Industrial equipment real-time synchronous communication method and system based on 5G + TSN

Abstract

The invention relates to a 5G + TSN-based industrial equipment real-time synchronous communication method and system, and the method comprises the following steps: carrying out the clock calibration of industrial equipment through a time synchronization module, obtaining equipment clock data, adding a timestamp, and forming timestamp equipment data; and performing time slot allocation on the 5G network based on the data to generate a time slot allocation table, and performing traffic scheduling on the TSN network according to the time slot allocation table to obtain scheduling configuration information. And performing priority marking on the information to obtain priority data, and calculating an optimal transmission path of the 5G network according to the priority data. And transmitting and confirming the priority data through the path, and generating transmission confirmation information. And a synchronization control instruction is generated based on the confirmation information, and is directionally issued to each industrial device, so that high-precision time synchronization control of multi-device cooperative operation is realized, and the technical problems that time faults occur on an end-to-end communication path and multi-device cooperative control is seriously influenced due to clock asynchronization between a 5G network and a TSN network are solved.

Description

Technical Field

[0001] This invention relates to the field of industrial equipment technology, and in particular to a real-time synchronous communication method and system for industrial equipment based on 5G+TSN. Background Technology

[0002] With the rapid development of Industry 4.0 and intelligent manufacturing, modern industrial production has placed higher demands on collaborative operations between equipment. In particular, in scenarios such as automated production lines, intelligent warehousing, and robot collaboration, multiple devices need to achieve synchronized actions with millisecond or even microsecond-level time accuracy.

[0003] While 5G and TSN each perform well in wide-area and local real-time communication, they still face numerous challenges in practical integrated applications. First, 5G networks, based on packet switching, are susceptible to interference, leading to transmission jitter and latency uncertainties, making it difficult to meet stringent time synchronization requirements independently. Second, although TSN can provide nanosecond-level time synchronization accuracy, its scheduling mechanism is primarily geared towards fixed-topology wired networks, making it ill-suited for the mobility and dynamic access scenarios supported by 5G. More critically, most current systems lack a unified time coordination mechanism. Clock asynchrony and fragmented scheduling strategies between 5G and TSN networks result in time gaps in the end-to-end communication path, severely impacting the real-time performance and reliability of multi-device collaborative control. Summary of the Invention

[0004] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a real-time synchronous communication method and system for industrial equipment based on 5G+TSN.

[0005] The technical solution adopted in this invention is: On one hand, embodiments of the present invention provide a real-time synchronous communication method for industrial equipment based on 5G+TSN, comprising the following steps: The clock of the industrial equipment is calibrated by the time synchronization module to obtain the equipment clock data, and a timestamp is added to the equipment clock data to obtain timestamped equipment data. Based on the timestamp device data, time slots are allocated to the 5G network to obtain a time slot allocation table, and traffic scheduling is performed on the TSN network based on the time slot allocation table to obtain scheduling configuration information. Priority is assigned to the scheduling configuration information to obtain priority data, and the optimal transmission path of the 5G network is calculated based on the priority data. The priority data is transmitted and confirmed through the optimal transmission path to obtain transmission confirmation information. A synchronization control command is generated based on the transmission confirmation information and then directed to the industrial equipment based on the synchronization control command to achieve time synchronization control for multi-device collaborative operation.

[0006] Furthermore, the step of calibrating the industrial equipment clock using a time synchronization module to obtain equipment clock data, and adding a timestamp to the equipment clock data to obtain timestamped equipment data, includes: The local clock of the industrial equipment is sampled by the time synchronization module to obtain the clock sample value, and the difference between the clock sample value and the preset reference clock value is calculated to obtain the clock deviation value. The local clock of the industrial equipment is compensated and adjusted based on the clock deviation value to obtain a calibrated clock, and the calibrated clock is verified to obtain the equipment clock data. The device clock data is time-stamped to obtain an initial timestamp, and the initial timestamp is associated and bound with the device identifier corresponding to the industrial equipment to obtain timestamped device data.

[0007] Furthermore, the step of allocating time slots to the 5G network based on the timestamp device data to obtain a time slot allocation table includes: Based on the timestamp device data, device communication requests in the 5G network are identified, and the device communication requests are prioritized to obtain a priority queue; Based on the priority queue, the available bandwidth resources in the 5G network are allocated and calculated to obtain the bandwidth allocation result. Conflict detection is then performed on the bandwidth allocation result to obtain a conflict detection table. The time slots with resource conflicts in the conflict detection table are rearranged to obtain the time slot arrangement result, and the time slot arrangement result is bound with the device identifier to generate a time slot allocation table.

[0008] Furthermore, the step of performing traffic scheduling on the TSN network based on the time slot allocation table to obtain scheduling configuration information includes: The time slot allocation table is parsed to obtain the available time slot segments corresponding to each industrial device, and the duration of the available time slot segments is statistically analyzed to obtain time slot duration data. Based on the time slot duration data, the data packets in the TSN network are matched by size to obtain a list of matched data packets. Based on the list of matching data packets, traffic allocation planning is performed on the switch ports in the TSN network to obtain a port traffic planning map. Congestion point detection is then performed on the port traffic planning map to obtain congestion point location information. Based on the congestion point location information, the port traffic planning graph is adjusted and optimized to obtain an optimized path graph. The optimized path graph is then associated and mapped with the device identifier to generate scheduling configuration information.

[0009] Furthermore, the step of calculating the optimal transmission path of the 5G network based on the priority data includes: Path demand analysis is performed on the priority data to obtain the bandwidth and latency requirements corresponding to each priority data, and basic parameters of each available path in the 5G network are collected. Based on the bandwidth requirements, latency requirements, and basic parameters, the available paths in the 5G network are initially screened to obtain a list of candidate paths that meet the requirements. Interference is then detected on each path in the candidate path list to obtain path interference data. Based on the path interference data, the candidate path list is sorted and optimized to obtain an optimal path sorting table, and the optimal transmission path corresponding to the priority data is selected from the optimal path sorting table.

[0010] Furthermore, the step of transmitting the priority data through the optimal transmission path to obtain transmission confirmation information includes: The priority data is segmented to obtain data segmentation units, and a checksum is added to each data segmentation unit to obtain segmented data with checksum. Based on the optimal transmission path, the data fragments with checksums are transmitted sequentially to obtain a real-time transmission sequence, and the integrity of the real-time transmission sequence is checked to obtain the check result. When the verification result shows that there are missing fragments in the real-time transmission sequence, the missing fragment data is retransmitted based on the verification result to obtain a supplementary data unit, and the supplementary data unit is merged with the data already transmitted in the real-time transmission sequence to generate transmission confirmation information.

[0011] Furthermore, the step of generating a synchronization control command based on the transmission confirmation information and then sending the synchronization control command to the industrial equipment in a targeted manner to achieve time synchronization control for multi-device collaborative operation includes: The transmission confirmation information is subjected to reliability analysis to obtain transmission status parameters, and the communication delay data of the industrial equipment is calculated based on the transmission status parameters. Based on the communication delay data, a device synchronization command is generated, and the device synchronization command is grouped and encoded to obtain grouped command data; The group instruction data is grouped according to the device identifier to obtain group instruction data. The group instruction dataset is then distributed to the device via the 5G+TSN network to achieve time synchronization control for multi-device collaborative operation.

[0012] This invention also provides a real-time synchronous communication system for industrial equipment based on 5G+TSN, comprising: An add module is used to perform clock calibration on industrial equipment through a time synchronization module to obtain equipment clock data, and add a timestamp to the equipment clock data to obtain timestamped equipment data; The allocation module is used to allocate time slots to the 5G network based on the timestamp device data, obtain a time slot allocation table, and perform traffic scheduling on the TSN network based on the time slot allocation table to obtain scheduling configuration information. The marking module is used to mark the scheduling configuration information with priority to obtain priority data, and calculate the optimal transmission path of the 5G network based on the priority data; The distribution module is used to confirm the transmission of the priority data through the optimal transmission path, obtain transmission confirmation information, generate synchronization control instructions based on the transmission confirmation information, and distribute the synchronization control instructions to the industrial equipment in a targeted manner to achieve time synchronization control for multi-device collaborative operation.

[0013] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of any of the methods described above.

[0014] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the methods described above.

[0015] This invention provides a real-time synchronization communication method for industrial equipment based on 5G+TSN, comprising the following steps: clock calibration of the industrial equipment using a time synchronization module to obtain equipment clock data, and adding a timestamp to the equipment clock data to obtain timestamped equipment data; time slot allocation for the 5G network based on the timestamped equipment data to obtain a time slot allocation table, and traffic scheduling for the TSN network based on the time slot allocation table to obtain scheduling configuration information; priority marking of the scheduling configuration information to obtain priority data, and calculation of the optimal transmission path for the 5G network based on the priority data; and transmission confirmation of the priority data through the optimal transmission path to obtain transmission confirmation. The system transmits confirmation information and generates synchronization control commands based on the confirmation information. These commands are then directed to the industrial equipment to achieve time synchronization control for multi-device collaborative operation. This solves the technical problem of time discontinuity in the end-to-end communication path caused by clock asynchrony between 5G and TSN networks, which seriously affects multi-device collaborative control. By prioritizing the scheduling configuration information and calculating the optimal transmission path in the 5G network based on the priority data, high-priority control commands can obtain high-quality channel resources and the shortest transmission path first, ensuring low-latency and high-reliability transmission of critical control information and improving the system's responsiveness to complex industrial scenarios. Attached Figure Description

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a flowchart illustrating the steps of the real-time synchronous communication method for industrial equipment based on 5G+TSN in an embodiment of the present invention. Figure 2 This is a structural block diagram of the industrial equipment real-time synchronous communication system based on 5G+TSN in an embodiment of the present invention; Figure 3 This is a schematic block diagram of the structure of a computer device according to an embodiment of the present invention.

[0017] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0020] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0021] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0022] The embodiments of this application will be further described below with reference to the accompanying drawings.

[0023] Reference Figure 1 This invention provides a real-time synchronous communication method for industrial equipment based on 5G+TSN, comprising the following steps: Step S1: The industrial equipment clock is calibrated using a time synchronization module to obtain equipment clock data, and a timestamp is added to the equipment clock data to obtain timestamped equipment data.

[0024] Specifically, the industrial equipment clock is calibrated using a time synchronization module to obtain equipment clock data. A timestamp is then added to this clock data to obtain timestamped equipment data. This step is implemented as follows: First, in a smart manufacturing production line environment with multiple industrial devices, the built-in or external time synchronization modules of each device are connected to a unified high-precision time source, such as a PPS+TOD signal provided by a 5G base station or initial alignment via a network time protocol. Subsequently, the time synchronization module follows the IEEE... The 1588 precision time protocol or similar synchronization mechanism continuously monitors the deviation between the local clock of each device and the master clock, and performs periodic correction operations to make the internal clocks of all industrial equipment tend to be consistent, thereby obtaining accurate device clock data. Then, every time device status data is acquired or control commands are generated, the time synchronization module immediately embeds the currently calibrated absolute time value as a timestamp into the original device clock data, forming timestamped device data with a unified time reference identifier. For example, in a robot collaborative assembly scenario, when robotic arm A and robotic arm B simultaneously perform grasping and docking actions, their respective position feedback information is precisely timestamped the moment it is acquired, ensuring that the subsequent processing system can determine whether the two actions are synchronized based on the same time axis, avoiding misjudgment or control delay due to clock deviation. This process runs continuously throughout the entire communication process, providing a reliable time basis for subsequent time slot allocation and traffic scheduling.

[0025] Step S2: Allocate time slots to the 5G network based on the timestamp device data to obtain a time slot allocation table, and perform traffic scheduling on the TSN network based on the time slot allocation table to obtain scheduling configuration information.

[0026] Specifically, based on the timestamp device data, time slots are allocated to the 5G network to obtain a time slot allocation table. Then, based on the time slot allocation table, traffic scheduling is performed on the TSN network to obtain scheduling configuration information. The specific implementation method for this step is as follows: First, the timestamp device data obtained from the industrial equipment is uploaded to the central scheduling unit of the 5G network. This unit, based on the arrival pattern and periodicity of the timestamps in the data from each device, as well as the preset communication period, combines 5G... The NR-Uu interface's frame structure divides into fixed-length wireless time slots and allocates dedicated uplink or downlink time slots to each device according to device priority, data type, and synchronization requirements. This forms a time slot allocation table containing device identifiers, time slot locations, durations, and frequency resources. For example, in a robot collaborative assembly scenario, robotic arms A and B need to complete state synchronization every 10ms. The scheduling unit allocates continuous and aligned time slots for them in each 5G frame to ensure timely data transmission. Subsequently, this time slot allocation table is passed to the Time Aware Shaper (TAS) controller of the TSN network. The controller queues and gates the data streams in the TSN network according to the transmission time windows specified in the table, ensuring that data packets from the 5G network can be forwarded within the predetermined time window after entering the TSN domain, avoiding conflicts and queuing delays. Finally, it generates scheduling configuration information containing flow identification rules, gating lists, and forwarding sequences, thereby achieving end-to-end deterministic transmission across 5G and TSN networks.

[0027] Step S3: Prioritize the scheduling configuration information to obtain priority data, and calculate the optimal transmission path of the 5G network based on the priority data.

[0028] Specifically, the scheduling configuration information is prioritized to obtain priority data. Based on the priority data, the optimal transmission path of the 5G network is calculated. This step is implemented as follows: First, the scheduling configuration information generated from the TSN network is input to the unified policy management module of the industrial communication system. This module classifies each data stream in the scheduling configuration information according to preset business rules and assigns corresponding priority tags based on the associated industrial equipment action type, synchronization accuracy requirements, and time sensitivity. For example, in a robot collaborative assembly scenario, the control flow of robotic arm B executing an emergency braking command is marked as the highest priority because it directly affects safety and synchronization timing, while the state cycle reporting of robotic arm A is marked as a medium priority, thus forming a sequence of data streams. Priority data is identified and assigned to a priority level. This priority data is then fed into the routing calculation unit of the 5G core network. The routing calculation unit combines current 5G radio access network channel quality feedback, base station load status, interference levels, and transmission delay measurement results to apply differentiated path search algorithms to data streams of different priorities. High-priority data streams use Dijkstra's algorithm or a modified A* algorithm, targeting the minimum number of hops and the lowest latency, to calculate a transmission path that avoids congested nodes and minimizes forwarding delay. Medium- and low-priority data streams are allowed to traverse paths with more hops but maintain bandwidth redundancy. Finally, the optimal transmission path from the source device to the target controller in the 5G network is determined for each type of priority data, and this path information is solidified into an executable forwarding strategy for subsequent transmission.

[0029] Step S4: The priority data is transmitted and confirmed through the optimal transmission path to obtain transmission confirmation information. A synchronization control command is generated based on the transmission confirmation information and then directed to the industrial equipment based on the synchronization control command to achieve time synchronization control for multi-device collaborative operation.

[0030] Specifically, the priority data is transmitted and confirmed through the optimal transmission path to obtain transmission confirmation information. A synchronization control command is then generated based on the transmission confirmation information and directed to the industrial equipment based on the synchronization control command to achieve time synchronization control for multi-device collaborative operation. The specific implementation of this step is as follows: First, the priority data with completed priority marking is forwarded in the 5G network according to the previously calculated optimal transmission path. The data packet is transmitted hop-by-hop from the source end through the base station and core network along a designated route to the target control unit. Each hop node records the forwarding timestamp and feeds back the link status. When the target control unit successfully receives the priority data, it immediately sends an confirmation frame back to the source end. This confirmation frame includes the reception time, sequence number, and integrity verification result, thus forming a transmission confirmation. The central control unit then parses the received transmission confirmation information to determine whether the data arrived within the specified delay window without packet loss or out-of-order delivery. If confirmed, the system triggers the generation logic of synchronization control commands based on this information. For example, in a robot collaborative assembly scenario, once the status data of both robotic arm A and robotic arm B are confirmed to have been delivered on time, the system generates a synchronization control command containing the next cycle's action time, target position, and collaborative timing, and binds this command to the corresponding device identifier. Finally, the synchronization control command is sent out via a dedicated control channel of the 5G network according to the device address, ensuring that the command is accurately delivered to the local controllers of robotic arm A and robotic arm B, thereby driving the two devices to perform predetermined actions within the same clock cycle, achieving high-precision collaborative operation time synchronization control.

[0031] In a specific embodiment, the step of calibrating the clock of the industrial equipment through a time synchronization module to obtain equipment clock data, and adding a timestamp to the equipment clock data to obtain timestamped equipment data, includes: The local clock of the industrial equipment is sampled by the time synchronization module to obtain the clock sample value, and the difference between the clock sample value and the preset reference clock value is calculated to obtain the clock deviation value. The local clock of the industrial equipment is compensated and adjusted based on the clock deviation value to obtain a calibrated clock, and the calibrated clock is verified to obtain the equipment clock data. The device clock data is time-stamped to obtain an initial timestamp, and the initial timestamp is associated and bound with the device identifier corresponding to the industrial equipment to obtain timestamped device data.

[0032] Specifically, the local clock of the industrial equipment is sampled by a time synchronization module to obtain a clock sample value. The difference between the clock sample value and a preset reference clock value is calculated to obtain a clock deviation value. Based on the clock deviation value, the local clock of the industrial equipment is compensated and adjusted to obtain a calibrated clock. The calibrated clock is then verified to obtain equipment clock data. The equipment clock data is time-stamped to obtain an initial timestamp. The initial timestamp is then associated and bound with the equipment identifier corresponding to the industrial equipment to obtain timestamped equipment data. The specific implementation method of this step is as follows: multiple industrial devices, such as robotic arm A and robotic arm B, are deployed in the intelligent manufacturing production line. Each device is equipped with a time synchronization module. The communication module with inter-device synchronization function integrates a time synchronization module. This module periodically reads the current time value indicated by the device's local clock to form a clock sample value. This sampling action is triggered by the synchronization signal broadcast by the 5G base station, ensuring that all devices perform sampling at the same reference time, thereby avoiding additional errors introduced by inconsistent sampling timing. Subsequently, each device compares the collected clock sample value with the reference clock value pre-configured in the system. This reference clock value comes from a high-precision time source provided by the 5G core network or TSN master clock node, usually based on Coordinated Universal Time (UTC). By calculating the difference between the clock sample value and the reference clock value, a clock value reflecting the speed of the local clock is obtained. For example, if the local clock of robotic arm A displays 10:00:00.005 within a certain period, while the reference clock value is 10:00:00.000, then its clock deviation value is +5ms. Next, the time synchronization module compensates for this clock deviation value by adjusting the local clock, including frequency fine-tuning or phase shift correction, gradually bringing the local clock closer to the reference clock until the deviation is controlled within microseconds, forming a calibrated clock. Afterward, to ensure the reliability of the calibration effect, the system samples the calibrated clock again and compares it with the reference clock. If the deviation value calculated a second time is less than a preset threshold, the calibration is confirmed as successful, and the local clock status after this calibration is recorded as equipment clock data. If the target is not met, the compensation process is repeated. Finally, at the moment the device generates status data or receives a control command, the system marks the time point represented by the current device clock data, generates an initial timestamp, and reads the unique device identifier of the device, such as the ID of robotic arm A being "ARM_A_01". This identifier is then associated and bound with the initial timestamp, encapsulated into timestamp device data with both identity and time attributes, such as generating a data structure of "ARM_A_01@2025-09-22T17:27:00.001". This ensures that the subsequent scheduling system can accurately identify the data source and perform timing alignment based on this information, providing a unified time reference for multi-device collaborative operation.

[0033] In a specific embodiment, the step of allocating time slots to the 5G network based on the timestamp device data to obtain a time slot allocation table includes: Based on the timestamp device data, device communication requests in the 5G network are identified, and the device communication requests are prioritized to obtain a priority queue; Based on the priority queue, the available bandwidth resources in the 5G network are allocated and calculated to obtain the bandwidth allocation result. Conflict detection is then performed on the bandwidth allocation result to obtain a conflict detection table. The time slots with resource conflicts in the conflict detection table are rearranged to obtain the time slot arrangement result, and the time slot arrangement result is bound with the device identifier to generate a time slot allocation table.

[0034] Specifically, based on the timestamp device data, device communication requests in the 5G network are identified, and these requests are prioritized to obtain a priority queue. Based on this priority queue, available bandwidth resources in the 5G network are allocated to obtain bandwidth allocation results. Conflict detection is then performed on these bandwidth allocation results to obtain a conflict detection table. Time slots with resource conflicts in the conflict detection table are rearranged to obtain a time slot arrangement result. Finally, the time slot arrangement result is bound to the device identifier to generate a time slot allocation table. The specific implementation of this step is as follows: First, communication behavior characteristics, including data reporting cycle, message size, and timestamp density, are extracted from the timestamp device data obtained from various industrial devices. The system identifies devices that initiate communication requests in the 5G network and their communication needs, including device identifiers. For example, in a robotic collaborative assembly scenario, both robotic arms A and B send status feedback data packets via the uplink. Based on their timestamp data, the system determines that both are periodic high-frequency communication devices. Simultaneously, the conveyor belt controller also initiates a sudden status update request. The system then prioritizes these communication requests according to a preset scheduling strategy. The prioritization criteria include task criticality, synchronization error tolerance, and data timeliness requirements. Robotic arm B, due to its participation in main synchronous axis control, is given the highest priority, followed by robotic arm A. The conveyor belt controller, being a non-core synchronization node, is given a low priority, thus forming... The system first creates a priority queue containing device identifiers and their corresponding priority order. Then, the central scheduling unit reads the current available bandwidth resources of the 5G wireless access network, including frequency band occupancy, subframe structure configuration, and PRB (Physical Resource Block) idle status. Combining this with the communication frequency and data volume requirements of each device in the priority queue, it calculates bandwidth allocation using a weighted fair scheduling algorithm or a graph-based resource matching method. High-priority devices, such as robotic arm B, are allocated continuous and stable time slot resources to ensure they have a sufficient transmission window every 10ms. Low-priority devices are dynamically inserted into the remaining resources, thus forming a preliminary bandwidth allocation result. Next, the system performs conflict detection on this bandwidth allocation result. The system checks if multiple devices are allocated to the same time slot and frequency resource. If such resource overlap is found, the relevant device identifier, time slot position, and frequency number are recorded to generate a conflict detection table. For example, if it is detected that robotic arm A and conveyor belt controller are allocated the same PRB resource in the 3rd time slot of the same subframe, the entry is marked as a conflict. Subsequently, for each conflict in the conflict detection table, the scheduling system initiates a time slot rescheduling mechanism. By adjusting the time slot position of low-priority devices or migrating some data to the idle time slot of adjacent subframes, resource contention is avoided. For example, the data transmission of the conveyor belt controller is postponed by one time slot to avoid conflict with robotic arm A, thus obtaining a conflict-free time slot scheduling result.Finally, the system binds the time slot arrangement result to the device identifier of each device, forming a mapping table containing "device identifier - time slot location - frequency resource - transmission direction," which is the time slot allocation table. This table is then sent to the MAC layer scheduler of the 5G base station to guide the real-time allocation of subsequent radio resources and data transmission control.

[0035] In a specific embodiment, the step of performing traffic scheduling on the TSN network based on the time slot allocation table to obtain scheduling configuration information includes: The time slot allocation table is parsed to obtain the available time slot segments corresponding to each industrial device, and the duration of the available time slot segments is statistically analyzed to obtain time slot duration data. Based on the time slot duration data, the data packets in the TSN network are matched by size to obtain a list of matched data packets. Based on the list of matching data packets, traffic allocation planning is performed on the switch ports in the TSN network to obtain a port traffic planning map. Congestion point detection is then performed on the port traffic planning map to obtain congestion point location information. Based on the congestion point location information, the port traffic planning graph is adjusted and optimized to obtain an optimized path graph. The optimized path graph is then associated and mapped with the device identifier to generate scheduling configuration information.

[0036] Specifically, the time slot allocation table is parsed to obtain the available time slot segments corresponding to each industrial device, and the duration of the available time slot segments is statistically analyzed to obtain time slot duration data. Based on the time slot duration data, the data packets in the TSN network are matched by size to obtain a list of matched data packets. Based on the list of matched data packets, traffic allocation planning is performed on the switch ports in the TSN network to obtain a port traffic planning graph. Congestion point detection is performed on the port traffic planning graph to obtain congestion point location information. Based on the congestion point location information, the port traffic planning graph is optimized by path adjustment to obtain an optimized path graph. The optimized path graph is then associated and mapped with device identifiers to generate scheduling configuration information. The specific implementation method of this step is as follows: First, the time slot allocation table generated from the 5G network is input into the central configuration of the TSN network. The controller parses each record in the time slot allocation table to extract the start and end times of the uplink or downlink time slots allocated to each industrial device on the 5G side, forming the available time slot segments for each device. For example, in a robot collaborative assembly scenario, the available time slot segments for robotic arm A are from 1.2ms to 1.8ms within a 10ms cycle, for robotic arm B from 1.0ms to 1.6ms, and for the conveyor belt controller from 2.0ms to 2.3ms. Subsequently, the duration of each available time slot segment is precisely calculated to obtain time slot duration data: 0.6ms for robotic arm A, 0.6ms for robotic arm B, and 0.3ms for the conveyor belt controller. Then, based on this time slot duration data, the controller queries the data packet queue to be sent in the TSN network and matches it according to the data packet size and the transmission time required, for example, in the 0.A 6ms time slot can carry a standard Ethernet frame of up to 1500 bytes. Based on this, the system filters data packets that can be transmitted completely within this time slot, excluding large packets exceeding the duration limit, thus forming a list of matching data packets adapted to the available time slots of each device. Then, based on the source address, destination address, and bandwidth requirements of each data flow in this matching data packet list, traffic allocation planning is performed on the switch ports within the TSN network. This determines the forwarding path and port occupancy period for each data flow in the switching network, generating a port traffic planning map containing port numbers, time windows, and data flow directions. Next, congestion point detection is performed on this port traffic planning map. By simulating the queuing behavior of data flows at the switch inlet and outlet, port overload caused by the convergence of multiple high-priority data flows is identified; for example, the third port of the core switch is detected. When data from robotic arm A, robotic arm B, and the conveyor controller need to be forwarded simultaneously within the same time window, exceeding the physical bandwidth capacity, this location is marked as a congestion point. Subsequently, based on this congestion point location information, a path adjustment and optimization mechanism is initiated, rerouting some non-critical path data flows to backup links. For example, the data flow from the conveyor controller is switched from the backbone path to a redundant link, bypassing port 3, thereby alleviating congestion and forming a load-balanced optimized path graph. Finally, the start point, end point, traversed switch ports, and scheduling time window of each path in this optimized path graph are associated and mapped with the corresponding device identifiers to generate complete scheduling configuration information containing "device identifier—source port—destination port—forwarding sequence," which is then distributed to the gated list (GCL) of each TSN switch for time-deterministic traffic scheduling.

[0037] In a specific embodiment, calculating the optimal transmission path of the 5G network based on the priority data includes: Path demand analysis is performed on the priority data to obtain the bandwidth and latency requirements corresponding to each priority data, and basic parameters of each available path in the 5G network are collected. Based on the bandwidth requirements, latency requirements, and basic parameters, the available paths in the 5G network are initially screened to obtain a list of candidate paths that meet the requirements. Interference is then detected on each path in the candidate path list to obtain path interference data. Based on the path interference data, the candidate path list is sorted and optimized to obtain an optimal path sorting table, and the optimal transmission path corresponding to the priority data is selected from the optimal path sorting table.

[0038] Specifically, the optimal transmission path of the 5G network is calculated based on the priority data. This includes performing path demand analysis on the priority data to obtain the bandwidth and latency requirements corresponding to each priority data point, collecting basic parameters of each available path in the 5G network, performing preliminary screening of available paths in the 5G network based on the bandwidth and latency requirements and basic parameters to obtain a list of candidate paths that meet the requirements, detecting interference on each path in the candidate path list to obtain path interference data, optimizing the candidate path list based on the path interference data to obtain an optimal path ranking table, and selecting the optimal transmission path corresponding to the priority data from the optimal path ranking table. The specific implementation of this step is as follows: First, the generated priority data is obtained from the scheduling system. This priority data contains the priority levels of data streams sent by different industrial devices. For example, in a robot collaborative assembly scenario, the emergency control command of robotic arm B is marked as the highest priority, the status synchronization data of robotic arm A is the medium priority, and the environmental monitoring data of the conveyor belt controller is the highest priority. The data is initially assigned a low priority. Then, for each priority data category, path requirement analysis is performed to determine the corresponding transmission requirement parameters based on its service type. High-priority data, due to its direct impact on the timing consistency of coordinated actions, must meet high bandwidth and ultra-low latency requirements, with a bandwidth requirement of over 100Mbps and an end-to-end latency of no more than 1ms. Medium-priority data allows for moderate latency, with a latency requirement of less than 3ms and a bandwidth requirement of 50Mbps. Low-priority data prioritizes bandwidth assurance, with latency relaxed to 10ms. Simultaneously, the system collects basic parameters of each available path in the network in real time through the 5G network management interface, including path hop count, link bandwidth, RSRP (Resonance Strength Per Second), CQI (Channel Quality Indicator), base station load rate, and historical transmission latency statistics. Next, the bandwidth and latency requirements of each priority data category are compared with the collected basic parameters to filter out the set of paths that meet their minimum transmission requirements. For example, for the highest priority data of robotic arm B, only paths with fewer than 3 hops, a CQI greater than 12, and historical latency less than 0 are retained.An 8ms path is used to form a candidate path list. Then, for each path in the candidate path list, an interference detection mechanism is activated. Using the 5G network's Interference Measurement Report (IMR) and Nearby Interference Ratio (SINR) data, the mechanism assesses whether the path experiences co-channel interference, neighboring cell interference, or channel congestion caused by dense user activity at the current moment. The detection results are quantified as path interference data. For example, if a path has a low hop count but passes through a factory welding area where severe electromagnetic interference causes the SINR to be below 10dB, it is identified as a high-interference path. Subsequently, the candidate path list is sorted and optimized based on this path interference data. A weighted scoring model is employed to comprehensively consider latency, bandwidth, interference levels, and stability. Paths with low interference and superior channel quality receive higher scores, ultimately generating an optimal path ranking table sorted in descending order of overall performance. Finally, within this optimal path ranking table, the highest-ranked path for each type of priority data is selected as its optimal transmission path. For example, for control commands of robotic arm B, a direct path is selected from the source device via gNB-A directly connecting to the core network UPF, ensuring transmission with minimal latency and maximum reliability. This optimal transmission path information is solidified into a routing strategy for use in subsequent data forwarding and transmission confirmation processes.

[0039] In a specific embodiment, the step of transmitting the priority data through the optimal transmission path to obtain transmission confirmation information includes: The priority data is segmented to obtain data segmentation units, and a checksum is added to each data segmentation unit to obtain segmented data with checksum. Based on the optimal transmission path, the data fragments with checksums are transmitted sequentially to obtain a real-time transmission sequence, and the integrity of the real-time transmission sequence is checked to obtain the check result. When the verification result shows that there are missing fragments in the real-time transmission sequence, the missing fragment data is retransmitted based on the verification result to obtain a supplementary data unit, and the supplementary data unit is merged with the data already transmitted in the real-time transmission sequence to generate transmission confirmation information.

[0040] Specifically, the priority data is transmitted through the optimal transmission path to obtain transmission confirmation information. This includes fragmenting the priority data to obtain data fragment units, adding checksums to each data fragment unit to obtain fragmented data with checksums, sequentially transmitting the fragmented data with checksums based on the optimal transmission path to obtain a real-time transmission sequence, and performing integrity verification on the real-time transmission sequence to obtain a verification result. If the verification result shows that there are missing fragments in the real-time transmission sequence, the missing fragments are retransmitted based on the verification result to obtain supplementary data units, and the supplementary data units are then compared with the real-time transmission sequence. The process involves merging transmitted data in the time-transmission sequence to generate transmission confirmation information. This step is implemented as follows: First, priority data marked with priority is obtained from the scheduling system. This data contains control commands or status information to be transmitted in the 5G network. For example, in a robot collaborative assembly scenario, the synchronization control command of robotic arm B, as the highest priority data, needs to be sent to the central controller via the optimal transmission path. Then, this priority data is fragmented. Based on the MTU (Maximum Transmission Unit) limit of the 5G network and the physical layer parameters of the wireless link, the original data is divided into multiple data fragment units of fixed or variable length. For example, a 1500-byte fragment... The control message is divided into five 300-byte data fragments. A checksum is then added to each fragment, calculated using CRC-32 or a similar algorithm, and appended to the end of the fragment, forming a data fragment with a checksum. This ensures that each fragment can be independently error-detected at the receiving end. Based on the previously determined optimal transmission path, these data fragments with checksums are sent sequentially from the source device in their original order. Base stations and core network nodes along the path prioritize forwarding high-priority data fragments according to QoS policies, ensuring they arrive at the target node in order, forming a real-time transmission sequence with temporal continuity. After receiving all fragments, the receiving end processes the data. Each data fragment with a checksum in the real-time transmission sequence undergoes integrity verification. By recalculating the checksum and comparing it with the received checksum, it is determined whether each fragment has experienced bit errors or data corruption during transmission. At the same time, the continuity of the fragment sequence numbers is checked to obtain the verification result. When the verification result shows that there are missing or erroneous fragments in the real-time transmission sequence, such as the third fragment failing to be received due to a momentary fading of the wireless signal, the receiving end sends a retransmission request to the sending end. The request includes the sequence number information of the missing fragment. Based on this, the sending end retrieves the corresponding original fragment data from its local buffer, repackages it into a retransmission data unit, and retransmits it through the optimal transmission path.After receiving the retransmitted data unit, the receiving end sequentially merges it with the correctly received data in the real-time transmission sequence, filling in any missing positions to ultimately form a complete and error-free data message. It also generates transmission confirmation information containing fields such as "Transmission Status = Success," "Retransmission Count = 1," and "Completion Time = 2025-09-22T17:30:00.005," which is used for the generation and issuance of subsequent synchronization control commands.

[0041] In a specific embodiment, the step of generating a synchronization control command based on the transmission confirmation information and then sending the synchronization control command to the industrial equipment in a targeted manner to achieve time synchronization control for multi-device collaborative operation includes: The transmission confirmation information is subjected to reliability analysis to obtain transmission status parameters, and the communication delay data of the industrial equipment is calculated based on the transmission status parameters. Based on the communication delay data, a device synchronization command is generated, and the device synchronization command is grouped and encoded to obtain grouped command data; The group instruction data is grouped according to the device identifier to obtain group instruction data. The group instruction dataset is then distributed to the device via the 5G+TSN network to achieve time synchronization control for multi-device collaborative operation.

[0042] Specifically, the transmission confirmation information is subjected to reliability analysis to obtain transmission status parameters. Based on these parameters, communication latency data of the industrial equipment is calculated. Equipment synchronization commands are generated based on the latency data, and these commands are grouped and encoded to obtain grouped command data. This grouped command data is then grouped according to equipment identifiers. The grouped command dataset is then distributed via a 5G+TSN network to achieve time synchronization control for multi-device collaborative operations. The specific implementation of this step is as follows: First, transmission confirmation information generated for the priority data transmission process of each industrial device is obtained from the receiving end. This information includes fields such as whether the data was completely received, whether there was a retransmission, the final reception timestamp, and the verification result. For example, in a robot collaborative assembly scenario, the control command transmission confirmation information for both robotic arm A and robotic arm B shows "transmission status = successful," but robotic arm B has a retransmission, and its final reception time is 0.15ms later than robotic arm A. Subsequently, the transmission confirmation information is subjected to reliability analysis to extract the transmission status parameters, including retransmission status, retransmission status, and the final reception time. The parameters, such as the number of transmissions, packet loss rate, and deviation of end-to-end delivery time from the expected time window, are used to assess the stability of the current communication link and the deterministic level of data delivery. Next, based on these transmission status parameters, the communication latency data of the industrial equipment is calculated. Specifically, the actual communication latency of each device is obtained by subtracting the received timestamp in the transmission confirmation information from the original sending timestamp. For example, the communication latency of robotic arm A is 0.85ms, and that of robotic arm B is 1.00ms. This communication latency data reflects the network latency from the issuance of the command to the receipt of the confirmation, including the cumulative latency of all stages such as 5G wireless transmission, TSN scheduling queuing, and retransmission compensation. Then, a device synchronization command is generated based on this communication latency data. This command contains the action trigger time offset of each device in the next control cycle to compensate for the timing deviation caused by the current communication latency. For example, an adjustment command of "delay compensation + 0.15ms" is generated for robotic arm B to ensure that it performs the grasping action at the same absolute time point as robotic arm A. Subsequently, the device synchronization command is grouped and encoded using TLV (Type-Length-Value) or ASN.The encoding rule packages synchronization instructions from multiple devices into a structured data stream, forming grouped instruction data. Each instruction unit includes a device identifier, target action time, compensation amount, and verification information. This grouped instruction data is then logically grouped according to the device identifier. For example, instructions from robotic arms A (ID: ARM_A_01) and B (ID: ARM_B_02) belonging to the same production line collaboration group are grouped into the same instruction dataset for unified scheduling and batch distribution. Finally, the grouped instruction dataset is distributed via a 5G+TSN converged network. During distribution, verified optimal transmission paths and time slot resources are prioritized. The 5G network transmits instructions from the central controller to base stations in the areas where each device is located, while the TSN network precisely controls the forwarding sequence of instructions in the local switch based on time scheduling configuration information. This ensures that all devices receive synchronization instructions within the same clock cycle and adjust their local execution actions accordingly, thereby achieving precise time synchronization control of multiple devices in a highly dynamic industrial environment.

[0043] The above describes the real-time synchronous communication method for industrial equipment based on 5G+TSN in the embodiments of the present invention. The following describes the real-time synchronous communication system for industrial equipment based on 5G+TSN in the embodiments of the present invention. Please refer to [link / reference]. Figure 2 One embodiment of the 5G+TSN-based real-time synchronous communication system for industrial equipment in this invention includes: Add module 21, which is used to perform clock calibration on industrial equipment through time synchronization module to obtain equipment clock data, and add timestamp to the equipment clock data to obtain timestamped equipment data; The allocation module 22 is used to allocate time slots to the 5G network based on the timestamp device data to obtain a time slot allocation table, and to perform traffic scheduling on the TSN network based on the time slot allocation table to obtain scheduling configuration information. The marking module 23 is used to mark the scheduling configuration information with priority to obtain priority data, and calculate the optimal transmission path of the 5G network based on the priority data; The distribution module 24 is used to confirm the transmission of the priority data through the optimal transmission path, obtain transmission confirmation information, generate a synchronization control command based on the transmission confirmation information, and distribute the synchronization control command to the industrial equipment in a targeted manner to achieve time synchronization control for multi-device collaborative operation.

[0044] In this embodiment, the specific implementation of each unit in the above system embodiment is described in the above method embodiment, and will not be repeated here.

[0045] like Figure 3 As shown, an embodiment of the present invention provides a structure for a computer device, including: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above-described 5G+TSN-based real-time synchronous communication method for industrial equipment.

[0046] It is evident that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented in the present device embodiments are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0047] Furthermore, this application also discloses a computer program product or computer program stored in a computer-readable storage medium. The processor of a computer device can read the computer program from the computer-readable storage medium and execute the computer program, causing the computer device to perform the aforementioned 5G+TSN-based real-time synchronous communication method for industrial equipment. Similarly, the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0048] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A real-time synchronous communication method for industrial equipment based on 5G+TSN, characterized in that, Includes the following steps: The clock of the industrial equipment is calibrated by the time synchronization module to obtain the equipment clock data, and a timestamp is added to the equipment clock data to obtain timestamped equipment data. Based on the timestamp device data, time slots are allocated to the 5G network to obtain a time slot allocation table, and traffic scheduling is performed on the TSN network based on the time slot allocation table to obtain scheduling configuration information. Priority is assigned to the scheduling configuration information to obtain priority data, and the optimal transmission path of the 5G network is calculated based on the priority data. The priority data is transmitted and confirmed through the optimal transmission path to obtain transmission confirmation information. A synchronization control command is generated based on the transmission confirmation information and then directed to the industrial equipment based on the synchronization control command to achieve time synchronization control for multi-device collaborative operation.

2. The real-time synchronous communication method for industrial equipment based on 5G+TSN according to claim 1, characterized in that, The process involves calibrating the clock of industrial equipment using a time synchronization module to obtain equipment clock data, and then adding a timestamp to the equipment clock data to obtain timestamped equipment data, including: The local clock of the industrial equipment is sampled by the time synchronization module to obtain the clock sample value, and the difference between the clock sample value and the preset reference clock value is calculated to obtain the clock deviation value. The local clock of the industrial equipment is compensated and adjusted based on the clock deviation value to obtain a calibrated clock, and the calibrated clock is verified to obtain the equipment clock data. The device clock data is time-stamped to obtain an initial timestamp, and the initial timestamp is associated and bound with the device identifier corresponding to the industrial equipment to obtain timestamped device data.

3. The method for real-time synchronous communication of industrial equipment based on 5G+TSN according to claim 1, characterized in that, The process of allocating time slots to the 5G network based on the timestamp device data to obtain a time slot allocation table includes: Based on the timestamp device data, device communication requests in the 5G network are identified, and the device communication requests are prioritized to obtain a priority queue; Based on the priority queue, the available bandwidth resources in the 5G network are allocated and calculated to obtain the bandwidth allocation result. Conflict detection is then performed on the bandwidth allocation result to obtain a conflict detection table. The time slots with resource conflicts in the conflict detection table are rearranged to obtain the time slot arrangement result, and the time slot arrangement result is bound with the device identifier to generate a time slot allocation table.

4. The real-time synchronous communication method for industrial equipment based on 5G+TSN according to claim 1, characterized in that, The process of traffic scheduling on the TSN network based on the time slot allocation table to obtain scheduling configuration information includes: The time slot allocation table is parsed to obtain the available time slot segments corresponding to each industrial device, and the duration of the available time slot segments is statistically analyzed to obtain time slot duration data. Based on the time slot duration data, the data packets in the TSN network are matched by size to obtain a list of matched data packets. Based on the list of matching data packets, traffic allocation planning is performed on the switch ports in the TSN network to obtain a port traffic planning map. Congestion point detection is then performed on the port traffic planning map to obtain congestion point location information. Based on the congestion point location information, the port traffic planning graph is adjusted and optimized to obtain an optimized path graph. The optimized path graph is then associated and mapped with the device identifier to generate scheduling configuration information.

5. The method for real-time synchronous communication of industrial equipment based on 5G+TSN according to claim 1, characterized in that, The calculation of the optimal transmission path for the 5G network based on the priority data includes: Path demand analysis is performed on the priority data to obtain the bandwidth and latency requirements corresponding to each priority data, and basic parameters of each available path in the 5G network are collected. Based on the bandwidth requirements, latency requirements, and basic parameters, the available paths in the 5G network are initially screened to obtain a list of candidate paths that meet the requirements. Interference is then detected on each path in the candidate path list to obtain path interference data. Based on the path interference data, the candidate path list is sorted and optimized to obtain an optimal path sorting table, and the optimal transmission path corresponding to the priority data is selected from the optimal path sorting table.

6. The method for real-time synchronous communication of industrial equipment based on 5G+TSN according to claim 1, characterized in that, The step of transmitting the priority data through the optimal transmission path to obtain transmission confirmation information includes: The priority data is segmented to obtain data segmentation units, and a checksum is added to each data segmentation unit to obtain segmented data with checksum. Based on the optimal transmission path, the data fragments with checksums are transmitted sequentially to obtain a real-time transmission sequence, and the integrity of the real-time transmission sequence is checked to obtain the check result. When the verification result shows that there are missing fragments in the real-time transmission sequence, the missing fragment data is retransmitted based on the verification result to obtain a supplementary data unit, and the supplementary data unit is merged with the data already transmitted in the real-time transmission sequence to generate transmission confirmation information.

7. The method for real-time synchronous communication of industrial equipment based on 5G+TSN according to claim 1, characterized in that, The step of generating a synchronization control command based on the transmission confirmation information and then sending the synchronization control command to the industrial equipment to achieve time synchronization control for multi-device collaborative operation includes: The transmission confirmation information is subjected to reliability analysis to obtain transmission status parameters, and the communication delay data of the industrial equipment is calculated based on the transmission status parameters. Based on the communication delay data, a device synchronization command is generated, and the device synchronization command is grouped and encoded to obtain grouped command data; The group instruction data is grouped according to the device identifier to obtain group instruction data. The group instruction dataset is then distributed to the device via the 5G+TSN network to achieve time synchronization control for multi-device collaborative operation.

8. A real-time synchronous communication system for industrial equipment based on 5G+TSN, characterized in that, include: An add module is used to perform clock calibration on industrial equipment through a time synchronization module to obtain equipment clock data, and add a timestamp to the equipment clock data to obtain timestamped equipment data; The allocation module is used to allocate time slots to the 5G network based on the timestamp device data, obtain a time slot allocation table, and perform traffic scheduling on the TSN network based on the time slot allocation table to obtain scheduling configuration information. The marking module is used to mark the scheduling configuration information with priority to obtain priority data, and calculate the optimal transmission path of the 5G network based on the priority data; The distribution module is used to confirm the transmission of the priority data through the optimal transmission path, obtain transmission confirmation information, generate synchronization control instructions based on the transmission confirmation information, and distribute the synchronization control instructions to the industrial equipment in a targeted manner to achieve time synchronization control for multi-device collaborative operation.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

Images