the AGV revealed that AP4 achieved the optimal balance between signal strength and load. Therefore, the AGV initiated a switchover request, changing the access node from AP3 to AP4 to ensure a high-quality, low-load communication connection throughout the entire operating path.

[0083] Through the above methods, this embodiment uses BSScolor to reflect the AP load status in real time and utilizes a dual-band collaborative mechanism of broadcasting load information in the 2.4GHz band and carrying services in the 5GHz band. This enables the AGV to dynamically perceive and intelligently decide on network resources during movement without interrupting or affecting main data services. The AGV dynamically selects the target access point at different locations based on the comprehensive evaluation results of signal strength and BSScolor. This effectively improves the resource waste problem of individual AP overload and other AP idleness under the single signal strength evaluation scheduling method of related technologies, thereby improving the air interface utilization and service reliability of the entire wireless network.

[0084] Corresponding to the aforementioned embodiments of the Automated Guided Vehicle (AGV) scheduling method, see [link to relevant documentation]. Figure 4As shown, this application also provides an embodiment of a scheduling device for automated guided vehicles (AGVs), the device being applied to AGVs, the device comprising: The scanning module 401 is configured to perform signal scanning on the first wireless frequency band to obtain the signal strength of each wireless access point (AP) in the current network and the basic service set coloring value (Bsscolor) of each AP; each AP in the current network provides services to the AGV on the second wireless frequency band; the Bsscolor of any AP is used to indicate the current load of the AP. The target AP determination module 402 is configured to determine the target AP based on the signal strength of each AP in the current network and the Bsscolor of each AP; Access module 403 is configured to switch access to the target AP when the currently accessed AP is not the target AP, so that the target AP can provide services to the AGV on the second wireless frequency band.

[0085] In some embodiments, the Bsscolor of any AP is the number of AGVs currently connected to the AP; or, the Bsscolor of any AP is the load level corresponding to the number of AGVs currently connected to the AP; wherein, each load level corresponds to a range of AGV access numbers, and the ranges of AGV access numbers corresponding to each load level do not overlap; the load level increases as the number of AGVs connected increases.

[0086] In some embodiments, the scanning module is specifically configured as follows: Scan on the first radio frequency band to receive beacon frames sent by each AP in the current network on the first radio frequency band; the beacon frame sent by any AP carries at least the Bsscolor corresponding to the AP's Basic Service Set (BSS) on the second radio frequency band; Parse the Beacon frames sent by each AP to obtain the Bsscolor of that AP, and use the Received Signal Strength Indicator (RSSI) measured when receiving the Beacon frames as the signal strength of that AP.

[0087] In some embodiments, the target AP determination module is specifically configured as follows: The candidate determination module is configured to select a set of candidate APs from the APs in the current network based on the signal strength of each AP in the current network; wherein, the set of candidate APs includes at least a first AP whose signal strength is greater than a first signal strength threshold, and at least one other AP whose signal strength is within a set range from the signal strength of the first AP. The decision module is configured to select the target AP from the candidate AP set based on the Bsscolor of each AP in the candidate AP set.

[0088] In some embodiments, the decision module is specifically configured as follows: Based on the Bsscolor of each AP in the candidate AP set, APs with Bsscolor less than the coloring value threshold are selected as reference APs from the candidate AP set; if the number of reference APs is 1, then the reference AP is selected as the target AP; if the number of reference APs is greater than 1, then APs with signal strength greater than the second signal strength threshold are selected from the reference APs as the target AP.

[0089] In some embodiments, when an AP is already connected, the candidate AP set further includes at least one AP in the current network whose signal strength minus the signal strength of the currently connected AP is greater than a preset handover threshold.

[0090] The scheduling device for automated guided vehicles (AGVs) proposed in this application is suitable for wireless networking scenarios under various IP network environments and multiple network topologies. It can be used in traditional copper cable access and wireless access scenarios, as well as fiber optic access scenarios, including FTTR all-optical access networks.

[0091] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0092] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without any inventive effort.

[0093] This application also provides an electronic device, the structural schematic diagram of which is shown below. Figure 5 As shown, the electronic device 500 includes at least one processor 501, a memory 502, and a bus 503. At least one processor 501 is electrically connected to the memory 502. The memory 502 is configured to store at least one computer-executable instruction, and the processor 501 is configured to execute the at least one computer-executable instruction to perform the steps of any automated guided vehicle (AGV) scheduling method provided in any embodiment or optional implementation of this application.

[0094] Furthermore, the processor 501 can be an FPGA (Field-Programmable Gate Array) or other devices with logic processing capabilities, such as an MCU (Microcontroller Unit) or a CPU (Central Processing Unit).

[0095] This application also provides another readable storage medium storing a computer program that, when executed by a processor, implements the steps of any scheduling method for an automated guided vehicle (AGV) provided in any embodiment or optional implementation of this application.

[0096] The readable storage media provided in this application include, but are not limited to, any type of disk (including floppy disk, hard disk, optical disk, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic cards, or optical cards. In other words, readable storage media include any medium by which a device (e.g., a computer) stores or transmits information in a readable form.

[0097] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve the desired result. Furthermore, the processes depicted in the drawings are not necessarily shown in a specific order or sequence to achieve the desired result. In some implementations, multitasking and parallel processing may be advantageous.

[0098] While this specification contains numerous specific implementation details, these should not be construed as limiting the scope of any invention or the scope of the claims, but rather are primarily intended to describe features of specific embodiments of a particular invention. Certain features described in the various embodiments herein may also be implemented in combination in a single embodiment. Conversely, various features described in a single embodiment may also be implemented separately in various embodiments or in any suitable sub-combination. Furthermore, while features may function in certain combinations as described above and even initially claimed in this way, one or more features from a claimed combination may be removed from that combination in some cases, and a claimed combination may refer to a sub-combination or a variation thereof.

[0099] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A scheduling method for automated guided vehicles (AGVs), characterized in that, The method is applied to AGVs, and the method includes: A signal scan is performed on the first wireless frequency band to obtain the signal strength of each wireless access point (AP) in the current network and the basic service set coloring value (Bsscolor) of each AP; each AP in the current network provides services to the AGV on the second wireless frequency band; the Bsscolor of any AP is used to indicate the current load of that AP; Based on the signal strength and Bsscolor of each AP in the current network, the target AP is determined; If the currently accessed AP is not the target AP, switch to the target AP so that the target AP can provide services to the AGV on the second wireless frequency band.

2. The method according to claim 1, characterized in that, The Bsscolor of any AP is the load level corresponding to the number of AGVs currently connected to that AP; each load level corresponds to a range of AGVs connected, and the ranges of AGVs connected to each load level do not overlap; the load level increases as the number of AGVs connected increases.

3. The method according to claim 1, characterized in that, A signal scan is performed on the first wireless frequency band to obtain the signal strength of each wireless access point (AP) in the current network and the basic service set coloring value (Bsscolor) of each AP, including: Scan on the first radio frequency band to receive beacon frames sent by each AP in the current network on the first radio frequency band; the beacon frame sent by any AP carries at least the Bsscolor corresponding to the AP's Basic Service Set (BSS) on the second radio frequency band; Parse the Beacon frames sent by each AP to obtain the Bsscolor of that AP, and use the Received Signal Strength Indicator (RSSI) measured when receiving the Beacon frames as the signal strength of that AP.

4. The method according to claim 1, characterized in that, Based on the signal strength and BSS color of each AP in the current network, the target AP is determined, including: Based on the signal strength of each AP in the current network, a candidate AP set is selected from the APs in the current network; wherein, the candidate AP set includes at least the first AP whose signal strength is greater than the first signal strength threshold, and at least one other AP whose signal strength is within a set range from the signal strength of the first AP; The target AP is selected from the candidate AP set based on the Bsscolor of each AP in the candidate AP set.

5. The method according to claim 4, characterized in that, Selecting the target AP from the candidate AP set includes: Based on the Bsscolor of each AP in the candidate AP set, APs with Bsscolor less than the coloring value threshold are selected as reference APs from the candidate AP set. If the number of reference APs is 1, then the reference AP is used as the target AP; If the number of reference APs is greater than 1, then an AP with a signal strength greater than the second signal strength threshold is selected from among the reference APs as the target AP.

6. The method according to claim 4, characterized in that, In the case where an AP is already connected, the candidate AP set also includes at least one AP in the current network whose signal strength minus the signal strength of the currently connected AP is greater than a preset handover threshold.

7. A scheduling system for automated guided vehicles (AGVs), characterized in that, The scheduling system includes at least one AGV and multiple APs within the network; each AP in the network provides services to the AGV on a second wireless frequency band; the Bsscolor of any AP is used to indicate the current load of that AP; Each AP broadcasts its Bsscolor on the first wireless frequency band; Any AGV currently connected to the network performs a signal scan on the first wireless frequency band to obtain the signal strength and Bsscolor of each AP in the current network; based on the signal strength and Bsscolor of each AP in the current network, a target AP is determined; if the currently connected AP is not the target AP, the AGV switches to the target AP so that the target AP provides services to the AGV on the second wireless frequency band.

8. A scheduling device for an automated guided vehicle (AGV), characterized in that, The device is used in AGVs and includes: The scanning module is configured to perform signal scanning on the first wireless frequency band to obtain the signal strength of each wireless access point (AP) in the current network and the basic service set coloring value (Bsscolor) of each AP; each AP in the current network provides services to the AGV on the second wireless frequency band; the Bsscolor of any AP is used to indicate the current load of that AP. The target AP determination module is configured to determine the target AP based on the signal strength and Bsscolor of each AP in the current network. The access module is configured to switch access to the target AP when the currently accessed AP is not the target AP, so that the target AP can provide services to the AGV on the second wireless frequency band.

9. An electronic device, characterized in that, include: Memory, processor; The memory is used to store computer programs; The processor is configured to invoke the computer program to implement the method as described in any one of claims 1-6.

10. A readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-6.

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