A multi-RGV internet-of-things method and system based on optical communication

Abstract

The application discloses a kind of based on optical communication's multiple RGV things association method and system, the present application relates to the field of multiple equipment collaborative control and optical communication technology in industrial automation logistics system, including the following steps: S1: by the multiaxis adjustable light transceiver module of each RGV carrying real-time acquisition position, motion state and environmental barrier information, generate dynamic light relay priority weight.The multiple RGV things association method and system based on optical communication, through the deep integration of dynamic light relay network and adaptive wavelength allocation technology, significantly improve the communication stability and collaborative efficiency of multiple RGV in complex industrial scene;Based on the node selection mechanism of dynamic light relay priority weight, combined with the mixed integer programming model of elastic channel, realizes the uninterrupted transmission and efficient channel multiplexing of optical communication link in mobile shielding scene.

Description

Technical Field

[0001] This invention relates to the field of multi-device collaborative control and optical communication technology in industrial automated logistics systems, specifically to a method and system for interconnecting multiple RGVs based on optical communication. Background Technology

[0002] In industrial automation scenarios, the coordinated scheduling of multiple rail-guided vehicles (RGVs) is a core requirement for achieving efficient logistics transportation. With the introduction of optical communication technology into RGV IoT systems due to its strong resistance to electromagnetic interference and high bandwidth, it significantly improves data transmission rate and stability by replacing traditional radio frequency or infrared communication with optical signals. However, existing optical communication-based RGV IoT solutions face serious challenges in actual dynamic operations: because RGVs need to move, avoid obstacles, or adjust their paths in complex environments in real time, traditional optical communication, which relies on fixed nodes or preset straight-line transmission paths, is difficult to adapt to dynamic topology changes, leading to frequent communication link interruptions. For example, when multiple RGVs are operating in narrow passages, obstacles on the vehicle body or in the environment can easily block the straight optical path, causing signal loss; simultaneously, real-time changes in RGV positions create blind spots in the coverage of fixed optical nodes, making it impossible to reconstruct the communication network in time, causing some devices to detach from scheduling commands. Furthermore, existing technologies lack a flexible allocation mechanism for elastic channel resources, which can easily lead to channel contention and further exacerbate communication delays when multiple RGVs transmit data concurrently. These issues significantly reduce the real-time collaboration efficiency of the system in dynamic scenarios, and may even lead to task stagnation or equipment collision risks. Although existing patents have optimized the optical node layout or single-device communication performance for static scenarios, none of them have overcome the bottlenecks in adaptive networking and anti-obstruction transmission caused by mobility. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] To address the shortcomings of existing technologies, this invention provides a method and system for interconnecting multiple RGVs based on optical communication, solving the problem of ensuring the continuous stability and efficient collaboration of optical communication links in dynamic mobile scenarios involving multiple RGVs.

[0005] (II) Technical Solution

[0006] To achieve the above objectives, the present invention provides a method for interconnecting multiple RGVs based on optical communication, comprising the following steps:

[0007] S1: Real-time acquisition of location, motion status and environmental obstacle information through the multi-directional tunable optical transceiver module on each RGV to generate dynamic optical relay priority weights;

[0008] During implementation, the multi-directional tunable optical transceiver module installed on each RGV consists of at least three optical signal transceiver units evenly distributed in the horizontal plane. Each unit covers an angle of not less than 240 degrees. It obtains its own position coordinates, movement speed and direction data in real time through laser ranging, inertial navigation and environmental obstacle detection sensors, while scanning the outline information of surrounding obstacles.

[0009] S2: Based on the dynamic optical relay priority weight, select neighboring RGVs as relay nodes to construct a distributed dynamic optical relay network, and achieve link coverage through optical signal relay transmission;

[0010] During implementation, when the signal attenuation of the main communication link exceeds the preset threshold due to RGV movement or environmental obstacles, the neighboring RGV nodes are selected according to the dynamic optical relay priority weight list.

[0011] S3: Divide optical wavelength resources into basic channels and elastic channels, allocate fixed wavelength transmission control commands to the basic channels, and dynamically allocate wavelength transmission data streams to the elastic channels based on mixed integer programming.

[0012] During implementation, the allocation of optical wavelength resources is based on a preset spectrum segmentation rule, dividing the available wavelength range into two parts: a basic channel and a flexible channel. The basic channel adopts a fixed wavelength allocation strategy, allocating a unique and non-overlapping fixed wavelength to each RGV for transmitting scheduling instructions and emergency shutdown signals. This low-latency, high-priority control information ensures the real-time and conflict-free transmission of critical instructions. The flexible channel, on the other hand, retains a dynamic wavelength pool. Wavelength resources are not pre-bound to devices but are dynamically allocated based on the real-time network topology and task requirements through a mixed-integer programming model.

[0013] S4: Identify potential channel contention through a conflict prediction mechanism and dynamically adjust the wavelength or switch the transmission path;

[0014] During implementation, the conflict prediction mechanism is achieved through the following steps: First, based on the optical signal propagation delay calculation model, combined with the real-time position, speed, and direction of motion data of each RGV, the overlapping range of communication areas of each RGV in the future time period is predicted; the Kalman filter algorithm is used to model the motion trajectory of the RGVs, estimate their expected position in the future time window, and combine with the elastic channel wavelength allocation table to determine whether there is a risk of multiple RGVs using the same wavelength to transmit data in the same area; if a potential conflict is detected, a preemption release command is generated according to the urgency of the task and the current channel load status.

[0015] S5: Key data is transmitted asynchronously and redundantly using dual optical paths. The receiving end verifies and merges data packets based on timestamps and topology fingerprints.

[0016] During implementation, critical data packets are duplicated into two copies and transmitted through two independent relay paths. Specifically, the sending end selects non-overlapping relay node sequences for each path based on a dynamic optical relay priority weight list, ensuring that the two paths do not share nodes or have parallel optical paths in their physical topology. Each data packet is appended with a timestamp accurate to the microsecond level and path topology fingerprint information. The timestamp is generated synchronously by the sending end's atomic clock, and the topology fingerprint is encrypted using a hash algorithm to encode the ID sequence of the relay nodes passing through it. After asynchronously receiving data packets from both paths within a preset time window, the receiving end first extracts the timestamps and calculates the transmission delay difference. If the delay difference exceeds the fault tolerance threshold, it is determined to be a path anomaly and an alarm is triggered. Subsequently, the topology fingerprint is decrypted and verified, matching it against the preset relay path node sequence. If any node IDs are missing or their order is tampered with, the data packet is marked as an abnormal packet. Data packets that pass verification enter the fusion stage, employing a strategy based on timestamp priority.

[0017] S6: Real-time monitoring of optical signal intensity fluctuation trends, determination of occlusion type and triggering path switching or topology reconstruction;

[0018] During implementation, the system uses a multi-directional tunable optical transceiver module to collect optical signal strength data in real time at a sampling frequency of thousands of times per second. It then calculates the short-term fluctuation trend and long-term attenuation slope of the signal strength based on a sliding window algorithm. When a sharp fluctuation in signal strength is detected within a short-term window, such as a rate of decrease exceeding 50 dB / ms, but the mean value remains stable within a long-term window, it is determined to be a momentary obstruction. This immediately triggers a path switching mechanism: a suboptimal node is selected from the dynamic optical relay priority weight list as a backup path; the transmission direction and wavelength of the multi-directional tunable optical transceiver module are adjusted; and the data stream is seamlessly switched to the new path while monitoring the original path continues until the signal recovers. If the signal strength remains below a preset threshold of 70 dBm within a long-term window and the attenuation slope approaches zero, it is determined to be a permanent obstruction, and local topology reconfiguration is initiated. Reconstruction process: First, the current relay link is frozen. Based on the real-time updated RGV location information, the path redundancy model is recalculated to generate a new list of relay node candidates. Elastic channel wavelengths are allocated to the affected data streams based on a mixed integer programming model. During reconstruction, a gradual switching strategy is adopted. The new path is established first and its stability is verified before releasing the old path resources to avoid communication interruptions during the switching process. In addition, the system matches historical occlusion scenarios through a light intensity fluctuation pattern library. If a known instantaneous occlusion pattern is matched, the backup path parameters are preloaded to shorten the switching response time to within 5 milliseconds. After the switching or reconstruction is completed, the system continuously monitors the signal strength stability of the new path. If the same type of occlusion alarm is triggered again within 10 seconds, the area is marked as a high-risk communication blind spot, and global topology optimization is triggered to avoid the area.

[0019] Preferably, generating the dynamic optical relay priority weights includes:

[0020] Based on the real-time location, signal strength, path redundancy, and load balancing of the RGV, the priority ranking of the relay nodes is determined by weighted calculation, and the optimal relay path is selected.

[0021] During implementation, the generation of dynamic optical relay priority weights is achieved through the following steps: Each RGV acquires the optical signal intensity data of neighboring nodes in real time through a multi-directional tunable optical transceiver module, and combines it with its own coordinates and motion vectors output by the laser ranging and inertial navigation modules to construct a local topology map centered on the current RGV; the path redundancy is calculated based on the relay hop count and path redundancy model of candidate nodes in the topology map, where the hop count is obtained by solving the shortest path using Dijkstra's algorithm, and the link stability is dynamically corrected based on historical communication packet loss rate and latency fluctuation data; the load balancing is evaluated by monitoring the number of concurrent data streams and remaining bandwidth resources of each candidate node. The system processes latency, quantifies available communication capacity, and converts it into a 0-1 standardized score. In the weighted calculation phase, signal strength, path redundancy, and load balancing are linearly superimposed according to preset coefficients to generate a priority score list, which is then sorted from highest to lowest score. When selecting the optimal relay path, the system prioritizes the node with the highest score, while verifying whether its current load is below the capacity threshold and whether the path hop count is less than the maximum allowable value. If the primary node does not meet the constraints, the system automatically selects the next best node in descending order. In addition, when a network topology change is detected, the system immediately triggers a weight recalculation process, updates the priority list, and synchronizes it to all associated nodes to ensure that relay decisions adapt to the dynamic environment in real time.

[0022] Preferably, the dynamic allocation of the elastic channel includes:

[0023] Based on the relative positions between RGVs, the urgency of the task, and the load status of the relay link, a mixed integer programming model is constructed to calculate the wavelength allocation scheme in real time.

[0024] The elastic channel wavelength pool is dynamically adjusted according to changes in network topology to maximize channel utilization;

[0025] During implementation, the dynamic allocation of resilient channels is achieved through the following steps: The system constructs an objective function and constraints for a mixed-integer programming model based on real-time collected relative position coordinates between RGVs, task type identifiers, and relay link load rate data. The objective function is set to maximize channel utilization, and the constraints include wavelength uniqueness constraints within the same communication area, a maximum concurrent data stream limit for a single node, and a task urgency weighting factor. After preprocessing, the model input data is solved using a branch-and-bound algorithm to output the optimal wavelength allocation scheme, including the resilient channel wavelength values ​​and effective durations for each data stream. During allocation, the system reserves a wavelength switching buffer for high-priority tasks to ensure that urgent tasks can quickly switch wavelengths without interrupting transmission during topology changes. In the dynamic adjustment phase, the network topology status is scanned every 100 milliseconds. When RGV movement is detected, the system will adjust the buffer accordingly. When the overlap of communication areas changes by more than 15% or a new data transmission request is added, the model is recalculated, and the available resource list of the wavelength pool is updated according to the latest topology map. At the same time, a 10nm spectrum protection interval is set between the elastic channel wavelength and the basic channel wavelength, and adjacent channel interference is eliminated by bandpass filter. For sudden wavelength conflicts, the system monitors the occupancy status of each wavelength in real time and makes conflict prediction for RGV data streams that are about to enter the same area: if it is detected that two data streams will use the same wavelength to enter the overlapping area within the next 30 milliseconds, the lower priority data stream is forced to perform wavelength switching and reroute it to the idle wavelength of the nearby relay node. Before switching, the spectrum isolation between the new wavelength and the basic channel of the target receiver is verified. After the allocation is completed, the system records the usage history data of each wavelength to optimize the load balancing weight coefficient in the subsequent model, forming a closed-loop optimization mechanism.

[0026] Preferably, the conflict prediction mechanism includes:

[0027] Predicting potential channel contention based on optical signal propagation delay and RGV motion trajectory;

[0028] When a collision risk is detected, a preemption release command is triggered to switch wavelengths or release channel resources;

[0029] During implementation, the conflict prediction mechanism includes the following steps: The system obtains the signal transmission rate corresponding to the current channel wavelength through the optical signal propagation delay calculation module, and combines the real-time coordinates, velocity vector, and movement direction of each RGV with the extended Kalman filter algorithm to predict the communication area boundary of each RGV within the next 50 milliseconds; Based on the elastic channel wavelength allocation table and predicted location data, a conflict probability matrix is ​​constructed to identify communication areas where wavelength overlap may occur and their corresponding time windows. That is, if two or more RGV data streams will use the same wavelength in the same area and at the same time, they are marked as high-risk conflict events; For detected conflict events, the system generates differentiated processing strategies based on the task urgency label: High-priority tasks retain the original wavelength and activate the path switching mechanism, forwarding their data streams through the idle wavelength of nearby relay nodes, while adjusting the receiving filter parameters of the target node to match the new wavelength; Low .... The task triggers a preemption release command, forcibly releasing the current wavelength and reallocating it to an available wavelength outside the spectrum protection interval. Before allocation, the simulation module verifies the spectral isolation between the new wavelength and wavelengths in adjacent areas. During path switching, if multi-hop relay links are involved, the system synchronously corrects the signal forwarding timing of the relay nodes. The process includes: calculating the transmission delay compensation value based on the number of new hops and injecting it into the timestamp field of the data packet header to ensure timing synchronization at the receiving end. After wavelength or path adjustment is completed, the system tracks the conflict resolution status through a real-time monitoring module. If wavelength overlap is still detected within 20 milliseconds after adjustment, a local topology reconstruction process is initiated to recalculate the elastic channel allocation scheme for the affected area and trigger a data packet retransmission mechanism to repair any potentially lost information. In addition, the system records the time, location, and processing results of historical conflict events to optimize the motion trajectory prediction accuracy of the Kalman filter algorithm, forming a self-learning closed loop for conflict prediction.

[0030] Preferably, dual-optical-path asynchronous redundant transmission includes:

[0031] The same data packet is sent to the receiving end through two independent relay paths;

[0032] The receiving end removes abnormal data packets based on timestamp differences and topological fingerprint information, and completes data fusion;

[0033] During implementation, the execution flow of dual-optical-path asynchronous redundant transmission is as follows: The sending end copies key data packets into two independent copies and assigns different relay paths to each copy. The process includes: the first path selects the primary relay node sequence based on a dynamic optical relay priority weight list, while the second path selects a combination of backup relay nodes that do not intersect in the topology according to the path redundancy model, ensuring that the two paths do not share optical transceiver units or parallel optical paths on the physical transmission link; each data packet header embeds a microsecond-level timestamp generated by a high-precision atomic clock, and the ID sequence of the relay nodes passing through is encrypted using the SHA256 hash algorithm to generate a unique topology fingerprint; the receiving end listens for data packets on both paths within a preset asynchronous receiving window, first extracts the timestamp to calculate the transmission delay difference between the two paths, and if the delay difference exceeds a preset threshold, it is determined that an anomaly exists in a certain path and an alarm log is triggered; then the topology fingerprint is decrypted and verified, and the relay node ID is restored through reverse hash calculation. The system sequentially compares the data packet with a pre-defined list of path nodes. If a missing node ID, out-of-order sequence, or illegal node insertion is detected, the data packet is marked as abnormal and stored in an isolation buffer. Valid data packets that pass verification enter the fusion stage, employing a dynamic weighted fusion strategy: if both paths have valid data with identical content, the data packet with the latest timestamp is selected first; if the content differs, the data is weighted according to path reliability weights and the integrity of the fused data is verified using a cyclic redundancy check (CRC) code; if verification fails, a retransmission request is sent to the sender, and the dynamic optical relay priority weight of the abnormal path is reduced. Simultaneously, the system periodically analyzes the transmission metrics of each path. When a path experiences three consecutive abnormalities, it is automatically removed from the relay candidate list, triggering a path weight recalculation process to dynamically optimize the dual-path selection strategy. Furthermore, the receiver maintains a topology fingerprint whitelist database to perform real-time blacklist filtering of unverified relay node IDs, preventing malicious node injection attacks.

[0034] Preferably, determining the occlusion type and triggering path switching or topology reconstruction includes:

[0035] If the fluctuation in optical signal intensity is an instantaneous decrease, it is determined to be an instantaneous obstacle and the transmission path is dynamically switched;

[0036] If the light signal strength remains below the threshold, it is determined to be a permanent blockage and triggers local topology reconstruction, updating the relay node;

[0037] During implementation, the system monitors optical signal strength data in real time at a sampling frequency of 2000 times per second using a multi-directional tunable optical transceiver module. Based on the sliding window algorithm, it calculates the intensity fluctuation characteristics for short and long periods: when the signal strength drops sharply within the short window to a preset threshold attenuation rate of 60dB, but the mean value within the long window fluctuates within the threshold range, it is determined to be a momentary obstacle blockage, such as a forklift briefly passing through. This immediately triggers a path switch, which involves: extracting the current suboptimal node information from the dynamic relay priority list, adjusting the transmission direction of the multi-directional tunable optical transceiver module to the corresponding angle of the backup path, synchronously switching to the pre-allocated protection wavelength in the elastic channel, and completing the data stream forwarding switch within 5 milliseconds, while simultaneously retaining the original path monitoring thread to continuously collect signal recovery data; if the signal strength within the long window is below 75dBm for 10 consecutive sampling periods and the attenuation slope approaches zero, it is determined to be a permanent blockage, initiating a local topology reconstruction process: freezing the affected relay link communication, and calling the mixed integer programming model. The optimal relay node combination under the current network topology is recalculated, prioritizing candidate nodes with path redundancy higher than 0.8 and load balancing scores in the top 20%, generating a new relay path sequence. A two-stage verification mechanism is adopted during the reconstruction process: first, the signal strength stability of the new path is simulated through a simulation module, and then test data packets are sent in the actual link to verify the bit error rate. After successful verification, the data flow is gradually migrated to the new path, and the wavelength resources occupied by the old path are released after the migration is completed. For known occlusion modes, the system matches feature curves through a historical light intensity fluctuation database. If the matching similarity exceeds 90%, the backup path parameters are preloaded and the protection wavelength is pre-allocated, compressing the switching response time to within 3 milliseconds. After the switching or reconstruction is completed, the system starts a continuous monitoring thread. If the new path triggers the same type of alarm again within 30 seconds, it is determined that there is a structural communication defect in the area, triggering a global topology optimization algorithm to replan the RGV passage route and marking it as a high-risk avoidance area on the electronic map.

[0038] A multi-RGV IoT system based on optical communication includes:

[0039] The relay management unit is used to generate and update the relay node network in real time, including a topology-aware submodule and a path correction submodule.

[0040] Wavelength allocation controller for performing mixed-integer programming and collision prediction for resilient channels;

[0041] A redundancy verification engine is used to implement asynchronous verification and fusion of dual-optical-path data;

[0042] The multi-RGV IoT system based on optical communication is linked with each unit through a multi-directional tunable optical transceiver module to execute the steps of the multi-RGV IoT method based on optical communication.

[0043] During implementation, the multi-RGV IoT system based on optical communication achieves its functions through the collaborative operation of a relay management unit, a wavelength allocation controller, and a redundancy check engine: The relay management unit has a built-in topology sensing submodule, which receives RGV coordinates, signal strength, and obstacle data uploaded by the multi-directional tunable optical transceiver module in real time, updates the global topology map every 50 milliseconds using the Dijkstra algorithm, and generates a candidate list of relay nodes based on the path redundancy model; The path correction submodule continuously analyzes the light intensity fluctuation data, and when it detects that the signal attenuation slope exceeds the threshold, it calls the protection wavelength parameters in the elastic channel wavelength pool, generates a path switching command, and sends it to the corresponding multi-directional tunable optical transceiver module of the RGV; The wavelength allocation controller runs a mixed integer programming model, combines the topology map and task queue data, calculates the elastic channel wavelength allocation scheme every 100 milliseconds, and monitors the usage status of each wavelength through a conflict prediction module. If it detects that the RGV movement trajectory will cause a wavelength overlap risk within the next 20 milliseconds, it triggers a preemptive resource release command, strongly... The system switches low-priority tasks to idle wavelengths. The redundancy check engine deploys a data packet timestamp comparison unit at the receiving end, calibrating the timing differences between dual-path data packets using a high-precision clock synchronization protocol. Simultaneously, it utilizes a topology fingerprint verification unit to perform hash inversion on the decrypted relay node ID sequence, matching it against a preset path whitelist. The system achieves data interaction between units through a bus architecture: the relay management unit pushes updated topology information to the wavelength allocation controller in real time, and the wavelength allocation table generated by the latter is synchronized to the redundancy check engine for data fusion weight calculation. When the multi-directional tunable optical transceiver module dynamically adjusts the transmission direction and wavelength parameters according to instructions, it needs to verify the signal isolation after wavelength switching through closed-loop feedback and complete link reconstruction within 5 milliseconds. When local topology reconstruction is triggered, the system initiates a multi-module linkage protocol: the relay management unit freezes communication in the affected area, the wavelength allocation controller recalculates the wavelength mapping relationship, and the redundancy check engine suspends data fusion and enables a caching mechanism. After the new path passes dual-stage verification, data transmission is gradually restored and the global status log is updated.

[0044] Preferably, the multi-directional tunable optical transceiver module includes:

[0045] At least three optical signal transceiver units are evenly distributed in the horizontal plane, with a coverage angle of not less than 240 degrees;

[0046] The transceiver unit supports dynamic wavelength tuning to adapt to the wavelength allocation requirements of the basic channel and the flexible channel.

[0047] In implementation, the hardware implementation of the multi-directional tunable optical transceiver module includes: three independent optical signal transceiver units evenly distributed on the horizontal plane of the RGV vehicle top, each unit covering an azimuth angle of 80 degrees, with a total coverage of 240 degrees; each unit achieves adaptive alignment of ±15 degrees in elevation angle via a universal adjustment bracket; each transceiver unit integrates a tunable laser and a photodetector, with the laser wavelength tuning range covering the C-band, supporting rapid switching between a fixed wavelength for the basic channel and a dynamic wavelength for the flexible channel; dynamic wavelength tuning is achieved through a digital micromirror array, dynamically adjusting the incident angle of the diffraction grating to select the target wavelength according to the command parameters issued by the wavelength allocation controller, while simultaneously monitoring and compensating for output wavelength deviation in real time through a closed-loop feedback circuit. To compensate for temperature drift, the transceiver unit's optical path design employs a dual-ring structure: the inner ring is used for fixed-wavelength communication in the basic channel, while the outer ring carries the dynamic wavelength data stream of the elastic channel. The two rings are isolated by a wavelength division multiplexer to ensure a spectral spacing greater than 10nm. When a transmission direction needs to be switched, the module drives the universal bracket of the designated transceiver unit to rotate to the target azimuth angle and simultaneously activates the laser wavelength tuning module in the corresponding direction, completing optical path alignment and wavelength locking within 2 milliseconds. In addition, the module has a built-in self-testing function module that periodically scans the transmit power, receive sensitivity, and wavelength offset of each transceiver unit. Abnormal data is reported to the relay management unit in real time, triggering module hot backup switching or wavelength recalibration processes to ensure the physical layer reliability of the communication link.

[0048] Preferably, the topology-aware submodule includes:

[0049] An algorithm module for real-time calculation of the relative position and optical path occlusion status between RGVs;

[0050] The path correction submodule includes an instruction generation module that dynamically adjusts the transmission path according to the light intensity fluctuation trend.

[0051] During implementation, the topology sensing submodule uses a multi-directional tunable optical transceiver module to collect real-time data on the optical signal intensity, azimuth, and distance of neighboring RGVs. Combined with its own 3D coordinates and motion vectors output by the inertial navigation module, it constructs a dynamic topology map centered on the current RGV. Every 50 milliseconds, an improved Dijkstra algorithm is run to calculate the shortest path to the target node and its redundancy index. Redundancy is defined as the product of the number of replaceable relay nodes in the path and link stability, and the results are stored in the topology database. Optical path occlusion is determined by fusing an optical signal intensity attenuation model with environmental obstacle contour data: when a signal intensity decrease rate exceeding 40 dB / ms is detected and overlaps with the obstacle position scanned by the lidar, that direction is marked as an occlusion area, and an optical path interruption risk level is generated. The path correction submodule makes decisions based on the topology sensing results and real-time optical intensity fluctuation data: if the optical intensity... If the standard deviation of the fluctuation exceeds a preset threshold of 10dB within a 100ms window, the pre-stored protection wavelength parameters in the elastic channel wavelength pool are invoked to generate a path switching command. The path switching command includes the target relay node ID, the transmit azimuth adjustment value, and the new wavelength allocation scheme. The switching command is sent to the corresponding RGV's multi-directional tunable optical transceiver module via a low-latency bus. The module drives the universal bracket to rotate to the target angle and simultaneously tunes the laser wavelength, while activating the closed-loop calibration process: the signal strength of the new path is monitored in real time by a photodetector. If the intensity does not reach 65dBm for three consecutive samplings, the original path is rolled back and the topology-aware submodule is triggered to recalculate candidate nodes. For permanent occlusion scenarios, the path correction submodule works with the mixed integer programming model to complete the elastic channel reallocation and relay path reconstruction of the affected area within 200ms, and marks the coordinates of high-risk areas on the electronic map for use by the global path planning algorithm.

[0052] Preferably, the redundancy check engine includes:

[0053] The data packet timestamp comparison unit is used to identify the timing differences of data packets between two independent paths;

[0054] The topology fingerprint verification unit is used to match the relay path topology information from which the data packet originates;

[0055] During implementation, the redundancy verification engine works collaboratively with the packet timestamp comparison unit and the topology fingerprint verification unit: the timestamp comparison unit calibrates the received timestamps of dual-path packets based on a high-precision clock synchronization protocol, calculates the transmission delay difference between the two paths, and if the delay difference exceeds a 15-millisecond threshold, an abnormal path alarm is triggered and the packet buffer isolation mechanism is activated; the topology fingerprint verification unit performs SHA256 hash inversion on the encrypted header field of the received packet, decrypts the relay node ID sequence, and matches it with a preset whitelist database of legitimate path nodes. That is, if the node ID is missing, out of order, or contains an unauthorized node, it is determined to be a path tampering attack, the packet is discarded, and a security log is generated; for packets that pass verification, the engine executes a dynamic fusion strategy: when the data content of the two paths is consistent, the packet with the latest timestamp is selected; if the content differs, then... The system performs weighted fusion based on historical path reliability scores and verifies the integrity of the fused data using a CRC32 checksum. If the verification fails, a retransmission request is sent to the sender, and the dynamic optical relay priority weight of the abnormal path is reduced by 40%. Simultaneously, the relay node of that path is marked as temporarily disabled. The engine periodically analyzes historical verification data, calculates the packet loss rate, tampering event count, and delay distribution of each path, and dynamically updates the path reliability score database. Specifically, when a path fails verification three times consecutively, it is automatically removed from the relay candidate list, and the relay management unit is triggered to regenerate the dynamic optical relay priority weight. In addition, the topology fingerprint verification unit maintains a dynamic blacklist mechanism, which intercepts paths with abnormal node IDs after decryption in real time and sends alarm signals to the wavelength allocation controller via the bus, forcibly switching the wavelength and transmission path of the affected data stream, forming a closed-loop security protection.

[0056] (III) Beneficial Effects

[0057] This invention provides a method and system for interconnecting multiple RGVs based on optical communication. It offers the following advantages:

[0058] (i) This method and system for interconnecting multiple RGVs based on optical communication significantly improves the communication stability and collaborative efficiency of multiple RGVs in complex industrial scenarios through the deep integration of dynamic optical relay networks and adaptive wavelength allocation technology. Based on the node selection mechanism of dynamic optical relay priority weights, combined with the mixed integer programming model of elastic channels, uninterrupted transmission and efficient channel multiplexing of optical communication links in mobile obstruction scenarios are realized. The collaborative application of conflict prediction mechanism and dual optical path redundancy verification technology effectively avoids channel competition risks and ensures the integrity and real-time performance of key data, solving the problems of communication interruption, delay and data loss caused by signal obstruction or topology rigidity in traditional fixed node networking.

[0059] (II) This method and system for connecting multiple RGVs based on optical communication significantly enhances the robustness and adaptability of the system in dynamic environments through a closed-loop optimization mechanism and multi-module linkage design. The dual-stage verification mechanism of path switching and topology reconstruction reduces the risk of network reconstruction, while the self-testing function of the optical transceiver module and the dynamic weight adjustment strategy of the redundancy verification engine further improve the reliability and anti-interference capability of the physical layer. Its technical effects are directly reflected in the improved smoothness, security and response speed of multi-RGV collaborative operation in industrial logistics scenarios, while reducing the risk of equipment idleness or collision due to communication failures. It provides a feasible optical communication IoT solution for high-density, high-dynamic automated warehousing and production lines. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of the overall process of the present invention;

[0061] Figure 2 This is the timing diagram of the control logic of the present invention. Detailed Implementation

[0062] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] Please see Figure 1 and Figure 2 This invention provides a technical solution: a method for interconnecting multiple RGVs based on optical communication, comprising the following steps:

[0064] S1: Real-time acquisition of location, motion status and environmental obstacle information through the multi-directional tunable optical transceiver module on each RGV to generate dynamic optical relay priority weights;

[0065] During implementation, the multi-directional tunable optical transceiver module installed on each RGV consists of at least three optical signal transceiver units evenly distributed in the horizontal plane. Each unit covers an angle of not less than 240 degrees. It obtains its own position coordinates, movement speed and direction data in real time through laser ranging, inertial navigation and environmental obstacle detection sensors, while scanning the outline information of surrounding obstacles.

[0066] The generation of dynamic optical relay priority weights is based on the following collaborative calculations: First, the real-time signal strength between adjacent RGVs is measured through the optical signal transceiver unit. Combined with the path redundancy model, the number of candidate relay hops and link stability of the current transmission path are calculated. Then, the remaining communication resources of each candidate relay node are evaluated based on the load balance of each relay node. Finally, the three parameters of signal strength, path redundancy, and load balance are weighted and summed according to preset weight coefficients to generate a dynamic priority ranking list, and the relay node with the highest comprehensive score is selected. When the movement of the RGV causes the main link signal attenuation to exceed the threshold, the system immediately calls the optimal node in the priority list, activates its optical transceiver unit to establish a relay link, and updates the topology connection relationship in the path redundancy model to ensure that the relay switching process is adapted to the dynamic environment.

[0067] S2: Based on the dynamic optical relay priority weight, a distributed dynamic optical relay network is constructed by selecting neighboring RGVs as relay nodes, and link coverage is achieved through optical signal relay transmission;

[0068] During implementation, when the signal attenuation of the main communication link exceeds the preset threshold due to RGV movement or environmental obstacles, the neighboring RGV nodes are selected according to the dynamic optical relay priority weight list.

[0069] The process of selecting neighboring RGV nodes based on the dynamic optical relay priority weight list is as follows: First, all candidate nodes within the current communication range are traversed, and their priority scores, real-time locations, and signal strength data are extracted. The path redundancy between each node and the target receiver is calculated using a topology-aware algorithm. The node with the highest score is selected as the relay node, and the corresponding optical signal transceiver unit in its multi-directional tunable optical transceiver module is activated. The transmission wavelength is adjusted to match the receiver's basic channel, establishing a relay link. After receiving the original optical signal, the relay node dynamically allocates a new wavelength through an elastic channel wavelength pool and forwards the data to the next-hop node or the target RGV, forming an optical signal relay transmission chain. Simultaneously, the system continuously monitors the load status and link stability of each relay node. When the node load exceeds the capacity threshold or the path redundancy decreases, local topology reconstruction is automatically triggered. A backup node is reselected from the priority list, and the transmission path is switched to ensure that the dynamic network coverage has no blind spots. Furthermore, after the relay link is established, the signal forwarding sequence of the relay node is corrected in real time using an optical signal propagation delay and motion trajectory prediction model to avoid cumulative delays caused by multi-hop transmission.

[0070] S3: Divide optical wavelength resources into basic channels and elastic channels, allocate fixed wavelength transmission control commands to the basic channels, and dynamically allocate wavelength transmission data streams to the elastic channels based on mixed integer programming.

[0071] During implementation, the allocation of optical wavelength resources is based on a preset spectrum segmentation rule, dividing the available wavelength range into two parts: a basic channel and a flexible channel. The basic channel adopts a fixed wavelength allocation strategy, allocating a unique and non-overlapping fixed wavelength to each RGV for transmitting scheduling instructions and emergency shutdown signals. This low-latency, high-priority control information ensures the real-time and conflict-free transmission of critical instructions. The flexible channel, on the other hand, retains a dynamic wavelength pool. Wavelength resources are not pre-bound to devices but are dynamically allocated based on the real-time network topology and task requirements through a mixed-integer programming model.

[0072] The dynamic allocation process using a mixed-integer programming model includes: first, establishing a mixed-integer programming model with the objective function of maximizing channel utilization, and conditions of wavelength uniqueness constraint, load balancing constraint, and task urgency weight. After inputting the relative positions between RGVs, relay link load rate, and task type data, the optimal wavelength allocation scheme is solved using a branch and bound algorithm. Among them, the wavelength uniqueness constraint means that wavelengths in the same area at the same time are not repeated, the load balancing constraint means that the concurrent data flow of a single node does not exceed the capacity threshold, and the task urgency weight includes the fact that the priority of material handling tasks is higher than that of status reporting.

[0073] During dynamic allocation, the system periodically updates the wavelength pool status every 100 milliseconds. When a change in RGV position or a new data transmission request is detected, the model is recalculated, and the current optimal wavelength is allocated to the data stream. Simultaneously, the elastic channel wavelengths and the basic channel wavelengths are separated by a guard band in the spectrum to avoid signal crosstalk. Furthermore, to cope with sudden channel contention, the system monitors the usage status of each wavelength in real time and predicts conflicts for RGV data streams about to enter the same communication area. If a wavelength overlap risk is detected, the elastic channel reallocation process is forcibly triggered to ensure the continuity of data stream transmission.

[0074] S4: Identify potential channel contention through a conflict prediction mechanism and dynamically adjust the wavelength or switch the transmission path;

[0075] During implementation, the conflict prediction mechanism is achieved through the following steps: First, based on the optical signal propagation delay calculation model, combined with the real-time position, speed, and direction of motion data of each RGV, the overlapping range of communication areas of each RGV in the future time period is predicted; the Kalman filter algorithm is used to model the motion trajectory of the RGVs, and their expected positions in the next 50 millisecond time window are estimated. Combined with the elastic channel wavelength allocation table, it is determined whether there is a risk that multiple RGVs in the same area will use the same wavelength to transmit data; if a potential conflict is detected, a preemption release command is generated based on the urgency of the task and the current channel load status.

[0076] The process of generating preemption and release commands based on task urgency and current channel load includes: for low-priority tasks, forcibly releasing their current wavelength and reallocating idle wavelengths; for high-priority tasks, forwarding their data stream to idle wavelength channels of nearby relay nodes through path switching mechanisms; simultaneously, before wavelength switching, the system verifies the spectral isolation between the new wavelength and wavelengths in adjacent areas through simulated transmission to avoid signal crosstalk; when path switching involves multi-hop relays, the link weights in the topology-aware algorithm are updated synchronously, and the signal forwarding timing of relay nodes is adjusted to compensate for the transmission delay caused by path switching; in addition, after completing wavelength or path adjustment, the system continuously monitors the conflict resolution status, and if channel contention still exists within a preset time window, a local topology reconstruction or data packet retransmission mechanism is triggered until the conflict is completely eliminated;

[0077] S5: Key data is transmitted asynchronously and redundantly using dual optical paths. The receiving end verifies and merges data packets based on timestamps and topology fingerprints.

[0078] During implementation, critical data packets are duplicated into two copies and transmitted through two independent relay paths. Specifically, the sending end selects non-overlapping relay node sequences for each path based on a dynamic optical relay priority weight list, ensuring that the two paths do not share nodes or have parallel optical paths in their physical topology. Each data packet is appended with a timestamp accurate to microseconds and path topology fingerprint information. The timestamp is generated synchronously by the sending end's atomic clock, and the topology fingerprint is encrypted using a hash algorithm to encode the ID sequence of the relay nodes passing through it. After asynchronously receiving data packets from both paths within a preset time window, the receiving end first extracts the timestamps and calculates the transmission delay difference. If the delay difference exceeds a fault tolerance threshold of 10 milliseconds, it is determined to be a path anomaly and an alarm is triggered. Subsequently, the topology fingerprint is decrypted and verified, matching it against the preset relay path node sequence. If any node IDs are missing or their order is tampered with, the data packet is marked as an abnormal packet. Data packets that pass verification enter the fusion stage, employing a strategy based on timestamp priority.

[0079] The timestamp-based priority strategy includes: if both paths are valid, the data packet with the latest timestamp is selected; if only one path is valid, that data is used directly; if the two paths have content differences, they are weighted and fused using topology fingerprint weights; in the topology fingerprint weights, the weight of the primary path is set to 0.6 and the weight of the backup path is set to 0.4; after fusion, an integrity check code is generated; if the check fails, a data retransmission mechanism is triggered, and the dynamic optical relay priority weights are updated to reduce the probability of selecting abnormal paths; in addition, the system periodically counts the packet loss rate and latency fluctuation data of each path, dynamically adjusts the dual-path selection strategy, and prioritizes the combination of relay nodes with low load and high redundancy.

[0080] S6: Real-time monitoring of optical signal intensity fluctuation trends, determination of occlusion type, and triggering path switching or topology reconstruction; During implementation, the system collects optical signal intensity data in real time at a sampling frequency of thousands of times per second through a multi-directional tunable optical transceiver module, and calculates the short-term fluctuation trend and long-term attenuation slope of signal intensity based on a sliding window algorithm; During this period, the short-term window can be selected as 50 milliseconds, and the long-term window can be selected as 500 milliseconds; When a sharp fluctuation in signal intensity is detected within the short-term window, such as an intensity decrease rate exceeding 50dB / ms, but the mean value is stable within the long-term window, it is determined to be an instantaneous occlusion, and the path switching mechanism is immediately triggered, that is: selecting the second-best node from the dynamic optical relay priority weight list as the backup path, adjusting the transmission direction and wavelength of the multi-directional tunable optical transceiver module, seamlessly switching the data stream to the new path, while retaining the original path monitoring until the signal is restored; If the signal intensity remains below the preset threshold of 70dBm within the long-term window and the attenuation slope is... If the signal strength approaches zero, it is considered a permanent blockage, and a local topology reconfiguration process is initiated. First, the current relay link is frozen. Based on the real-time updated RGV location information, the path redundancy model is recalculated, a new list of candidate relay nodes is generated, and elastic channel wavelengths are allocated to the affected data streams based on a mixed-integer programming model. During reconfiguration, a gradual switching strategy is adopted: a new path is established and its stability is verified (i.e., signal strength sampling meets the standard for three consecutive times) before releasing the old path resources to avoid communication interruptions during switching. Furthermore, the system matches historical blockage scenarios, such as forklift passage or shelf displacement, using a light intensity fluctuation pattern library. If a known instantaneous blockage pattern is matched, backup path parameters are pre-loaded to shorten the switching response time to within 5 milliseconds. After switching or reconfiguration, the system continuously monitors the signal strength stability of the new path. If the same type of blockage alarm is triggered again within 10 seconds, the area is marked as a high-risk communication blind spot, and global topology optimization is triggered to avoid the area.

[0081] The generation of dynamic optical relay priority weights includes: determining the priority ranking of relay nodes through weighted calculation based on the real-time location, signal strength, path redundancy, and load balancing of the RGV, and selecting the optimal relay path; in the implementation process, the generation of dynamic optical relay priority weights is achieved through the following steps: each RGV acquires the optical signal strength data of neighboring nodes in real time through a multi-directional tunable optical transceiver module, and combines it with its own coordinates and motion vectors output by the laser ranging and inertial navigation modules to construct a local topology map centered on the current RGV; the path redundancy calculation is based on the relay hop count and path redundancy model of candidate nodes in the topology map, where the hop count is... The shortest path is obtained by solving the Dijkstra algorithm, and the link stability is dynamically corrected based on historical communication packet loss rate and latency fluctuation data. The load balancing is evaluated by monitoring the number of concurrent data streams, remaining bandwidth resources, and processing latency of each candidate node, quantifying its available communication capacity and converting it into a 0-1 standardized score. In the weighted calculation stage, the signal strength, path redundancy, and load balancing are linearly superimposed according to preset coefficients to generate a priority score list, which is then sorted from high to low scores. The preset coefficients include setting the weight of signal strength to 0.4, the weight of path redundancy to 0.3, and the weight of load balancing to 0.3.

[0082] When selecting the optimal relay path, the system prioritizes the node with the highest score, while verifying whether its current load is below the capacity threshold and whether the number of hops is less than the maximum allowed value. If the primary node does not meet the constraints, the system automatically selects the second-best node in descending order. The maximum allowed value is 3 hops.

[0083] In addition, when a network topology change is detected, the weight recalculation process is immediately triggered to update the priority list and synchronize it to all associated nodes, ensuring that relay decisions are adapted to the dynamic environment in real time; among which, network topology changes include the addition of RGVs or nodes going offline.

[0084] Dynamic allocation of resilient channels includes: constructing a mixed-integer programming model based on the relative positions between RGVs, task urgency, and relay link load status to calculate wavelength allocation schemes in real time; and dynamically adjusting the resilient channel wavelength pool according to network topology changes to maximize channel utilization. In implementation, dynamic allocation of resilient channels is achieved through the following steps: the system constructs the objective function and constraints of the mixed-integer programming model based on real-time collected relative position coordinates between RGVs, task type identifiers, and relay link load rate data; wherein, the task type identifiers include: setting material handling priority to 1 and status reporting priority to 2.

[0085] The process of constructing the objective function and constraints of the mixed integer programming model includes: the objective function is set to maximize channel utilization, and the constraints include wavelength uniqueness constraints within the same communication area, the maximum number of concurrent data streams per node, and task urgency weight factors; after preprocessing, the model input data is solved using a branch and bound algorithm to output the optimal wavelength allocation scheme, including the elastic channel wavelength values ​​and effective durations corresponding to each data stream; among them, the maximum number of concurrent data streams per node is limited to no more than 5, and the task urgency weight factors include: priority 1 task weight is 0.7, and priority 2 is 0.3.

[0086] During allocation, the system reserves a wavelength switching buffer for high-priority tasks to ensure that urgent tasks can quickly switch wavelengths without interrupting transmission when the topology changes. During the dynamic adjustment phase, the network topology status is scanned every 100 milliseconds. When RGV movement is detected, causing a change in the overlap of the communication area exceeding 15% or when a new data transmission request is added, the model is recalculated, and the available resource list of the wavelength pool is updated according to the latest topology map. At the same time, a 10nm spectrum protection interval is set between the elastic channel wavelength and the basic channel wavelength, and adjacent channel interference is eliminated through a bandpass filter. For sudden wavelength conflicts, the system monitors the occupancy status of each wavelength in real time and makes a conflict prediction for RGV data streams that are about to enter the same area: if it is detected that two data streams will use the same wavelength to enter the overlapping area within the next 30 milliseconds, the lower-priority data stream is forced to perform wavelength switching and reroute to the idle wavelength of the nearby relay node. Before switching, the spectrum isolation between the new wavelength and the basic channel of the target receiver is verified. After the allocation is completed, the system records the usage history data of each wavelength to optimize the load balancing weight coefficient in the subsequent model, forming a closed-loop optimization mechanism.

[0087] The conflict prediction mechanism includes: predicting potential channel contention based on optical signal propagation delay and RGV movement trajectory; triggering a preemption release command when a conflict risk is detected, switching wavelengths or releasing channel resources; in the implementation process, the conflict prediction mechanism includes the following steps: the system obtains the signal transmission rate corresponding to the current channel wavelength through the optical signal propagation delay calculation module, and combines the real-time coordinates, velocity vector, and movement direction of each RGV to predict the communication area boundary of each RGV within the next 50 milliseconds using the extended Kalman filter algorithm; based on the elastic channel wavelength allocation table and predicted location data, a conflict probability matrix is ​​constructed to identify communication areas where wavelength overlap may occur and the corresponding time windows, that is: if two or more RGV data streams will use the same wavelength in the same area and at the same time, it is marked as a high-risk conflict event; for the detected conflict events, the system generates a differentiated processing strategy according to the task urgency label; among which, the task urgency label includes the priority of the handling task being higher than the status reporting.

[0088] The process of generating differentiated processing strategies based on task urgency labels includes: high-priority tasks retain the original wavelength and activate the path switching mechanism, forwarding their data stream through the idle wavelength of the nearby relay node, while adjusting the receiving filter parameters of the target node to match the new wavelength; low-priority tasks trigger a preemption release command, forcibly releasing the current wavelength and reallocating it to an available wavelength outside the spectrum protection interval. Before allocation, the spectral isolation between the new wavelength and the wavelengths in the adjacent area is verified by the simulation module.

[0089] During path switching, if multi-hop relay links are involved, the system synchronously corrects the signal forwarding timing of the relay nodes. The process includes: calculating the transmission delay compensation value based on the number of new hops and injecting it into the timestamp field of the data packet header to ensure timing synchronization at the receiving end; after completing wavelength or path adjustment, the system tracks the conflict resolution status through a real-time monitoring module. If wavelength overlap is still detected within 20 milliseconds after adjustment, a local topology reconstruction process is initiated to recalculate the elastic channel allocation scheme for the affected area and trigger a data packet retransmission mechanism to repair any potentially lost information; in addition, the system records the time, location, and processing results of historical conflict events to optimize the motion trajectory prediction accuracy of the Kalman filter algorithm, forming a self-learning closed loop for conflict prediction.

[0090] Dual-optical-path asynchronous redundant transmission includes: sending the same data packet to the receiving end through two independent relay paths; the receiving end removes abnormal data packets based on timestamp differences and topology fingerprint information, and completes data fusion; in the implementation process, the execution flow of dual-optical-path asynchronous redundant transmission is as follows: the sending end copies the key data packet into two independent copies and assigns a different relay path to each copy.

[0091] The process of assigning different relay paths to each replica includes: the first path selects the primary relay node sequence based on a dynamic optical relay priority weight list; the second path selects a combination of backup relay nodes with no overlap in the topology based on a path redundancy model, ensuring that the two paths do not share optical transceiver units or parallel optical paths on the physical transmission link; each data packet header embeds a microsecond-level timestamp generated by a high-precision atomic clock, and the ID sequence of the relay nodes passing through it is encrypted using the SHA256 hash algorithm to generate a unique topology fingerprint; the receiving end listens for data packets on both paths within a preset asynchronous receiving window, first extracts the timestamps to calculate the transmission delay difference between the two paths, if the delay difference exceeds a preset threshold of 15 milliseconds, it is determined that there is an anomaly in the path and an alarm log is triggered; then the topology fingerprint is decrypted and verified, the relay node ID sequence is restored by reverse hash calculation, and compared with the preset path node list; if a node ID is missing, out of order, or an illegal node is inserted, it will be... The data packet is marked as abnormal and stored in an isolation buffer. Valid data packets that pass verification enter the fusion stage, using a dynamic weighted fusion strategy: if the data from both paths is valid and the content is consistent, the data packet with the latest timestamp is selected first; if the content differs, the data is weighted and fused according to the path reliability weight, i.e., the primary path has a weight of 0.7 and the backup path has a weight of 0.3, and the integrity of the fused data is verified by a cyclic redundancy check code; if the verification fails, a retransmission request is sent to the sender, and the dynamic optical relay priority weight of the abnormal path is reduced; at the same time, the system periodically counts the transmission indicators of each path. When a path has three consecutive abnormalities, it is automatically removed from the relay candidate list, and the path weight recalculation process is triggered to dynamically optimize the dual-path selection strategy; in addition, the receiver maintains a topology fingerprint whitelist database to perform real-time blacklist filtering of unverified relay node IDs to prevent malicious node injection attacks; the transmission indicators include packet loss rate, average latency, and signal fluctuation variance.

[0092] Determining the type of obstruction and triggering path switching or topology reconfiguration includes: if the optical signal strength fluctuation is a momentary decrease, it is determined to be a momentary obstacle and the transmission path is dynamically switched; if the optical signal strength is continuously below a threshold, it is determined to be a permanent obstruction and local topology reconfiguration is triggered, updating the relay node; during implementation, the system monitors the optical signal strength data in real time at a sampling frequency of 2000 times per second through a multi-directional tunable optical transceiver module, and calculates the intensity fluctuation characteristics for short-term and long-term based on the sliding window algorithm. When the signal strength drops sharply within the short-term window to a preset threshold attenuation rate of 60dB, but the average value of the long-term window fluctuates within the threshold range, it is determined to be a momentary obstacle obstruction, such as a forklift briefly passing through, and path switching is immediately triggered; where short-term corresponds to a 20-millisecond window and long-term corresponds to a 500-millisecond window.

[0093] The immediate path switching process includes: extracting the current suboptimal node information from the dynamic relay priority list, adjusting the transmission direction of the multi-directional tunable optical transceiver module to the corresponding angle of the backup path, synchronously switching to the pre-allocated protection wavelength in the elastic channel, completing the data stream forwarding switch within 5 milliseconds, and simultaneously retaining the original path monitoring thread to continuously collect signal recovery data; if the signal strength is below 75dBm for 10 consecutive sampling periods within a long time window and the attenuation slope approaches zero, it is determined to be a permanent blockage, such as: adding a fixed shelf to block it; the local topology reconstruction process includes: freezing the affected relay link communication, calling the mixed integer programming model to recalculate the optimal relay node combination under the current network topology, prioritizing candidate nodes with a path redundancy higher than 0.8 and a load balance score in the top 20%, and generating a new relay path sequence; a two-stage verification mechanism is adopted during the reconstruction process.

[0094] The two-stage verification mechanism adopted during the reconstruction process includes: first, simulating the signal strength stability of the new path through the simulation module, and then sending test data packets in the actual link to verify the bit error rate. After the verification is passed, the data stream is gradually migrated to the new path, and the wavelength resources occupied by the old path are released after the migration is completed. During the simulation of the signal strength stability of the new path, the sampling intensity must be higher than 70dBm for 5 consecutive times; while during the verification of the bit error rate by sending test data packets in the actual link, it is required to be lower than 1E6.

[0095] For known occlusion patterns, such as periodic device movement, the system matches feature curves with historical light intensity fluctuation databases. If the similarity exceeds 90%, backup path parameters are preloaded and protection wavelengths are pre-allocated, compressing the switching response time to within 3 milliseconds. After switching or reconstructing, the system starts a continuous monitoring thread. If the new path triggers the same type of alarm again within 30 seconds, it is determined that there is a structural communication defect in the area, triggering a global topology optimization algorithm to replan the RGV passage route and marking it as a high-risk avoidance area on the electronic map.

[0096] A multi-RGV IoT system based on optical communication includes:

[0097] The relay management unit is used to generate and update the relay node network in real time, including a topology-aware submodule and a path correction submodule.

[0098] Wavelength allocation controller for performing mixed-integer programming and collision prediction for resilient channels;

[0099] A redundancy verification engine is used to implement asynchronous verification and fusion of dual-optical-path data;

[0100] A multi-RGV IoT system based on optical communication works in conjunction with each unit through a multi-directional tunable optical transceiver module to execute the steps of the multi-RGV IoT method based on optical communication.

[0101] During implementation, the multi-RGV IoT system based on optical communication achieves its functions through the collaborative operation of a relay management unit, a wavelength allocation controller, and a redundancy check engine: The relay management unit has a built-in topology sensing submodule, which receives RGV coordinates, signal strength, and obstacle data uploaded by the multi-directional tunable optical transceiver module in real time, updates the global topology map every 50 milliseconds using the Dijkstra algorithm, and generates a candidate list of relay nodes based on the path redundancy model; The path correction submodule continuously analyzes the light intensity fluctuation data, and when it detects that the signal attenuation slope exceeds the threshold, it calls the protection wavelength parameters in the elastic channel wavelength pool, generates a path switching command, and sends it to the corresponding RGV's multi-directional tunable optical transceiver module. The optical transceiver module is tuned; the wavelength allocation controller runs a mixed-integer programming model, combining topology map and task queue data, and calculates the elastic channel wavelength allocation scheme every 100 milliseconds. At the same time, the conflict prediction module monitors the usage status of each wavelength. If the RGV movement trajectory is detected to cause wavelength overlap risk within the next 20 milliseconds, a preemptive resource release command is triggered, forcing low-priority tasks to switch to idle wavelengths; the redundancy verification engine deploys a data packet timestamp comparison unit at the receiver end, calibrates the timing difference of dual-path data packets through a high-precision clock synchronization protocol, and uses a topology fingerprint verification unit to perform hash inversion on the decrypted relay node ID sequence and match it with a preset path whitelist.

[0102] The system achieves data interaction between units through a bus architecture. Specifically, the relay management unit pushes updated topology information to the wavelength allocation controller in real time, and the wavelength allocation table generated by the latter is synchronized to the redundancy check engine for data fusion weight calculation. When the multi-directional tunable optical transceiver module dynamically adjusts the transmission direction and wavelength parameters according to instructions, it needs to verify the signal isolation after wavelength switching through closed-loop feedback and complete link reconstruction within 5 milliseconds. When local topology reconstruction is triggered, the system starts a multi-module linkage protocol: the relay management unit freezes communication in the affected area, the wavelength allocation controller recalculates the wavelength mapping relationship, and the redundancy check engine suspends data fusion and enables a caching mechanism. After the new path passes the two-stage verification, data transmission is gradually restored and the global status log is updated. The two-stage verification includes simulation strength testing and actual bit error rate detection.

[0103] The multi-directional tunable optical transceiver module includes:

[0104] At least three optical signal transceiver units are evenly distributed in the horizontal plane, with a coverage angle of not less than 240 degrees;

[0105] The transceiver unit supports dynamic wavelength tuning to adapt to the wavelength allocation requirements of the basic channel and the flexible channel.

[0106] In implementation, the hardware implementation of the multi-directional tunable optical transceiver module includes: three independent optical signal transceiver units evenly distributed on the horizontal plane of the RGV vehicle top, each unit covering an azimuth angle of 80 degrees, with a total coverage of 240 degrees; each unit achieves adaptive alignment of ±15 degrees in elevation angle via a universal adjustment bracket; each transceiver unit integrates a tunable laser and a photodetector, with the laser wavelength tuning range covering the C-band (1530nm-1565nm), supporting rapid switching between a fixed wavelength for the basic channel and a dynamic wavelength for the flexible channel, i.e., a switching time of less than 1 millisecond; dynamic wavelength tuning is achieved through a digital micromirror array (DMD), dynamically adjusting the incident angle of the diffraction grating to select the target wavelength according to the command parameters issued by the wavelength allocation controller, while simultaneously implementing closed-loop control. The feedback circuit monitors the output wavelength deviation in real time and compensates for temperature drift. The optical path design of the transceiver unit adopts a dual-ring structure: the inner ring is used for fixed-wavelength communication of the basic channel, and the outer ring carries the dynamic wavelength data stream of the elastic channel. The two rings are isolated by a wavelength division multiplexer to ensure that the spectral spacing is greater than 10nm. When it is necessary to switch the transmission direction, the module drives the universal bracket of the designated transceiver unit to rotate to the target azimuth angle and simultaneously activates the laser wavelength tuning module in the corresponding direction, completing optical path alignment and wavelength locking within 2 milliseconds. In addition, the module has a built-in self-test function module that scans the transmit power, receive sensitivity and wavelength offset of each transceiver unit every 5 seconds. Abnormal data is reported to the relay management unit in real time, triggering module hot backup switching or wavelength recalibration process to ensure the physical layer reliability of the communication link.

[0107] The topology sensing submodule includes: an algorithm module for real-time calculation of the relative positions and optical path occlusion status between RGVs; and a path correction submodule including an instruction generation module for dynamically adjusting the transmission path based on light intensity fluctuation trends. During implementation, the topology sensing submodule uses a multi-directional tunable optical transceiver module to collect real-time data on the optical signal intensity, azimuth, and distance of neighboring RGVs. This data, combined with its own three-dimensional coordinates and motion vectors (including velocity and acceleration) output by the inertial navigation module, constructs a dynamic topology map centered on the current RGV. An improved Dijkstra algorithm is run every 50 milliseconds to calculate the shortest path to the target node and its redundancy index. Redundancy is defined as the product of the number of replaceable relay nodes in the path and the link stability. The results are stored in the topology database. Optical path occlusion is determined by fusing an optical signal intensity attenuation model with environmental obstacle contour data: when a signal intensity decrease rate exceeding 40 dB / ms is detected and overlaps with the obstacle position scanned by the lidar, that direction is marked as an occlusion area, and an optical path interruption is generated. Risk level (low / medium / high); The path correction submodule makes decisions based on topology sensing results and real-time light intensity fluctuation data: if the standard deviation of light intensity fluctuation exceeds a preset threshold of 10dB within a 100-millisecond window, it calls the pre-stored protection wavelength parameters in the elastic channel wavelength pool to generate a path switching command. The path switching command includes the target relay node ID, the transmission azimuth adjustment value, and the new wavelength allocation scheme. The switching command is sent to the corresponding RGV's multi-directional tunable optical transceiver module through a low-latency bus. The module drives the universal bracket to rotate to the target angle and synchronously tunes the laser wavelength, while activating the closed-loop calibration process: the signal strength of the new path is monitored in real time through a photodetector. If the intensity does not reach 65dBm for three consecutive samplings, it rolls back to the original path and triggers the topology sensing submodule to recalculate candidate nodes. For permanent occlusion scenarios, the path correction submodule works with a mixed integer programming model to complete the elastic channel reallocation and relay path reconstruction of the affected area within 200 milliseconds, and marks the coordinates of high-risk areas on the electronic map for use by the global path planning algorithm to avoid.

[0108] The redundancy check engine includes:

[0109] The data packet timestamp comparison unit is used to identify the timing differences of data packets between two independent paths;

[0110] The topology fingerprint verification unit is used to match the relay path topology information from which the data packet originates;

[0111] During implementation, the redundancy verification engine works collaboratively with the packet timestamp comparison unit and the topology fingerprint verification unit: the timestamp comparison unit calibrates the received timestamps of dual-path packets based on a high-precision clock synchronization protocol, calculates the transmission delay difference between the two paths, and if the delay difference exceeds a 15-millisecond threshold, an abnormal path alarm is triggered and the packet buffer isolation mechanism is activated; the topology fingerprint verification unit performs SHA256 hash inversion on the encrypted header field of the received packet, decrypts the relay node ID sequence, and matches it with a preset whitelist database of legitimate path nodes. That is, if the node ID is missing, out of order, or an unauthorized node exists, it is determined to be a path tampering attack, the packet is discarded, and a security log is generated; for packets that pass verification, the engine executes a dynamic fusion strategy: when the data content of the two paths is consistent, the packet with the latest timestamp is selected; if the content differs, a weighted fusion is performed based on the historical path reliability score. In the process, the primary path has a scoring weight of 0.7, and the backup path has a weight of 0.3. The integrity of the fused data is verified using a CRC32 checksum. If the verification fails, a retransmission request is sent to the sender, and the dynamic optical relay priority weight of the abnormal path is reduced by 40%. At the same time, the relay node of the abnormal path is marked as temporarily disabled. The engine analyzes historical verification data every 5 seconds, calculates the packet loss rate, number of tampering events, and delay distribution of each path, and dynamically updates the path reliability scoring library. That is, when a path fails verification three times in a row, it is automatically removed from the relay candidate list, and the relay management unit is triggered to regenerate the dynamic optical relay priority weight. In addition, the topology fingerprint verification unit maintains a dynamic blacklist mechanism, which intercepts paths with abnormal node IDs after decryption in real time and sends an alarm signal to the wavelength allocation controller through the bus to force a switch of the wavelength and transmission path of the affected data stream, forming a closed-loop security protection. The abnormal node ID includes unregistered devices or offline nodes.

[0112] By deeply integrating dynamic optical relay networks with adaptive wavelength allocation technology, the communication stability and collaborative efficiency of multiple RGVs in complex industrial scenarios are significantly improved. Based on the node selection mechanism of dynamic optical relay priority weights, combined with the mixed integer programming model of elastic channels, uninterrupted transmission and efficient channel multiplexing of optical communication links in mobile obstruction scenarios are realized. The synergistic application of conflict prediction mechanism and dual optical path redundancy verification technology effectively avoids channel competition risks and ensures the integrity and real-time performance of key data, solving the problems of communication interruption, delay and data loss caused by signal obstruction or topology rigidity in traditional fixed node networking.

[0113] Through closed-loop optimization mechanisms and multi-module linkage design, the robustness and adaptability of the system in dynamic environments are significantly enhanced. The two-stage verification mechanism of path switching and topology reconstruction reduces the risk of network reconstruction, while the self-testing function of the optical transceiver module and the dynamic weight adjustment strategy of the redundancy verification engine further improve the reliability and anti-interference capability of the physical layer. Its technical effects are directly reflected in the improved smoothness, security and response speed of multi-RGV collaborative operations in industrial logistics scenarios, while reducing the risk of equipment idleness or collisions caused by communication failures. It provides a feasible optical communication IoT solution for high-density, high-dynamic automated warehousing and production lines.

[0114] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0115] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for interconnecting multiple RGVs based on optical communication, characterized in that, Includes the following steps: S1: Real-time acquisition of location, motion status and environmental obstacle information through the multi-directional tunable optical transceiver module on each RGV to generate dynamic optical relay priority weights; The generation of the dynamic optical relay priority weights includes: determining the priority ranking of relay nodes through weighted calculation based on the real-time location, signal strength, path redundancy, and load balancing of RGV, and selecting the optimal relay path; S2: Based on the dynamic optical relay priority weight, select neighboring RGVs as relay nodes to construct a distributed dynamic optical relay network, and achieve link coverage through optical signal relay transmission; S3: Divide optical wavelength resources into basic channels and elastic channels, allocate fixed wavelength transmission control commands to the basic channels, and dynamically allocate wavelength transmission data streams to the elastic channels based on mixed integer programming. This includes: constructing a mixed integer programming model based on the relative positions between RGVs, task urgency, and relay link load status, and calculating the wavelength allocation scheme in real time; the wavelength pool of the elastic channels is dynamically adjusted according to changes in network topology to maximize channel utilization. S4: Identify potential channel contention through a conflict prediction mechanism and dynamically adjust the wavelength or switch the transmission path; S5: Key data is transmitted asynchronously and redundantly using dual optical paths. The receiving end verifies and merges data packets based on timestamps and topology fingerprints. S6: Real-time monitoring of optical signal intensity fluctuation trends, determination of occlusion type, and triggering path switching or topology reconstruction.

2. The method for interconnecting multiple RGVs based on optical communication according to claim 1, characterized in that: Conflict prediction mechanisms include: Predicting potential channel contention based on optical signal propagation delay and RGV motion trajectory; When a collision risk is detected, a preemption release command is triggered to switch wavelengths or release channel resources.

3. The method for interconnecting multiple RGVs based on optical communication according to claim 1, characterized in that: Dual-optical-path asynchronous redundant transmission includes: The same data packet is sent to the receiving end through two independent relay paths; The receiving end removes abnormal data packets based on timestamp differences and topological fingerprint information, and completes data fusion.

4. The method for interconnecting multiple RGVs based on optical communication according to claim 1, characterized in that: Determining the occlusion type and triggering path switching or topology reconfiguration includes: If the fluctuation in optical signal intensity is an instantaneous decrease, it is determined to be an instantaneous obstacle and the transmission path is dynamically switched; If the light signal strength remains below the threshold, it is determined to be a permanent blockage and triggers a local topology reconstruction, updating the relay node.

5. A multi-RGV IoT system based on optical communication, characterized in that: include: The relay management unit is used to generate and update the relay node network in real time, including a topology-aware submodule and a path correction submodule. Wavelength allocation controller for performing mixed-integer programming and collision prediction for resilient channels; A redundancy verification engine is used to implement asynchronous verification and fusion of dual-optical-path data; The multi-RGV IoT system based on optical communication is linked with each unit through a multi-directional tunable optical transceiver module to execute the method described in any one of claims 1-4.

6. A multi-RGV IoT system based on optical communication according to claim 5, characterized in that: The multi-directional tunable optical transceiver module includes: At least three optical signal transceiver units are evenly distributed in the horizontal plane, with a coverage angle of not less than 240 degrees; The transceiver unit supports dynamic wavelength tuning to adapt to the wavelength allocation requirements of the basic channel and the flexible channel.

7. A multi-RGV IoT system based on optical communication according to claim 5, characterized in that: The topology-aware submodule includes: An algorithm module for real-time calculation of the relative position and optical path occlusion status between RGVs; The path correction submodule includes an instruction generation module that dynamically adjusts the transmission path based on the light intensity fluctuation trend.

8. A multi-RGV IoT system based on optical communication according to claim 5, characterized in that: The redundancy check engine includes: The data packet timestamp comparison unit is used to identify the timing differences of data packets between two independent paths; The topology fingerprint verification unit is used to match the relay path topology information of the data packet source.

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