Logistics equipment unified access method based on multi-protocol conversion

Abstract

The invention relates to the technical field of network communication, in particular to a logistics equipment unified access method based on multi-protocol conversion. The specific implementation process comprises: establishing a model comprising a source logistics device, a target logistics device, a protocol conversion gateway and a time-sensitive network, wherein the time-sensitive network comprises a network master clock; the protocol conversion gateway and the network master clock are periodically synchronized, an original data packet of the source logistics equipment is analyzed, and data content and a source identifier containing a time sequence relation are extracted; through an adaptive mapping rule, mapping the data content and the source identifier into a time-sensitive network traffic category containing predetermined traffic, and obtaining a gating scheduling strategy of the time-sensitive network traffic category; and the data content is converted and packaged into a time-sensitive network data frame, and the time-sensitive network data frame is sent to the target logistics equipment according to a gating scheduling strategy. According to the invention, the access accuracy and stability of the logistics equipment are realized by fusing protocol conversion and the time-sensitive network.

Description

Technical Field

[0001] The present invention relates to the field of network communication technology, and in particular to a unified access method for logistics equipment based on multi-protocol conversion. Background Art

[0002] In modern automated logistics systems, real-time and deterministic communication is a prerequisite for safe, stable, and efficient operations. Unexpected communication delays can lead to economic losses and safety incidents. Therefore, providing predictable, guaranteed, low-latency communication services is crucial for achieving advanced automated logistics operations.

[0003] The system architecture of existing technical solutions is primarily targeted at general-purpose IoT applications. Design goals often focus on achieving compatibility with multiple protocols and handling massive amounts of data, but they fail to fully meet the stringent real-time communication requirements of industrial scenarios. Data processing typically relies on multi-level software processes within general-purpose computing environments, which introduces cumulative and unpredictable processing delays, impacting the precise control of logistics equipment. Furthermore, the systems lack effective quality of service (QoS) mechanisms, making it impossible to prioritize high-priority control commands and unable to guarantee an upper limit on end-to-end transmission delays.

[0004] In summary, existing technologies are unable to provide deterministic, bounded, low-latency communication services for real-time control data of critical logistics equipment in data transmission links that perform multi-protocol parsing and conversion. To this end, a unified access method for logistics equipment based on multi-protocol conversion is proposed. Summary of the Invention

[0005] The present invention aims to provide a unified access method for logistics equipment based on multi-protocol conversion for network communication. To solve the problems existing in the prior art, the present invention first establishes a model including a source logistics device, a target logistics device, a protocol conversion gateway, and a time-sensitive network. The source logistics device adopts a non-time-sensitive network communication protocol, the target logistics device adopts a target communication format, the protocol conversion gateway includes a precision time protocol, and the time-sensitive network includes a network master clock. Then, the protocol conversion gateway periodically synchronizes with the network master clock based on the precision time protocol to obtain the global time of the time-sensitive network. Secondly, the original data packet of the source logistics device is received and parsed, and the continuous data content and source identification information containing the timing relationship are extracted. Through adaptive mapping rules, the continuous data content and source identification information are mapped into a time-sensitive network traffic category containing a predetermined flow, and a gating scheduling strategy for the time-sensitive network traffic category is obtained. The gating scheduling strategy includes a sending time window calculated based on the global time. Finally, the continuous data content is converted into target data that conforms to the target communication format, the target data is encapsulated into a time-sensitive network data frame, and the time-sensitive network data frame is sent to the target logistics device according to the sending time window. By integrating protocol conversion and time-sensitive networking, the present invention achieves efficient and synchronous collaboration of logistics equipment with different protocols under a unified network, ensuring operational accuracy and system stability in complex and high-speed scenarios.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A unified access method for logistics equipment based on multi-protocol conversion, comprising:

[0008] Establish a model that includes source logistics equipment, target logistics equipment, protocol conversion gateway, and time-sensitive network; the source logistics equipment uses a non-time-sensitive network communication protocol, the target logistics equipment uses a target communication format, the protocol conversion gateway includes a precise time protocol, and the time-sensitive network includes a network master clock;

[0009] The protocol conversion gateway periodically synchronizes with the network master clock based on the precision time protocol to obtain the global time of the time-sensitive network;

[0010] Receive and parse the original data packets from the source logistics equipment, extract the continuous data content and source identification information containing the temporal relationship; map the continuous data content and source identification information into a time-sensitive network traffic category containing the scheduled traffic through adaptive mapping rules, and obtain the gating scheduling strategy for the time-sensitive network traffic category, which includes a sending time window calculated based on the global time;

[0011] Convert the continuous data content into target data that conforms to the target communication format, encapsulate the target data into a time-sensitive network data frame, and send the time-sensitive network data frame to the target logistics equipment according to the sending time window.

[0012] Preferably, the non-time-sensitive network communication protocol includes an industrial Ethernet protocol, an Internet of Things message transmission protocol and a fieldbus protocol.

[0013] Preferably, the periodic synchronization of the protocol conversion gateway with the network master clock through the precise time protocol includes: the precise time protocol generates a time deviation through periodic calculation, the protocol conversion gateway obtains a time deviation sequence based on the time deviation, and calculates the statistical characteristics of the time deviation sequence; based on the statistical characteristics, the congestion status and symmetry of the network path carrying the time protocol message are evaluated, and the statistical characteristics include variance and jitter; when the statistical characteristics exceed a preset health threshold, an alarm is triggered and a link switching is requested to the central network controller.

[0014] Preferably, the extraction of continuous data content and source identification information containing a timing relationship includes: preliminarily verifying the original data packet of the source logistics device, and parsing the verified original data packet to generate a structured field based on the non-time-sensitive network communication protocol adopted by the source logistics device, wherein the structured field includes a message header field and a data payload field; based on the message header field, extracting the source identification information; based on the data payload field, identifying and locating continuous data set data blocks, and decomposing the continuous data set data blocks to generate sequenced data records; based on the data records, extracting data values ​​and timing parameters associated with the data values, wherein the timing parameters include the relative position of the data values ​​in the time series; aggregating the data values ​​and the timing parameters to generate the continuous data content containing a timing relationship.

[0015] Preferably, the adaptive mapping rules include: the protocol conversion gateway periodically monitors the real-time network load status of the time-sensitive network; compares the duration of the real-time network load status with a preset load threshold, and when the duration of the real-time network load status exceeds the load threshold, the protocol conversion gateway dynamically adjusts the mapping rules to map some preset non-critical business data to a low-priority time-sensitive network traffic category.

[0016] Preferably, the mapping of continuous data content and source identification information into a time-sensitive network traffic category containing predetermined traffic includes: based on the protocol conversion gateway, pre-defining a high-priority feature list, the high-priority feature list containing specific data content and high-priority specific source identification information, the specific data content corresponding to critical control instructions and emergency status; matching and judging the continuous data content and source identification information in the original data packet with the high-priority feature list; matching the continuous data content and the source identification information with the features in the high-priority feature list, determining that the original data packet is a critical data packet that needs to be deterministically transmitted, and mapping the critical data packet to the predetermined traffic.

[0017] Preferably, the obtaining of the gating scheduling strategy for the time-sensitive network traffic category includes: the protocol conversion gateway sending a scheduling request to the central network controller of the time-sensitive network, the scheduling request including the time-sensitive network traffic category and the deterministic transmission performance indicator; the central network controller generating a gating scheduling strategy corresponding to the time-sensitive network traffic category.

[0018] Preferably, the calculation of the sending time window based on the global time specifically includes: the protocol conversion gateway determines the scheduling period according to the gated scheduling policy, and calculates the relative time position of the current moment based on the global time and the scheduling period; according to the relative time position, searches for the sending time window corresponding to the time-sensitive network traffic category in the gated scheduling policy; when the global time reaches the sending time window, executes the sending of the time-sensitive network data frame.

[0019] Preferably, the conversion of continuous data content into target data that conforms to the target communication format includes: parsing the continuous data content to identify source business instructions and source device status; based on a pre-established semantic mapping knowledge base, searching for target business instructions and target device status corresponding to the source business instructions and source device status, the semantic mapping knowledge base defines the mapping relationship between business logics of different communication protocols; encoding the target business instructions and target device status into target data that conforms to the target communication format.

[0020] Preferably, sending the time-sensitive network data frame to the target logistics equipment includes: before the global time reaches the sending time window, preloading the time-sensitive network data to be sent into the hardware sending queue contained in the network interface controller in the protocol conversion gateway, and the hardware sending queue corresponds to the predetermined traffic; based on the network interface controller, physical sending is automatically performed when the global time reaches the sending time window.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. By integrating the nanosecond-level synchronization of the Precision Time Protocol, a collaborative algorithm based on a gated scheduling strategy, and hardware send offload of the network interface controller, the present invention performs nanosecond-level precise scheduling and deterministic delivery of the transmission timing and path of key control instructions sent to target logistics equipment, achieving strict synchronization between the instruction stream and the network base clock, eliminating timing uncertainty caused by network jitter; in high-density, high-speed collaborative operations, it ensures the absolute accuracy of operating instructions, avoids physical collisions and collaborative operation errors, and improves the overall system security level and operation quality.

[0023] 2. The present invention utilizes adaptive mapping rules based on business perception and network status feedback to perform real-time, differentiated service level division and transmission resource allocation for mixed business data streams with different priorities. Through a high-priority feature list and an adaptive algorithm, it prioritizes the identification of key instructions, thereby realizing on-demand utilization of limited deterministic network bandwidth resources. At the same time, while ensuring the priority transmission of key instructions, it also takes into account the efficient transmission of ordinary data, thereby improving the overall economic efficiency and robustness of the system operation.

[0024] 3. The present invention utilizes a semantic mapping knowledge base to perform equivalent translation and abstract instruction generation at the business logic level for device data and instructions using heterogeneous communication protocols. It automatically converts general business instructions issued by upper-layer applications and independent of specific devices into underlying binary codes that can be recognized and executed by specific devices. This operation achieves complete decoupling of upper-layer application software from underlying hardware physical protocols, reduces the system's full life cycle integration cost, and improves the scalability and long-term maintainability of the automation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a flow chart of a unified access method for logistics equipment based on multi-protocol conversion according to the present invention;

[0026] Figure 2 Schematic diagram of the process of the autonomous mobile robot cluster collaboration method according to an embodiment of the present invention;

[0027] Figure 3 Schematic diagram of the flow of the high-throughput sorting line precision control method in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] See also Figures 1 to 3 The present invention provides a unified access method for logistics equipment based on multi-protocol conversion. The technical solution is as follows:

[0030] A unified access method for logistics equipment based on multi-protocol conversion includes the following steps:

[0031] Establish a model that includes source logistics equipment, target logistics equipment, protocol conversion gateway, and time-sensitive network; the source logistics equipment uses a non-time-sensitive network communication protocol, the target logistics equipment uses a target communication format, the protocol conversion gateway includes a precise time protocol, and the time-sensitive network includes a network master clock;

[0032] The protocol conversion gateway periodically synchronizes with the network master clock based on the precision time protocol to obtain the global time of the time-sensitive network;

[0033] Receive and parse the original data packets from the source logistics equipment, extract the continuous data content and source identification information containing the temporal relationship; map the continuous data content and source identification information into a time-sensitive network traffic category containing the scheduled traffic through adaptive mapping rules, and obtain the gating scheduling strategy for the time-sensitive network traffic category, which includes a sending time window calculated based on the global time;

[0034] Convert the continuous data content into target data that conforms to the target communication format, encapsulate the target data into a time-sensitive network data frame, and send the time-sensitive network data frame to the target logistics equipment according to the sending time window.

[0035] Example 1

[0036] This embodiment provides a specific application of a unified access method for logistics equipment based on multi-protocol conversion. Its typical application scenario is that storage center A contains two core devices. The core devices are autonomous mobile robots and collaborative robotic arms that use different communication protocols. In order to achieve spatiotemporal synchronization and operation collaboration of the equipment, a unified access method for logistics equipment is introduced.

[0037] refer to Figure 1 , the method comprising:

[0038] S1. Establish a model including source logistics equipment, target logistics equipment, protocol conversion gateway, and time-sensitive network; the source logistics equipment uses a non-time-sensitive network communication protocol, the target logistics equipment uses a target communication format, the protocol conversion gateway includes a precise time protocol, and the time-sensitive network includes a network master clock;

[0039] S2. The protocol conversion gateway periodically synchronizes with the network master clock based on the precision time protocol to obtain the global time of the time-sensitive network;

[0040] S3, receiving and parsing the original data packet from the source logistics equipment, extracting the continuous data content containing the time sequence relationship and the source identification information;

[0041] S4. Mapping the continuous data content and source identification information into a time-sensitive network traffic class containing predetermined traffic through an adaptive mapping rule, and obtaining a gating scheduling policy for the time-sensitive network traffic class, the gating scheduling policy including a sending time window calculated based on a global time;

[0042] S5. Convert the continuous data content into target data that conforms to the target communication format, encapsulate the target data into a time-sensitive network data frame, and send the time-sensitive network data frame to the target logistics equipment according to the sending time window.

[0043] Furthermore, the establishment of a model including source logistics equipment, target logistics equipment, a protocol conversion gateway, and a time-sensitive network; the source logistics equipment adopts a non-time-sensitive network communication protocol, the target logistics equipment adopts a target communication format, the protocol conversion gateway includes a precise time protocol, and the time-sensitive network includes a network master clock, corresponding to the above step S1. The specific process includes:

[0044] Through the management interface of the protocol conversion gateway, entities in the physical world are digitally defined. To define the source logistics device, enter its unique identifier, such as the device's IP address, and specify the specific type of "non-time-sensitive network communication protocol" used by the source logistics device, for example, the private User Datagram Protocol. To define the target logistics device, enter its unique identifier, such as its MAC address, and specify the specific type of "target communication format" used by the target logistics device, for example, the Open Platform Communication Unified Architecture Information Model format. To define the network environment, specify the address of the "network master clock" in the time-sensitive network, and configure the specific network port on the protocol conversion gateway for executing the "Precision Time Protocol." By establishing a correspondence between the source logistics device and the specific non-time-sensitive network communication protocol, broad compatibility and flexible access to heterogeneous logistics equipment are achieved, reducing the complexity and cost of system integration.

[0045] In the model, a logical data flow path is created from the defined "source logistics equipment" to the "target logistics equipment," clarifying the direction of data conversion. Specific "adaptive mapping rules" and data content conversion algorithms are bound to this logical data flow path. These definitions, configurations, and rules are then converted into a structured, machine-readable model file, such as an XML file.

[0046] Furthermore, the protocol conversion gateway periodically synchronizes with the network master clock based on the precision time protocol to obtain the global time of the time-sensitive network. Corresponding to the above step S2, the specific process includes:

[0047] The protocol conversion gateway serves as a slave clock in the precision time protocol and performs periodic two-way message exchange with the network master clock serving as the master clock.

[0048] First, the protocol conversion gateway receives a synchronization message containing a first timestamp from the network master clock, where the first timestamp contains the sending time of the synchronization message, and immediately records a second timestamp of receiving the message locally; then, the protocol conversion gateway sends a delay request message back to the network master clock and records a third timestamp of sending the delay request message; after receiving the delay request message, the network master clock returns a delay response message containing a fourth timestamp, where the fourth timestamp contains the receiving time of the delay request message.

[0049] After obtaining four timestamps from a complete message exchange, the protocol conversion gateway performs calculations and corrections. Using the Precision Time Protocol algorithm, it calculates the network path's transmission delay based on these four timestamps and further accurately calculates the current time offset between its local clock and the network master clock. Based on the calculated time offset, the protocol conversion gateway continuously and subtly adjusts its internal local clock, for example, by accelerating or slowing down the clock frequency, to achieve and maintain nanosecond-level synchronization with the global time represented by the network master clock. The message exchange, calculation, and correction process is repeated periodically at a preset high frequency, for example, once per second. The gateway continuously analyzes the statistical characteristics of the time offset sequence to monitor the health of the synchronization link. If the statistical characteristics exceed a preset health threshold, the gateway triggers an alarm to the central network controller and requests a link switch. The preset health threshold is determined when the network load is normal. The gateway continuously runs the time synchronization process and collects ten minutes of time offset data to establish a statistical baseline reflecting the health of the specific network environment, for example, by determining the typical variance and jitter range of the time offset data. The preset health threshold can be set based on the statistical baseline, for example, five times the baseline variance. By continuously analyzing the statistical characteristics of the time deviation sequence generated during the precise time protocol synchronization process, real-time quantitative assessment of the health status of the network synchronization link and fault warning are achieved, avoiding equipment coordination errors and security risks caused by inaccurate clocks.

[0050] Furthermore, the receiving and parsing of the original data packet from the source logistics equipment, extracting the continuous data content containing the time sequence relationship and the source identification information, corresponds to the above step S3, and the specific process includes:

[0051] The original data packet is received through the network interface of the protocol conversion gateway, and the source logistics equipment corresponding to the original data packet and the type of non-time-sensitive network communication protocol used are queried based on the network layer information of the original data packet, such as the source IP address. Subsequently, the protocol conversion gateway calls a dedicated parser that matches the protocol type from the protocol parser library for subsequent processing. The dedicated parser first performs a frame check on the original data packet, such as a CRC cyclic redundancy check, to ensure the integrity of the data during transmission. After the check is passed, the original data packet is syntactically parsed according to the specifications of the non-time-sensitive network communication protocol, and the original data packet is decomposed into a message header field containing address and function code control information and a data payload field containing actual business data.

[0052] Based on the message header field, the device ID that can uniquely identify the source of the device is extracted as the source identification information. Based on the data payload field, the continuous data set data block is located according to the preset parsing rules. The parser iteratively processes the continuous data set data block, extracts the data records in sequence, and parses the data values ​​contained in the data records and the timing parameters associated with the data values, for example, the real-time spatial coordinates of the autonomous mobile robot and the local timestamp of the device corresponding to the real-time spatial coordinates or the serial number of the data frame. The ordered set consisting of the data values ​​and the corresponding timing parameters is aggregated to form the continuous data content containing the timing relationship. By performing deep structured parsing on the original data packet and iteratively extracting and aggregating the data containing the timing relationship, the original data is converted into business information containing source identification and standardized timing continuous data content, thereby improving the reliability of adaptive mapping and deterministic scheduling.

[0053] Furthermore, the continuous data content and source identification information are mapped to a time-sensitive network traffic category containing predetermined traffic through an adaptive mapping rule, and a gating scheduling policy for the time-sensitive network traffic category is obtained. The gating scheduling policy includes a sending time window calculated based on the global time, corresponding to the above-mentioned step S4. The specific process includes:

[0054] First, configure and define the adaptive mapping rules; in the management interface of the protocol conversion gateway, create rules for different data streams by configuring the "Traffic Classification and QoS Policy Table". The rules contain the source device ID, keywords for the data content, the time-sensitive network traffic category for the initial mapping, and the "Allow dynamic degradation" checkbox. For example, create a rule for the regular heartbeat data stream reported by the collaborative robotic arm, and check the "Allow dynamic degradation" checkbox in the rule entry. The data stream corresponding to the rule is defined as "non-critical business data", and the "degradable" flag in the rule is set to "yes"; for the emergency obstacle avoidance instructions of the autonomous mobile robot, do not check this box to ensure the highest priority. The mapping rule table is stored in the protocol conversion gateway in the form of a hash table, with the combination of "source identifier + data characteristics" as the key and a structure containing priority, traffic category and degradable flag as the value.

[0055] The adaptive mapping rule is a dynamic service quality adjustment mechanism based on the real-time system status. The protocol conversion gateway continuously monitors the system status parameters, such as the bandwidth utilization of the time-sensitive network egress link; when the bandwidth utilization of the network egress link is monitored to continuously exceed the preset high load threshold, the reduction mechanism is triggered, for example, it exceeds 80% for 5 consecutive seconds; the degradation mechanism is specifically to find the data flow with the "degradable" flag as "yes" by checking the mapping rule table, and sorting them in ascending order according to the preset degradation score, for example, the preset degradation score range is "1 to 10", which can be based on the business The system combines value and data generation frequency. It temporarily adjusts the time-sensitive network traffic category of the lowest-scoring data flow from its initial category to a predefined category. For example, if heartbeat data has a score of 2 and regular status reporting has a score of 4, the heartbeat data is first adjusted from the initial "best effort" category to a predefined "low priority" category. The bandwidth of the "low priority" category in the time-sensitive network can be 1% of the total bandwidth, and the gating scheduling period can be 100 milliseconds. Bandwidth utilization is reassessed, and the downgrade process is stopped when it falls below the high load threshold. If bandwidth utilization remains below the pre-set low threshold for one consecutive minute, the downgraded data flow is automatically restored to its initial time-sensitive network traffic category. For example, if bandwidth utilization remains below 60% for one minute, the downgraded data flow is automatically restored to its initial category. Furthermore, the adaptive process can be triggered by higher-level events. For example, when the central system issues a global service mode command for "emergency inventory mode," the gateway loads a new rule set optimized for emergency inventory mode. When a target robotic arm reports a device status of "equipment failure," the gateway automatically suppresses data flows destined for the target robotic arm. Through an adaptive mapping mechanism driven by both real-time network load and upper-layer business events, dynamic and precise alignment of network transmission strategies and real-time operation scenarios is achieved, which improves the robustness of the logistics system and the business agility.

[0056] Furthermore, based on the adaptive mapping rules, a predictive service quality management strategy is introduced. The protocol conversion gateway establishes a communication interface with the digital twin platform. The digital twin platform predicts the congestion risk that may occur in a specific network area within 5 minutes based on global orders and device status simulation; when the congestion risk is predicted, the digital twin platform sends a predictive congestion alarm to the protocol conversion gateway. Based on the predictive congestion alarm, the protocol conversion gateway reduces the bandwidth allocation of non-critical business data flows. For example, the bandwidth allocation of data flows with a degradation score of no more than 4 is reduced by 50%. This move transforms the adaptive capability of the protocol conversion gateway from passive response to active adjustment based on prediction. It resolves the risk of network congestion in advance through simulation prediction capabilities, avoids transmission quality fluctuations caused by severe load fluctuations, and enhances the system's operational robustness and lean management level.

[0057] The source identification information and continuous data content are matched with a mapping rule table, and the mapping rule table contains the adaptive mapping rules. For example, when the protocol conversion gateway identifies that the source identification information is a "critical autonomous mobile robot device" and the continuous data content is a "high-frequency motion trajectory", it matches the high-priority rule and initially maps the data stream to the "scheduled traffic" category with the highest priority in the time-sensitive network, and the "degradable" flag is set to "no"; for non-critical data, it is mapped to a lower priority category, and the "degradable" flag is set to "yes", for example, the device's regular heartbeat packet is mapped to the "best effort" category. By performing real-time matching and judgment on the source identification information and continuous data content of the original data packet, the automatic grading of mixed business data streams is achieved, which improves the stability and reliability of core business operations.

[0058] After the final determination of the traffic category of the data flow is completed, when there is a new "scheduled traffic" that needs to be transmitted, the protocol conversion gateway initiates a resource scheduling request to the central network controller in the time-sensitive network. The resource scheduling request sends an HTTP POST request to the designated network address of the central network controller through the representational state transfer API. The body of the request is a data object in JSON format, including the data flow identifier, traffic level, sender, receiver, traffic specifications, and service quality requirements. The traffic specifications section includes: a "maximum frame size" field, which is the maximum size of a data packet, with a value of 256; a "maximum number of frames per cycle" field, which is the maximum number of data packets sent within a sending cycle, with a value of 2; and a "sending cycle" object, which defines a fractional value through the numerator and denominator fields. For example, the numerator is 10 and the denominator is 1000, which together constitute 10 / 1000 seconds, i.e., a fixed sending cycle of 10 milliseconds. The quality of service requirements include performance indicators and maximum jitter, for example, requiring that the end-to-end delay does not exceed 2 milliseconds and the delay variation does not exceed 50 microseconds.

[0059] Based on the resource scheduling request and in combination with the network-wide topology and resource occupancy information, the central network controller calculates and generates a gating scheduling policy that can satisfy the resource scheduling request. The gating scheduling policy is then returned to the protocol conversion gateway via an API response. The gating scheduling policy includes a sending time window allocated for the "predetermined traffic," which includes a specific start time and duration and recurs during the time-sensitive network cycle. By establishing a closed-loop scheduling mechanism with on-demand requests from the protocol conversion gateway and global optimization by the central network controller, real-time and precise allocation of deterministic bandwidth resources in the time-sensitive network is achieved, improving the overall bandwidth resource utilization and flexibility of the network.

[0060] Furthermore, a predictive resource reservation mechanism is introduced in the process of obtaining a gating scheduling strategy for time-sensitive network traffic categories. A business process model containing ordered steps, dependencies, and quantified time delays is defined in the semantic mapping knowledge base. When the protocol conversion gateway receives instructions for the initial step in the process, it predicts the time delay of the subsequent steps based on the business process model. The estimated time of the initial step is added to the time delay to calculate the future start timestamp of the subsequent steps, and a resource scheduling request containing the future start timestamp is sent to the central network controller, which reserves resources for the resource scheduling request. In this way, resource allocation is transformed from "passive response" to "active prediction", ensuring the communication determinism of the business chain links, avoiding the interruption of the entire production rhythm due to the temporary failure of subsequent tasks to apply for bandwidth, and improving the fluency and stability of complex collaborative operations.

[0061] The sending time window is calculated based on global time. The calculation process includes: the sending scheduler analyzes the gating scheduling policy to obtain the specific gating operation list and scheduling period of the scheduling table allocated for the "scheduled traffic". For example, a scheduling period is 1 millisecond. At the same time, the sending scheduler obtains the cycle start time of the scheduling period, which is a precise moment in the global time coordinate system. The sending scheduler continuously obtains the global time synchronized with the network master clock and compares the global time with the cycle start time. Through modulo mathematical operations, the relative time position of the current moment within the current scheduling period is calculated. For example, if the scheduling period is 1 millisecond, the current global time is 12345.678 milliseconds, and the cycle start time is 0.0 millisecond, then the relative time position of the current moment within the cycle is 0.678 milliseconds. Based on the relative time position, the sending scheduler searches backward from the current position in the gated operation list of the gated scheduling policy for the opening time of the upcoming "sending time window." For example, if the current relative time position is 0.678 milliseconds, and the upcoming sending time window defined in the gated scheduling policy for the scheduled traffic has an opening time of 0.800 milliseconds and a duration of 0.100 milliseconds, the scheduler locks the target sending time window. By proactively calculating the sending window, the next deterministic sending time is accurately predicted and locked, eliminating transmission jitter caused by random sending timing and ensuring latency determinism in end-to-end communication.

[0062] Furthermore, the continuous data content is converted into target data that conforms to the target communication format, the target data is encapsulated into a time-sensitive network data frame, and the time-sensitive network data frame is sent to the target logistics equipment according to the sending time window. This corresponds to the above step S5. The specific process includes:

[0063] The semantic mapping knowledge base bound to the logical data flow path is a structured knowledge model library, and the semantic mapping knowledge base is composed of XML files that follow a predetermined pattern, and the XML files define the device portrait of a specific model of equipment. The XML root node of the device portrait is "Device Portrait", which contains the key sub-nodes of "Physical Parameters", "State Semantic Mapping" and "Instruction Translation". For example, the "State Semantic Mapping" node may contain a "Mapping" entry, and the "Mapping" entry binds the underlying status code reported by the device to the standardized business semantics that can be understood by the upper-level application through the attributes of "Source Code = 0x01" and "Target Semantics = Free and Available". The "Instruction Translation" node defines the specific logic for translating upper-level general business instructions into device-specific binary control instructions; the translation logic can be implemented using an embedded scripting language, for example, a lightweight Lua script. The upper-level general business instructions are associated with specific Lua script file paths, for example, moving to three-dimensional coordinates. When the protocol conversion gateway translates the business instructions, it first calls the predefined translation function in the corresponding Lua script and passes the parameters of the instruction as a structured data set to the translation function, for example, the coordinate values ​​of the target point P, x = 10.5, y = 20.5, z = 5.0. The Lua script integrates the instruction parameters into a binary control message with a time relationship according to the private communication protocol specification of the target device. For example, the fixed value 0xFEFE is used as the frame start character, the command code 0x01 represents the move operation, and the single-precision floating-point number stores the x, y, and z coordinates. After the Lua script completes the integration process, it sends the generated binary control message to the gateway.

[0064] Leveraging this semantic mapping knowledge base, the system performs deep conversion and logical processing on continuous data containing temporal relationships. For example, a sequence of pathpoints reported by an autonomous mobile robot, including its own coordinate system and local clock, is converted in real time into business instructions based on the workstation's global coordinate system that the target robotic arm can recognize and execute. The protocol conversion gateway utilizes the rule-based state machine model in the device profile to parse continuous real-time coordinates and speeds. This state machine model, defined in XML and containing rules for states and state transitions, is used. For example, the state transition rules between "Moving" and "Stable Parking" can be as follows: if the gateway analyzes the data stream and discovers that the AMR's real-time speed has been below 0.05 m / s for two consecutive seconds, and the AMR's current coordinates are within 0.1 meters of its target parking position P, the state machine automatically undergoes a state transition. This state transition triggers a predefined action, which can specifically involve the protocol conversion gateway generating a high-priority service instruction. The service instruction might read: "Shelf ID AMR-007 has arrived at designated parking position P at global time 10200.123456789 and is stable. Picking operations are permitted to begin." The protocol conversion gateway encodes this service instruction into target data formatted in accordance with the Open Platform Communication Unified Architecture Information Model and transmits it to subsequent service units, such as the robotic arm controller. By leveraging a pre-established semantic mapping knowledge base for deep data conversion, the system automatically translates concrete values ​​into abstract service instructions, reducing the complexity and development costs of integrating and replacing equipment from multiple vendors and improving the scalability and maintainability of the automation system.

[0065] Furthermore, an abstract function layer is introduced during data format conversion using the semantic mapping knowledge base. A hierarchical structure is established based on the semantic mapping knowledge base. The top layer is the "abstract function layer," for example, "grab an object." The lower layers contain specific implementation scripts for devices from different vendors. Furthermore, a device task assignment table, dynamically updated by an API, is configured. This table constructs key-value pairs using the abstract function name as the key and the specific device as the value, for example, "grab object, device A." When the protocol conversion gateway processes upper-layer instructions, it queries the device task assignment table to determine the currently executing device. By parsing the semantic mapping knowledge base, it extracts and calls the specific implementation script to generate device-specific control code. In the event of a device failure, the protocol conversion gateway automatically calls the specific implementation script by updating the key value in the device task assignment table (for example, "grab object, device B") to generate the updated device-specific control code. This approach enables dynamic replacement of physical devices at the functional level, addressing the pain points of high maintenance costs and poor system scalability caused by vendor lock-in in industrial automation, and improving asset management flexibility and business continuity.

[0066] The target data is used as the data payload, and the frame header information required by the time-sensitive network is added. The frame header information includes a virtual local area network tag, and the priority code point in the tag is set to a high priority value corresponding to the "scheduled traffic" category, for example, the PCP value is 7.

[0067] The sending scheduler executes the algorithm based on the gated scheduling strategy and the currently synchronized global time, calculates and finds the opening time of the next available "sending time window"; before the opening time is about to arrive, the encapsulated time-sensitive network data frame is pre-loaded into the hardware sending queue in the network interface controller of the protocol conversion gateway. When the internal clock of the network interface controller detects that the current time has reached the opening time of the sending time window, the hardware logic unit of the network interface controller automatically extracts the time-sensitive network data frame, completes the physical layer transmission, and sends the data frame to the target logistics equipment through the time-sensitive network. By offloading the sending task from the CPU to the network interface hardware, nanosecond-level accuracy and determinism of the sending action are achieved, ensuring that time-critical instructions can be delivered without deviation and on time, and ensuring the highest operating efficiency and security of the system.

[0068] The present invention establishes a model that includes source logistics equipment, target logistics equipment, a protocol conversion gateway, and a time-sensitive network, and uses a precise time protocol for global time synchronization, effectively coping with scenarios where equipment using different communication protocols collaborate, thereby reducing the complexity and development costs of heterogeneous equipment integration. At the same time, the original data packets of the source equipment are received and parsed, mapped to deterministic traffic categories in the time-sensitive network through adaptive mapping rules, and a nanosecond-level gating scheduling strategy and sending time window are obtained. The data content is converted into a format that the target device can recognize and sent at a predetermined precise time. By integrating devices with different protocols into a unified, high-precision timing control system, the accuracy and stability of spatiotemporal synchronization between devices under complex tasks are ensured, thereby improving the deterministic transmission of key control instructions and the overall operating efficiency of the system.

[0069] Example 2

[0070] This embodiment applies a unified access method for logistics equipment based on multi-protocol conversion to the warehouse center A in Example 1. 200 autonomous mobile robots are deployed in the warehouse center A. In order to solve the problem of command delays in large-scale robot clusters, which leads to reduced operating efficiency and even collision accidents, a unified access method for logistics equipment is introduced.

[0071] See Figure 2The system has been modeled and configured. Administrators registered the device IDs of 200 autonomous mobile robots and the private user datagram protocol (UDP) they use through the protocol conversion gateway's management interface. They also defined the network address of the central traffic control system as the primary target logistics device. Furthermore, data related to "path conflict adjustment" has been pre-defined in the adaptive mapping rules as a high-priority feature list, ensuring that critical control instructions are prioritized.

[0072] The autonomous mobile robot communicates via a private user datagram communication protocol using a dedicated 5G network that supports reliable and low-latency communication; the central traffic control system communicates and collaborates across network domains with the autonomous mobile robot running in the dedicated 5G network through the protocol conversion gateway. The dedicated 5G network is based on the 3GPP standard and provides millisecond-level end-to-end communication delay guarantee.

[0073] First, a protocol conversion gateway achieves nanosecond-level global time synchronization with the network master clock of the time-sensitive network (TSN) using the Precision Time Protocol (PTP). During this global time synchronization process, the protocol conversion gateway employs a dual-metric monitoring mechanism: first, it extracts the received signal strength indicator (RSSI) from data packets sent by the AMRs; second, it continuously analyzes the statistical characteristics of the PTP time deviation sequence, including variance and jitter. If the SSI of AMR-A falls below a preset threshold, such as -75dBm, for three consecutive seconds, and the jitter of the robot's time deviation sequence exceeds 500 nanoseconds, the system determines that AMR-A may be at the edge of network coverage, and the communication link has become unreliable. The protocol conversion gateway then reports the "unstable communication link" event to the central network controller and requests a communication link switch to an alternative gateway with a higher signal strength than the current link. By analyzing both the statistical characteristics of the sequence and physical layer metrics, a shift from passive response to active prediction is achieved. This provides early warning and avoidance, improving the reliability of the communication link and the security of large-scale cluster collaboration.

[0074] At a frequency of 100Hz, the autonomous mobile robot transmits user datagrams containing its ID, current coordinates, and a sequence of planned path points for the next two seconds to the closest protocol conversion gateway. The gateway receives and parses this continuous data, including its time-series relationship, initially maps it to normal traffic, and forwards it to the central traffic control system. The central traffic control system uses a path algorithm to predict the autonomous mobile robot's path and generate instructions. For example, when the central traffic control system predicts an impending path conflict between AMR-B and AMR-C at an intersection, it generates key control instructions: "Instruct AMR-B to slow down and wait before a specified coordinate point" and "Instruct AMR-C to maintain speed and pass first." The central traffic control system's prediction of the autonomous mobile robot cluster's path, combined with the underlying protocol conversion gateway's high-priority identification and mapping of key control instructions, enables an upgrade from passive obstacle avoidance to predictive, proactive traffic planning, improving operational smoothness and warehouse space utilization, and maximizing overall logistics throughput.

[0075] The critical control instructions are sent to the corresponding protocol conversion gateway, triggering the protocol conversion gateway's adaptive mapping rules. By identifying the "path conflict adjustment" in the instructions, the time-sensitive network traffic category of the data flow is promoted to the highest priority scheduled traffic. Subsequently, the protocol conversion gateway obtains the gated scheduling policy generated for the scheduled traffic through the central network controller of the time-sensitive network. The gated scheduling policy defines the sending time window, for example, requiring the instruction to be delivered within 1.5 milliseconds. Finally, the protocol conversion gateway converts the instructions "instruct AMR-A to slow down and wait before the specified coordinate point" and "instruct AMR-B to maintain speed and pass first" into binary control codes that can be recognized by AMR-A and AMR-B through the semantic mapping knowledge base. The code is then encapsulated into a time-sensitive network data frame. At the precise moment when the obtained sending time window arrives, the instruction frame is deterministically sent to AMR-A and AMR-B through hardware offload.

[0076] Example 3

[0077] This embodiment applies a unified access method for logistics equipment based on multi-protocol conversion to the storage center A in Example 1. A high-throughput automated parcel sorting line with a total length of 100 meters and a design speed of 3 meters per second is deployed in storage center A. The sorting line requires the visual scanning system located upstream of the production line to instruct the downstream specific pneumatic sorting grid to pop out when the parcel arrives after identifying the parcel. The controller of the specific pneumatic sorting grid is the target logistics equipment. In order to solve the problem of instruction timing deviation caused by network communication delays, jitter and actual conveyor belt speed fluctuations, which in turn leads to sorting errors, a unified access method for logistics equipment is introduced. In this embodiment, the visual scanning system serves as the source logistics equipment.

[0078] See Figure 3 During operation, the protocol conversion gateway, visual scanning system, and controllers for the pneumatic sorting grid maintain global time synchronization with the network master clock via the Precision Time Protocol. Furthermore, photoelectric sensors are installed every 10 meters along the sorting line as speed calibration nodes. When a package passes through the visual scanning system, the system records the precise global time of identification, T_s, and sends the "package ID, T_s" data to the protocol conversion gateway via the User Datagram Protocol. For example, for a package with the ID "PK-001," T_s is 12345.100000 seconds.

[0079] After receiving and parsing this data, the protocol conversion gateway initiates the core processing flow. First, by querying the established model, it determines that package "PK-001" should be sorted to slot 3, 60 meters away. Based on the design speed, the gateway makes a preliminary arrival time estimate. Subsequently, photoelectric sensors at the 10th and 20th meters record the actual global transit times, T_c1 and T_c2. By calculating the actual time the package travels between the two calibration nodes, the actual average speed of the two calibration node segments is calculated. For example, if the current 10-meter journey takes 3.35 seconds, the actual speed is 2.985 meters per second. Using the measured speed data, the gateway dynamically adjusts the final estimated arrival time, T_a, for the package at slot 3, 60 meters away. Simultaneously, based on the device profile defined for the slot 3 controller in the internal semantic mapping knowledge base, it is determined that it takes 15 milliseconds for the slot 3 cylinder to fully eject. Based on real-time information, business instructions with precise execution times are generated. For example, triggering the pneumatic valve at slot 3 at the corrected global time T_a minus 15 milliseconds. Using the instruction translation logic within the internal semantic mapping knowledge base, these business instructions are encoded into the EtherNet / IP protocol format recognized by the slot 3 controller. By converting upstream sensor information into complex control instructions with future execution times and targeting specific downstream devices, millisecond-level operation accuracy is ensured for high-throughput sorting lines, improving system configuration flexibility and maintainability.

[0080] Based on the business instruction, the protocol conversion gateway matches and maps the data flow of the business instruction to the highest priority "scheduled traffic" category according to a predefined high-priority feature list. The gateway obtains the gating scheduling policy reserved for the "scheduled traffic" category. The gateway finds the available sending time window next to the corrected trigger moment in the gating scheduling policy, for example, the start time is 12365.083000 seconds. Before the start time arrives, the business instruction is encapsulated into a time-sensitive network data frame and preloaded into the hardware sending queue in the network interface controller of the protocol conversion gateway. When the internal clock of the network interface controller of the protocol conversion gateway reaches 12365.083000 seconds, the hardware logic unit of the network interface controller takes the time-sensitive network data frame out of the hardware queue and completes the physical layer transmission.

[0081] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A unified access method for logistics equipment based on multi-protocol conversion, comprising: Establish a model that includes source logistics equipment, target logistics equipment, protocol conversion gateway, and time-sensitive network; The source logistics equipment uses a non-time-sensitive network communication protocol, the target logistics equipment uses a target communication format, the protocol conversion gateway includes a precise time protocol, and the time-sensitive network includes a network master clock; The protocol conversion gateway periodically synchronizes with the network master clock based on the precision time protocol to obtain the global time of the time-sensitive network; Receive and parse the original data packets from the source logistics equipment, extract the continuous data content and source identification information containing the temporal relationship; map the continuous data content and source identification information into a time-sensitive network traffic category containing the scheduled traffic through adaptive mapping rules, and obtain the gating scheduling strategy for the time-sensitive network traffic category, which includes a sending time window calculated based on the global time; Convert the continuous data content into target data that conforms to the target communication format, encapsulate the target data into a time-sensitive network data frame, and send the time-sensitive network data frame to the target logistics equipment according to the sending time window.

2. A method for unified access of logistics equipment based on multi-protocol conversion according to claim 1, characterized in that: The non-time-sensitive network communication protocols include industrial Ethernet protocol, Internet of Things message transmission protocol and fieldbus protocol.

3. The method for unified access of logistics equipment based on multi-protocol conversion according to claim 1, characterized in that: The periodic synchronization of the protocol conversion gateway with the network master clock through the precise time protocol includes: the precise time protocol generates a time deviation through periodic calculation, the protocol conversion gateway obtains a time deviation sequence based on the time deviation, and calculates the statistical characteristics of the time deviation sequence; based on the statistical characteristics, the congestion status and symmetry of the network path carrying the time protocol message are evaluated, and the statistical characteristics include variance and jitter; when the statistical characteristics exceed a preset health threshold, an alarm is triggered and a link switching is requested from the central network controller.

4. The method for unified access of logistics equipment based on multi-protocol conversion according to claim 1, characterized in that: The extraction of continuous data content and source identification information containing a timing relationship includes: preliminarily verifying the original data packet of the source logistics device, and parsing the verified original data packet to generate a structured field based on the non-time-sensitive network communication protocol adopted by the source logistics device, wherein the structured field includes a message header field and a data payload field; based on the message header field, extracting the source identification information; based on the data payload field, identifying and locating continuous data set data blocks, and decomposing the continuous data set data blocks to generate sequenced data records; based on the data records, extracting data values ​​and timing parameters associated with the data values, wherein the timing parameters include the relative position of the data values ​​in the time series; aggregating the data values ​​and the timing parameters to generate the continuous data content containing a timing relationship.

5. The method for unified access of logistics equipment based on multi-protocol conversion according to claim 1 is characterized in that: The adaptive mapping rules include: the protocol conversion gateway periodically monitors the real-time network load status of the time-sensitive network; compares the duration of the real-time network load status with a preset load threshold; when the duration of the real-time network load status exceeds the load threshold, the protocol conversion gateway dynamically adjusts the mapping rules to map a preset portion of non-critical business data to a low-priority time-sensitive network traffic category.

6. The method for unified access of logistics equipment based on multi-protocol conversion according to claim 1, characterized in that: The mapping of continuous data content and source identification information to a time-sensitive network traffic category containing predetermined traffic includes: based on the protocol conversion gateway, pre-defining a high-priority feature list, the high-priority feature list containing specific data content and high-priority specific source identification information, the specific data content corresponding to critical control instructions and emergency status; matching and judging the continuous data content and source identification information in the original data packet with the high-priority feature list; matching the continuous data content and the source identification information with the features in the high-priority feature list, determining that the original data packet is a critical data packet that needs to be deterministically transmitted, and mapping the critical data packet to the predetermined traffic.

7. The method for unified access of logistics equipment based on multi-protocol conversion according to claim 1, characterized in that: The obtaining of the gating scheduling strategy for the time-sensitive network traffic category includes: the protocol conversion gateway sending a scheduling request to the central network controller of the time-sensitive network, the scheduling request including the time-sensitive network traffic category and a deterministic transmission performance indicator; the central network controller generating a gating scheduling strategy corresponding to the time-sensitive network traffic category.

8. The method for unified access of logistics equipment based on multi-protocol conversion according to claim 1, characterized in that: The calculation of the sending time window based on the global time specifically includes: the protocol conversion gateway determines the scheduling period according to the gated scheduling policy, and calculates the relative time position of the current moment based on the global time and the scheduling period; according to the relative time position, searches for the sending time window corresponding to the time-sensitive network traffic category in the gated scheduling policy; when the global time reaches the sending time window, executes the sending of the time-sensitive network data frame.

9. The method for unified access of logistics equipment based on multi-protocol conversion according to claim 1, characterized in that: The conversion of continuous data content into target data that conforms to the target communication format includes: parsing the continuous data content to identify source business instructions and source device status; based on a pre-established semantic mapping knowledge base, searching for target business instructions and target device status corresponding to the source business instructions and source device status, wherein the semantic mapping knowledge base defines the mapping relationship between business logics of different communication protocols; encoding the target business instructions and target device status into target data that conforms to the target communication format.

10. The method for unified access of logistics equipment based on multi-protocol conversion according to claim 7, characterized in that: The sending of time-sensitive network data frames to the target logistics equipment includes: before the global time reaches the sending time window, preloading the time-sensitive network data to be sent into the hardware sending queue contained in the network interface controller in the protocol conversion gateway, and the hardware sending queue corresponds to the predetermined traffic; based on the network interface controller, physical sending is automatically performed when the global time reaches the sending time window.

Images