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CN-115695298-B - Message forwarding method and device

CN115695298BCN 115695298 BCN115695298 BCN 115695298BCN-115695298-B

Abstract

The application provides a message forwarding method and device. The method is applied to any Fit AP in an AGV system, and comprises the steps of converting a first VLAN tag field carried by a first wireless message into a first wired message carried with the first VLAN tag field if the first wireless message is judged to be carried by a receiving and transmitting module in any AGV trolley when the first wireless message is received, transmitting the first wireless message to an AC for processing according to the first message priority, determining VLAN identifications corresponding to a destination MAC address and a destination IP address of the fourth wired message and the second message priority of the fourth wired message when the fourth wired message transmitted by the AC is received, converting the second wireless message into a second wireless message carried with the second VLAN tag field comprising the determined VLAN identifications and the second message priority, and transmitting the second wireless message to the receiving and transmitting module according to the second message priority. The application can meet the isolation requirement of communication data.

Inventors

  • HUANG XIANG
  • SHAN LINA

Assignees

  • 新华三技术有限公司

Dates

Publication Date
20260505
Application Date
20221028

Claims (11)

  1. 1. The message forwarding method is characterized by being applied to any Fit AP in an AGV system of an automatic guided vehicle, and comprises the following steps: When a first wireless message which is transmitted to an AGV ground controller in an AGV system and needs to be transmitted to the AGV ground controller in the AGV system is received by a transceiver module in any AGV car which is accessed to the Fit AP in the AGV system, if the first wireless message is judged to carry a first VLAN tag field, the first wireless message is converted into a first wired message carrying the first VLAN tag field, the first wired message is transmitted to the AGV ground controller for processing according to the first message priority in the first VLAN tag field, the first wired message is transmitted to the AGV ground controller after being processed by an AC which is associated with the Fit AP, the first wireless message is transmitted to the AGV ground controller for processing by the transceiver module when the first wireless message is received by a second wired message which is transmitted by a vehicle-mounted control module in the AGV system and carries the first VLAN tag field, the first wireless message is converted into the first wireless message according to the first VLAN tag field, the first wireless message priority is transmitted to the Fit AP, the first wireless message is transmitted to the AGV ground controller through the first VLAN tag field when the first wireless message is not transmitted by the AGV ground controller module, the AGV ground controller is transmitted to the AGV ground controller through the corresponding to the first AGV bus, and the first AGV bus is not completely corresponding to the first VLAN tag field, and all AGV messages are transmitted by the AGV bus to the first AGV bus; When a fourth wired message which is sent by the AC and is sourced from the AGV ground controller and needs to be sent to the AGV trolley is received, VLAN identification corresponding to a destination MAC address and a destination IP address of the fourth wired message and second message priority of the fourth wired message are determined, the fourth wired message is converted into a second wireless message carrying a second VLAN label field comprising the determined VLAN identification and the second message priority, the second wireless message is sent to the receiving and sending module according to the second message priority, so that when the receiving and sending module receives the second wireless message and judges that the second wireless message carries the second VLAN label field, the second wireless message is converted into a fifth wired message carrying the second VLAN label field, and the fifth wireless message is sent to the vehicle-mounted control module to be processed according to the second message priority and then is forwarded to the VLAN label field corresponding to the IP address, and the vehicle-mounted control module is used for determining the VLAN identification corresponding to the IP address.
  2. 2. The method of claim 1, wherein determining whether the first VLAN tag field is carried in the first wireless message is performed by: judging whether the first wireless message carries a Tag Protocol Identification (TPID) with a value of 0x 8100; if the judgment result is yes, judging that the first wireless message carries a first VLAN tag field; if the judgment result is negative, judging that the first VLAN tag field is not carried in the first wireless message.
  3. 3. The method of claim 1, wherein the first VLAN tag field is located between a message protocol header in the first wireless message and a data payload in the first wireless message; The second VLAN tag field is located between a message protocol header in the second wireless message and a data payload in the second wireless message.
  4. 4. The method of claim 1, wherein the VLAN identification corresponding to the destination MAC address and the destination IP address of the fourth wired message, and the message priority of the fourth wired message are determined by: judging whether the fourth wired message carries a third VLAN tag field or not; When the judgment result is yes, determining the VLAN identifier in the third VLAN tag field as the VLAN identifier corresponding to the destination MAC address and the destination IP address of the fourth wired message, and determining the message priority in the third VLAN tag field as the message priority of the fourth wired message; And if the judgment result is negative, searching VLAN identifications corresponding to the destination MAC address and the destination IP address of the fourth wired message in the information table item of the AGV trolley recorded locally, determining the searched VLAN identifications as well as determining the priority of the empty port for communicating the Fit AP with the AGV trolley as the message priority of the fourth wired message.
  5. 5. The message forwarding method is characterized by being applied to a transceiver module in any AGV in an AGV system, and comprises the following steps: when a first wired message which is transmitted by a vehicle-mounted control module in the AGV and needs to be transmitted to a ground controller in the AGV system and carries a first VLAN tag field is received, the first wired message is converted into a first wireless message carrying the first VLAN tag field, and the first wireless message is transmitted to a Fit AP accessed by the AGV in the AGV system according to a first message priority in the first VLAN tag field, so that the Fit AP can transmit the first wireless message into a second wired message carrying the first VLAN tag field when judging that the first wireless message carries the first VLAN tag field, and the second wired message is transmitted to the AGV ground controller for processing after processing according to the first message priority, wherein the first wired message is an IP message which is associated with the Fit AP in the AGV system and is transmitted to the AGV in a vehicle-mounted bus through the first VLAN tag field, and the AGV is not completely connected with the vehicle-mounted control module through a first VLAN tag field, and the AGV is not completely transmitted to the vehicle-mounted control module when the first AGV is not completely connected with the first VLAN tag field, and the first AGV is transmitted to the corresponding to the vehicle-mounted control module through the first VLAN tag; When a second wireless message sent by the Fit AP is received, if the second wireless message is judged to carry a second VLAN tag field, the second wireless message is converted into a fourth wired message carrying the second VLAN tag field, and the fourth wired message is sent to the vehicle-mounted control module in the AGV trolley according to the second message priority in the second VLAN tag field, so that the vehicle-mounted control module processes the fourth wired message and then forwards the processed fourth wired message to the vehicle-mounted communication module corresponding to the destination IP address of the fourth wired message, and the VLAN identifier in the second VLAN tag field is the VLAN identifier of the vehicle-mounted communication module corresponding to the destination IP address of the fourth wired message.
  6. 6. The method of claim 5, wherein determining whether the second VLAN tag field is carried in the second wireless message is performed by: judging whether the second wireless message carries a label protocol identifier (TPID) with a value of 0x 8100; if the judgment result is yes, judging that the first wireless message carries a second VLAN tag field; If the judgment result is negative, judging that the second VLAN tag field is not carried in the second wireless message.
  7. 7. The method of claim 5, wherein the first VLAN tag field is located between a message protocol header in the first wireless message and a data payload in the first wireless message; The second VLAN tag field is located between a message protocol header in the second wireless message and a data payload in the second wireless message.
  8. 8. A message forwarding device, wherein the device is applied to any Fit AP in an automatic guided vehicle AGV system, the device comprising: The AGV system comprises a first forwarding module, a first AGV ground controller, a first wireless message and a second wireless message, wherein the first forwarding module is used for converting the first wireless message into a first wired message carrying a first VLAN tag field when receiving a first wireless message which is transmitted to an AGV ground controller in the AGV system and needs to be transmitted to the AGV ground controller in any AGV ground controller in the AGV system, the first wireless message is processed by a transceiver module in any AGV ground controller in the AGV system after receiving a first wireless message which is transmitted to any AGV ground controller in the AGV ground system and needs to be transmitted to the Fit AP, the first wireless message is converted into the first wireless message when receiving a second wired message carrying the first VLAN tag field, the first wireless message is transmitted to the first VLAN tag field according to the first message priority, the first wireless message is transmitted to the first VLAN tag field, the first wireless message is transmitted to the AGV ground controller through the corresponding to the first AGV ground controller, and the AGV ground controller is not completely connected to the first AGV ground controller through the first VLAN tag field, and the first AGV ground controller is completely transmitted to the first AGV ground controller through the first VLAN tag field; And the second forwarding module is used for determining a VLAN identifier corresponding to a destination MAC address and a destination IP address of the fourth wired message and a second message priority of the fourth wired message when receiving the fourth wired message which is sent by the AC and is sourced from the AGV ground controller and needs to be sent to the AGV trolley, converting the fourth wired message into a second wireless message carrying a second VLAN tag field comprising the determined VLAN identifier and the second message priority, sending the second wireless message to the receiving and sending module according to the second message priority, so that the receiving and sending module can convert the second wireless message into a fifth wired message carrying the second VLAN tag field when receiving the second wireless message and judging that the second wireless message carries the second VLAN tag field, and sending the second wireless message to the control module to process the second wireless message according to the second message priority, and then sending the second wireless message to the vehicle-mounted control module to the vehicle-mounted address to carry out corresponding VLAN identifier, and determining the vehicle-mounted address to carry out vehicle-mounted communication to carry out corresponding to the vehicle-mounted address, and carrying out the vehicle-mounted communication to carry out the vehicle-mounted address.
  9. 9. The apparatus of claim 8, wherein the first VLAN tag field is located between a message protocol header in the first wireless message and a data payload in the first wireless message; The second VLAN tag field is located between a message protocol header in the second wireless message and a data payload in the second wireless message.
  10. 10. A message forwarding device, wherein the device is applied to a transceiver module in any AGV cart in an automatic guided vehicle, AGV, system, the device comprising: The AGV system comprises a first forwarding module, a first AGV control module and a first AGV control module, wherein the first forwarding module is used for converting a first wired message into a first wireless message carrying a first VLAN tag field when receiving a first wired message which is sent by the AGV control module and needs to be sent to a ground controller in the AGV system and carries the first VLAN tag field, and forwarding the first wireless message to a Fit AP accessed by the AGV in the AGV system according to a first message priority in the first VLAN tag field, so that the Fit AP can process the first wireless message after judging that the first wireless message carries the first VLAN tag field, converting the first wireless message into a second wired message carrying the first VLAN tag field, and forwarding the second wired message to the AGV control module according to a first message priority after processing an AC (alternating current) associated with the Fit AP in the AGV system, wherein the first wired message is sent to the AGV control module and does not need to be sent to the AGV control module through the first VLAN tag field, and the AGV control module is not completely connected with the AGV control module when the first AGV control module receives the first wireless message and sends the first VLAN tag field, and the first AGV control message is not completely corresponding to the first AGV control module through the first AGV control module; And the second forwarding module is used for converting the second wireless message into a fourth wired message carrying the second VLAN tag field when receiving the second wireless message sent by the Fit AP, and sending the fourth wired message to the vehicle-mounted control module in the AGV according to the second message priority in the second VLAN tag field so as to process the fourth wired message by the vehicle-mounted control module and then forward the processed fourth wired message to the vehicle-mounted communication module corresponding to the destination IP address of the fourth wired message, wherein the VLAN identifier in the second VLAN tag field is the VLAN identifier of the vehicle-mounted communication module corresponding to the destination IP address of the fourth wired message.
  11. 11. The apparatus of claim 10, wherein the first VLAN tag field is located between a message protocol header in the first wireless message and a data payload in the first wireless message; The second VLAN tag field is located between a message protocol header in the second wireless message and a data payload in the second wireless message.

Description

Message forwarding method and device Technical Field The present application relates to the field of communications technologies, and in particular, to a method and an apparatus for forwarding a message. Background AGVs (Automated Guided Vehicle), automated guided vehicles) have become increasingly used in the warehouse, logistics, power industries, and the like. Since the AGV trolley needs to move continuously in the place during operation, the AGV trolley is required to have wireless access capability in order to communicate with the outside. Currently, an AGV system typically includes an AGV floor controller, an Access controller (Access Controller, AC), multiple Access Points (APs), multiple AGV carts, and the like. In an AGV system, an AGV trolley communicates with an AGV ground controller through a thin (Fit) AP accessed by the AGV trolley. Here, only one radio frequency unit is deployed in each of the AGV trolley and the Fit AP to which the AGV trolley is connected. For any AGV in the AGV system, the AGV may include a transceiver module that communicates with a Fit AP to which the AGV is connected, a vehicle-mounted control module that communicates with the transceiver module, and a vehicle-mounted communication module that is connected to the vehicle-mounted control module through an Ethernet bus, etc. The data of these vehicle-mounted communication modules and AGV ground controller communication are usually in same virtual LAN (Virtual Local Area Network, VLAN), and this just can't satisfy the demand of keeping apart vehicle-mounted communication module's communication data, probably still can receive unnecessary broadcast data, and then influence the handling property of AGV dolly, lead to user experience relatively poor. Disclosure of Invention In order to overcome the problems in the related art, the application provides a message forwarding method and device. According to a first aspect of an embodiment of the present application, there is provided a message forwarding method, where the method is applied to any Fit AP in an AGV system, the method includes: When a first wireless message which is transmitted to an AGV ground controller in an AGV system and needs to be transmitted to the AGV ground controller in the AGV system is received by a transceiver module in any AGV car which is accessed to the Fit AP in the AGV system, if the first wireless message is judged to carry a first VLAN tag field, the first wireless message is converted into a first wired message carrying the first VLAN tag field, the first wired message is transmitted to the AGV ground controller for processing according to the first message priority in the first VLAN tag field, the first wired message is transmitted to the AGV ground controller after being processed by an AC which is associated with the Fit AP, the first wireless message is transmitted to the AGV ground controller for processing by the transceiver module when the first wireless message is received by a second wired message which is transmitted by a vehicle-mounted control module in the AGV system and carries the first VLAN tag field, the first wireless message is converted into the first wireless message according to the first VLAN tag field, the first wireless message priority is transmitted to the Fit AP, the first wireless message is transmitted to the AGV ground controller through the first VLAN tag field when the first wireless message is not transmitted by the AGV ground controller module, the AGV ground controller is transmitted to the AGV ground controller through the corresponding to the first AGV bus, and the first AGV bus is not completely corresponding to the first VLAN tag field, and all AGV messages are transmitted by the AGV bus to the first AGV bus; When a fourth wired message which is sent by the AC and is sourced from the AGV ground controller and needs to be sent to the AGV trolley is received, VLAN identification corresponding to a destination MAC address and a destination IP address of the fourth wired message and second message priority of the fourth wired message are determined, the fourth wired message is converted into a second wireless message carrying a second VLAN label field comprising the determined VLAN identification and the second message priority, the second wireless message is sent to the receiving and sending module according to the second message priority, so that when the receiving and sending module receives the second wireless message and judges that the second wireless message carries the second VLAN label field, the second wireless message is converted into a fifth wired message carrying the second VLAN label field, and the fifth wireless message is sent to the vehicle-mounted control module to be processed according to the second message priority and then is forwarded to the VLAN label field corresponding to the IP address, and the vehicle-mounted control module is used for determining the VLAN identification correspon