Stone breakwater construction equipment group collaborative scheduling method based on edge calculation
By predicting the attitude and spatial location of equipment through edge computing and dynamically adjusting the antenna angle, the problem of unstable equipment communication during the construction of the rock breakwater was solved, and stable data transmission and scheduling of the equipment group were realized, improving the safety and continuity of construction.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CCCC SOUTH CHINA TRANSPORTATION CONSTR CO LTD
- Filing Date
- 2025-12-31
- Publication Date
- 2026-04-21
AI Technical Summary
During the construction of the breakwater, the communication link became unstable due to the continuous changes in the attitude and spatial position of the equipment under complex sea conditions. Traditional scheduling methods could not detect the dynamic changes in the equipment's status, affecting data collaboration and operational continuity.
By employing an edge computing-based approach, a time window mechanism is established to predict device attitude and spatial location, and the antenna angle is dynamically adjusted to achieve stable data transmission and scheduling between devices.
Under complex sea conditions, reliable data transmission and stable scheduling among equipment groups were ensured, improving the continuity and reliability of collaborative operations of construction equipment groups, reducing scheduling conflicts, and enhancing construction safety and stability.
Smart Images
Figure CN121900905A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of edge computing technology, and specifically to a collaborative scheduling method for a group of construction equipment for a stone breakwater based on edge computing. Background Technology
[0002] During the construction of a rock breakwater, multiple vessels, cranes, and supporting work platforms typically need to work together. These devices are often distributed in the construction area under complex sea conditions, relying on wireless communication for status synchronization and scheduling control. However, due to the influence of waves, wind currents, and the ship's own maneuvering, the attitude and spatial position of each construction device are constantly changing, leading to unstable directionality of the communication links between devices. This can easily result in problems such as data reception delays, link interruptions, or data accumulation.
[0003] With the increasing number of devices and highly coupled work rhythms, traditional scheduling methods based on central nodes or fixed communication parameters struggle to promptly detect dynamic status changes in each device and cannot effectively predict and compensate for short-term communication interruptions, thus affecting data collaboration and operational continuity among construction equipment groups. Especially in scenarios where edge nodes undertake local computing and forwarding tasks, ensuring reliable data transmission and stable scheduling sequence among construction equipment groups under conditions of discontinuous communication and rapid changes in status has become a key technical challenge restricting the efficiency and safety of rock breakwater construction. Summary of the Invention
[0004] The purpose of this invention is to provide a collaborative scheduling method for a group of construction equipment for a rock breakwater based on edge computing, thereby solving the above-mentioned technical problems.
[0005] The objective of this invention can be achieved through the following technical solutions: A collaborative scheduling method for a group of construction equipment for a rock breakwater based on edge computing includes the following steps: S1. If edge node j receives data sent by edge node i, then a data transmission relationship is established with edge node i as the sending node and edge node j as the receiving node. S2. If edge node i does not receive data within a preset time period t, a time window of a predetermined length is set for edge node i. The starting point of the time window is t0+t, where t0 is the moment when edge node i begins to not receive data. S3. Predict the attitude data of edge node i and all corresponding receiving nodes at each moment within the time window; S4. Calculate the antenna adjustment angle of the receiving node k at each moment based on the predicted attitude data of the edge node i and the receiving node k. S5. Adjust the antenna angle of the corresponding receiving node according to the antenna adjustment angle. The edge node i transmits the target data to all receiving nodes within the time window. The target data represents all the data cached by the edge node i from the end of the previous time window to time point t0+t.
[0006] As a further aspect of the present invention: obtaining the predicted pose data includes: Edge node i and all corresponding receiving nodes are denoted as target nodes. Starting from t0+t, the attitude data of the target nodes are periodically collected along the counter-time axis. The attitude data includes roll angle, pitch angle and spatial position. The roll and pitch angles were sorted in chronological order to obtain two attitude sequences. Based on the attitude sequences, the periodic motion components caused by the waves were separated by a digital filtering algorithm, and the trend motion components caused by the ship's own maneuvering were calculated by a moving average algorithm. Obtain current sea state and wave forecast data for the construction area, including wave propagation direction, wave period, and wave height. By comparing the wave propagation direction, wave period, and wave height with the direction, period, and amplitude of the periodic motion components, a phase correspondence between wave motion and ship periodic motion is established. Starting from the attitude data at the current moment, the trend motion component is extended forward along the time axis according to its changing trend; The periodic motion component is repeatedly extended forward along the time axis according to its own period, amplitude and phase correspondence; The predicted roll angle of the target node at that moment is obtained by adding the trend motion component obtained at the same time corresponding to the roll angle and the extended periodic motion component; the predicted pitch angle of the target node at that moment is obtained by adding the trend motion component obtained at the same time corresponding to the pitch angle and the extended periodic motion component. Based on the current spatial position of the target node, and the average moving speed and average moving direction calculated from the attitude sequence corresponding to the spatial position, the predicted spatial position of the target node at each moment within the time window is linearly extrapolated. The predicted roll angle, the predicted pitch angle, and the predicted spatial position together constitute the predicted attitude data of the target node at the corresponding moment.
[0007] As a further aspect of the present invention: calculating the antenna adjustment angle includes: Obtain the predicted pose data Y1 and Y2 of edge node i and receiving node k at time X; Obtain the predicted spatial positions Y1a and Y2a in the predicted attitude data Y1 and Y2, and denote the vector pointing from Y1a to Y2a as the expected alignment vector; Based on the predicted roll and pitch angles, the desired alignment vector is transformed from the predicted roll angle world coordinate system based on the predicted attitude data Y2 to the ship's own hull coordinate system of the receiving node k. Calculate the angle between the transformed desired alignment vector and the fixed installation direction of the antenna of the receiving node k in the ship's coordinate system. The horizontal component of the angle is the antenna adjustment angle Z1 in the horizontal direction at time X, and the vertical component of the angle is the antenna adjustment angle Z2 in the vertical direction at time X.
[0008] As a further aspect of the present invention: adjusting the antenna angle includes: If the antenna adjustment angle Z1 < the preset horizontal angle threshold and the antenna adjustment angle Z2 < the preset vertical angle threshold, then the antenna angle of the corresponding receiving node will not be adjusted. In addition to the above, at time X, the antenna is controlled to rotate the antenna adjustment angle Z1 in the horizontal azimuth, and at time X, the antenna is controlled to rotate the antenna adjustment angle Z2 in the vertical elevation.
[0009] As a further aspect of the present invention: if no data transmission relationship with edge node i as the receiving node is established within a complete preset period, then after the preset period ends, a time window is actively generated for edge node i.
[0010] As a further aspect of the present invention: if the antenna adjustment angle Z1 is greater than a predetermined multiple of the preset horizontal angle threshold and the antenna adjustment angle Z1 is greater than a predetermined multiple of the preset vertical angle threshold, then a prompt message is sent to a preset administrator.
[0011] As a further aspect of the present invention, the length of the time window is proportional to the number of data transmission relationships.
[0012] The beneficial effects of this invention compared to the prior art are as follows: This invention achieves stable scheduling under complex sea conditions and continuously changing equipment attitudes by dynamically sensing and collaboratively controlling the data transmission status of each edge node in a rock breakwater construction equipment group. By establishing and maintaining data transmission relationships between nodes, subsequent data transmission can be organized in an orderly manner when communication interruptions or delays occur, avoiding data loss and disorderly accumulation. Centralized data scheduling based on a time window mechanism ensures that construction equipment maintains data integrity and temporal consistency even under discontinuous communication conditions, effectively improving the continuity and reliability of collaborative operations within the equipment group. Predicting changes in equipment attitude and spatial position allows for advance adaptation to the dynamic movement of construction equipment, reducing the impact of attitude changes on communication stability and enhancing the sustainability of communication links between equipment. In scenarios with multiple devices operating in parallel, this invention enables adaptive coordination of communication resources, reducing scheduling conflicts caused by frequent adjustments or abnormal states. It also provides necessary alerts in cases of abnormal attitude changes, facilitating timely monitoring of equipment operating status by construction management personnel. Overall, this invention improves the collaborative scheduling capability of rock breakwater construction equipment groups in dynamic marine environments, providing effective guarantees for the safety, stability, and continuous operation of the construction process. Attached Figure Description
[0013] The invention will now be further described with reference to the accompanying drawings.
[0014] Figure 1 This is a flowchart illustrating a collaborative scheduling method for a group of construction equipment for a stone breakwater based on edge computing, according to the present invention. Detailed Implementation
[0015] 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.
[0016] Please see Figure 1 As shown, this invention is a collaborative scheduling method for a group of construction equipment for a rock breakwater based on edge computing, comprising the following steps: S1. If edge node j receives data sent by edge node i, then a data transmission relationship is established with edge node i as the sending node and edge node j as the receiving node. S2. If edge node i does not receive data within a preset time period t, a time window of a predetermined length is set for edge node i. The starting point of the time window is t0+t, where t0 is the moment when edge node i begins to not receive data. The length of the time window is directly proportional to the number of data transmission relationships.
[0017] It should be noted that if no data transmission relationship with edge node i as the receiving node is established within a complete preset period, a time window will be actively generated for edge node i after the preset period ends.
[0018] S3. Predict the attitude data of edge node i and all corresponding receiving nodes at each moment within the time window; In a preferred embodiment of the present invention, obtaining predicted pose data includes: Edge node i and all its corresponding receiving nodes are treated as a unified processing object, and these objects are collectively regarded as the target node. In the time dimension, the reference starting point is the time t0 after edge node i begins to fail to receive data, superimposed with a preset duration t. The historical attitude state of the target node is periodically collected along the counter-time axis. During the collection process, the attitude sensing unit installed on the target node continuously acquires the node's roll angle, pitch angle, and corresponding spatial position information at each sampling moment. The collected attitude data is continuous in time, thus fully reflecting the changes in the target node's motion state over a historical period.
[0019] After collecting historical attitude data, the roll angle data and pitch angle data are arranged in chronological order to form two attitude sequences that correspond one-to-one with the time axis. These two sequences serve as the basic input data for subsequent motion component analysis.
[0020] Based on the formed attitude sequence, the attitude signal is processed by frequency domain and time domain feature separation using a digital filtering algorithm. In the specific implementation process, the attitude sequence is first smoothed and preprocessed to reduce the interference of high-frequency random noise. Then, the signal component that exhibits periodic fluctuation characteristics in time is extracted by a digital filtering method with obvious bandpass characteristics. This signal component has strong regularity in frequency and phase, which is consistent with the reciprocating swaying of the ship under the action of waves, and is thus identified as a periodic motion component caused by waves.
[0021] Meanwhile, after extracting the periodic motion component, the remaining signal after deducting the periodic component from the original attitude sequence is input as a low-frequency change signal into the moving average processing process. By performing sliding values and smoothing calculations on multiple consecutive sampling points on the time axis, the random fluctuations in a short period of time are further weakened, while the long-term and slowly changing attitude trend is preserved. This preserved part reflects the attitude change trend caused by the ship's own maneuvering behaviors such as heading adjustment, propulsion, or avoidance during construction, thus obtaining the trend motion components of the corresponding roll and pitch angles.
[0022] After separating the characteristics of the attitude signal itself, sea state and wave forecast data of the construction sea area are introduced as external reference information. This forecast data includes key parameters such as the propagation direction, wave period, and wave height of the waves in the current period. By comparing and analyzing the performance of these sea state parameters with the aforementioned periodic motion components in terms of time characteristics and variation characteristics, the correspondence between the two in terms of period length, oscillation direction, and amplitude changes is identified. Based on this, a phase correspondence between wave motion and ship periodic motion is established, so that the fluctuations of the periodic motion components on the time axis can be consistent with the actual sea wave action.
[0023] After establishing the phase correspondence, the actual attitude data at the current moment is used as the prediction starting point. The trend motion component is extended forward along the time axis according to the direction and rate of change it has shown in the historical time period, so that the trend component maintains a continuous and smooth change state within the prediction time window. At the same time, the periodic motion component is repeatedly extended along the time axis according to its inherent periodic characteristics, amplitude changes and the established phase correspondence, so that the periodic oscillation continues to exist within the prediction time and remains synchronized with the external wave conditions.
[0024] Specifically, after extracting the periodic motion component from the attitude sequence, this periodic motion component appears as a continuously fluctuating waveform on the time axis. Its peaks, troughs, and zero-crossing points exhibit stable repetitive characteristics over time. The wave period and propagation direction given in the sea state wave forecast data also describe the reciprocating propagation characteristics of waves within the construction area. Taking a certain moment as a reference point, a segment of historical waveform near that moment is extracted from the periodic motion component, and the main characteristic positions of this waveform are marked on the time axis, such as the moment when the periodic oscillation reaches its maximum roll or pitch amplitude. Simultaneously, the arrival time of the wave crest or the time node of the dominant wave direction change corresponding to the wave forecast within the same time period is read. By comparing the time offset relationship between each characteristic position in the periodic motion component and the corresponding time node in the wave forecast, the relative positional relationship between the two within a complete wave cycle is determined. When it is found that a certain peak of the periodic motion component consistently lags behind or leads the wave crest propagation time reflected in the wave forecast, this time difference can be recorded as a fixed offset and considered as the phase difference between the two. In subsequent prediction processes, the extension of the periodic motion component is no longer based solely on the absolute time in the historical attitude data. Instead, it is repeatedly extended according to the determined time offset, aligning with the starting position of the wave cycle, so that the predicted periodic motion always remains consistent with the wave propagation rhythm in time.
[0025] At the same prediction moment, the trend motion component corresponding to the roll angle is superimposed with the periodic motion component to obtain the predicted roll angle of the target node at that moment, and the trend motion component corresponding to the pitch angle is superimposed with the periodic motion component to obtain the predicted pitch angle of the target node at that moment, thus completing the prediction of the future state at the attitude angle level.
[0026] Based on the completed attitude angle prediction, the target node's current spatial position data is combined with the average moving speed and average moving direction information of the target node from the historical attitude sequence formed by the change of spatial position over time. Under the premise that the moving characteristics remain continuous in a short period of time, the moving speed and direction are linearly extrapolated forward along the time axis to obtain the predicted spatial position of the target node at each moment within the time window.
[0027] The predicted roll angle, predicted pitch angle, and predicted spatial position obtained at the same time are combined to form the complete predicted attitude data of the target node at the corresponding time, providing continuous, consistent, and time-correlated attitude basis data for subsequent processing related to the communication direction.
[0028] S4. Calculate the antenna adjustment angle of the receiving node k at each moment based on the predicted attitude data of the edge node i and the receiving node k. In a preferred embodiment of the present invention, calculating the antenna adjustment angle includes: Using a certain prediction time X as a unified time reference point, the predicted attitude data Y1 of the edge node i at that time and the predicted attitude data Y2 of the receiving node k at the same time are read from the obtained prediction results. The predicted attitude data also includes the predicted roll angle, predicted pitch angle and predicted spatial position information of the node at that time.
[0029] Based on this, the predicted spatial positions of edge node i and receiver node k at time X are extracted from the predicted attitude data Y1 and Y2, respectively. Taking the predicted spatial position of receiver node k as the starting point and the predicted spatial position of edge node i as the ending point, a spatial vector with a clear pointing relationship is constructed under a unified spatial reference. This vector reflects the ideal direction that the antenna of receiver node k should point to at the predicted time X. This vector is defined as the expected alignment vector.
[0030] Since the desired alignment vector is constructed in a unified spatial coordinate system, and the antenna installation direction of the receiving node k is determined based on the ship's own structure, it is necessary to consider the influence of the attitude change of the receiving node k at the prediction time X on the directional relationship. Based on the predicted roll and pitch angle information contained in the predicted attitude data Y2, the desired alignment vector is subjected to coordinate system transformation processing. It is mapped from the world coordinate reference relationship consistent with the spatial position to the ship's hull coordinate system based on the attitude deflection relationship described by the predicted roll and pitch angles, so that the transformed vector can truly reflect the positional relationship of the edge node i relative to the ship's hull orientation of the receiving node k under the predicted attitude condition.
[0031] After coordinate system transformation, the fixed installation direction of the receiving node k antenna in the ship's coordinate system is introduced as a known direction. This fixed installation direction is determined by the physical installation method of the antenna on the ship and remains unchanged throughout the calculation. By analyzing the spatial directional relationship between the transformed desired alignment vector and this fixed installation direction, the degree of deviation between the two in the ship's coordinate system is determined. This deviation relationship is decomposed into two orthogonal components in the horizontal and vertical directions. The deviation component in the horizontal direction reflects the adjustment amount required by the antenna in the azimuth angle, and this component is determined as the horizontal antenna adjustment angle Z1 corresponding to time X. The deviation component in the vertical direction reflects the adjustment amount required by the antenna in the elevation angle, and this component is determined as the vertical antenna adjustment angle Z2 corresponding to time X. Thus, the calculation of the adjustment angle of the receiving node k antenna under the predicted attitude condition is completed.
[0032] S5. Adjust the antenna angle of the corresponding receiving node according to the antenna adjustment angle. The edge node i transmits the target data to all receiving nodes within the time window. The target data represents all the data cached by the edge node i from the end of the previous time window to time point t0+t.
[0033] It should be noted that target data refers to the set of data generated by the sending edge nodes within a specific time range and required to be uniformly transmitted during the collaborative scheduling and data transmission between edge nodes. Essentially, it is the orderly integration of dispersed data over time. In this invention, target data is not data generated at a single moment, but rather data continuously generated and temporarily stored locally by edge nodes from the end of the previous time window to the current triggering moment. This data originates from status information, operation-related data, and necessary information related to collaborative scheduling generated during the operation of construction equipment. Due to the discontinuous nature of communication conditions in the construction sea area, edge nodes may not be able to establish stable data transmission relationships with other nodes in a short period. Therefore, relevant data is cached locally. When preset conditions are met and a new time window is entered, all cached data within that time range is uniformly transmitted as target data. In this way, target data can fully reflect the operation and status changes of edge nodes during communication intervals, avoiding information loss or disorder due to momentary communication interruptions. It also provides a continuous and complete data foundation for receiving nodes, thereby supporting collaborative scheduling and status consistency among construction equipment groups.
[0034] In another preferred embodiment of the present invention, adjusting the antenna angle includes: If the antenna adjustment angle Z1 < the preset horizontal angle threshold and the antenna adjustment angle Z2 < the preset vertical angle threshold, then the antenna angle of the corresponding receiving node will not be adjusted. In addition to the above, at time X, the antenna is controlled to rotate the antenna adjustment angle Z1 in the horizontal azimuth, and at time X, the antenna is controlled to rotate the antenna adjustment angle Z2 in the vertical elevation.
[0035] Understandably, the antenna adjustment angle calculated under the predicted attitude conditions will change continuously as the construction equipment is affected by sea conditions and its own movement. The adjustment angle at different times has continuity and fluctuation. If the antenna is driven to rotate strictly according to the calculation results at every moment, the antenna mechanism will frequently start and stop and repeatedly fine-tune in a short period of time, causing the mechanical transmission components to be under high load and high wear for a long time. At the same time, it will also introduce unnecessary control jitter and affect the stability of the communication direction.
[0036] Therefore, when the antenna adjustment angles in both the horizontal and vertical directions are within the preset threshold range, the current antenna orientation remains unchanged, so that the antenna pointing continues to maintain an effective alignment with the edge node within an acceptable deviation range, thereby reducing meaningless small adjustments without significantly affecting communication quality.
[0037] When the antenna adjustment angle at prediction time X exceeds the corresponding threshold, it indicates that due to changes in equipment attitude or spatial position, the existing antenna pointing is insufficient to maintain a stable communication alignment. At this time, the antenna is driven to rotate in the horizontal azimuth and vertical elevation directions according to the corresponding adjustment angles, so that the antenna pointing returns to the state consistent with the desired alignment direction. Since the antenna adjustment angles corresponding to different prediction times are derived from continuous predictions of the future attitude of the equipment, the antenna adjustment behavior exhibits a controlled discrete change characteristic in time, rather than irregular high-frequency oscillations. This ensures that the antenna pointing can adapt to the dynamic changes of the equipment while effectively suppressing frequent mechanical actions caused by small attitude fluctuations, balancing communication alignment requirements with the long-term reliability of the antenna mechanism, and providing support for maintaining a stable data transmission relationship for the construction equipment group in a dynamic environment.
[0038] It is worth noting that if the antenna adjustment angle Z1 is greater than a predetermined multiple of the preset horizontal angle threshold and the antenna adjustment angle Z1 is greater than a predetermined multiple of the preset vertical angle threshold, a prompt message will be sent to the preset administrator.
[0039] During the construction of a rock breakwater, multiple construction vessels and equipment need to establish stable collaborative working relationships under complex sea conditions and dynamic operational environments. The scheduling and control of these devices highly rely on continuous and reliable data interaction. Affected by wave action and the movement of the equipment itself, the attitude and relative position of each device are constantly changing. Traditional scheduling methods based on fixed communication parameters or centralized control struggle to adapt to these dynamic changes in a timely manner, easily leading to communication instability and weakening the continuity of collaborative operations among the equipment group. This invention, based on edge computing, decentralizes scheduling decisions and data transmission control to edge nodes at the construction site. Through predictive processing of equipment attitude and spatial relationships, scheduling behavior can adapt to the dynamic state changes of the equipment group in advance, achieving more coordinated and orderly data interaction among construction equipment.
[0040] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the present invention should still fall within the scope of the present invention.
Claims
1. A collaborative scheduling method for a group of construction equipment for a rock breakwater based on edge computing, characterized in that, Includes the following steps: S1. If edge node j receives data sent by edge node i, then a data transmission relationship is established with edge node i as the sending node and edge node j as the receiving node. S2. If edge node i does not receive data within a preset time period t, a time window of a predetermined length is set for edge node i. The starting point of the time window is t0+t, where t0 is the moment when edge node i begins to not receive data. S3. Predict the attitude data of edge node i and all corresponding receiving nodes at each moment within the time window; S4. Calculate the antenna adjustment angle of the receiving node k at each moment based on the predicted attitude data of the edge node i and the receiving node k. S5. Adjust the antenna angle of the corresponding receiving node according to the antenna adjustment angle. The edge node i transmits the target data to all receiving nodes within the time window. The target data represents all the data cached by the edge node i from the end of the previous time window to time point t0+t.
2. The collaborative scheduling method for a group of construction equipment for a rock breakwater based on edge computing as described in claim 1, characterized in that, Obtaining predicted pose data includes: Edge node i and all corresponding receiving nodes are denoted as target nodes. Starting from t0+t, the attitude data of the target nodes are periodically collected along the counter-time axis. The attitude data includes roll angle, pitch angle and spatial position. The roll and pitch angles were sorted in chronological order to obtain two attitude sequences. Based on the attitude sequences, the periodic motion components caused by the waves were separated by a digital filtering algorithm, and the trend motion components caused by the ship's own maneuvering were calculated by a moving average algorithm. Obtain current sea state and wave forecast data for the construction area, including wave propagation direction, wave period, and wave height. By comparing the wave propagation direction, wave period, and wave height with the direction, period, and amplitude of the periodic motion components, a phase correspondence between wave motion and ship periodic motion is established. Starting from the attitude data at the current moment, the trend motion component is extended forward along the time axis according to its changing trend; The periodic motion component is repeatedly extended forward along the time axis according to its own period, amplitude and phase correspondence; The predicted roll angle of the target node at that moment is obtained by adding the trend motion component obtained at the same time corresponding to the roll angle and the extended periodic motion component; the predicted pitch angle of the target node at that moment is obtained by adding the trend motion component obtained at the same time corresponding to the pitch angle and the extended periodic motion component. Based on the current spatial position of the target node, and the average moving speed and average moving direction calculated from the attitude sequence corresponding to the spatial position, the predicted spatial position of the target node at each moment within the time window is linearly extrapolated. The predicted roll angle, the predicted pitch angle, and the predicted spatial position together constitute the predicted attitude data of the target node at the corresponding moment.
3. The collaborative scheduling method for a group of construction equipment for a rock breakwater based on edge computing according to claim 1, characterized in that, Calculating the antenna adjustment angle includes: Obtain the predicted pose data Y1 and Y2 of edge node i and receiving node k at time X; Obtain the predicted spatial positions Y1a and Y2a in the predicted attitude data Y1 and Y2, and denote the vector pointing from Y1a to Y2a as the expected alignment vector; Based on the predicted roll and pitch angles, the desired alignment vector is transformed from the predicted roll angle world coordinate system based on the predicted attitude data Y2 to the ship's own hull coordinate system of the receiving node k. Calculate the angle between the transformed desired alignment vector and the fixed installation direction of the antenna of the receiving node k in the ship's coordinate system. The horizontal component of the angle is the antenna adjustment angle Z1 in the horizontal direction at time X, and the vertical component of the angle is the antenna adjustment angle Z2 in the vertical direction at time X.
4. The collaborative scheduling method for a group of construction equipment for a rock breakwater based on edge computing as described in claim 1, characterized in that, Adjusting the antenna angle includes: If the antenna adjustment angle Z1 < the preset horizontal angle threshold and the antenna adjustment angle Z2 < the preset vertical angle threshold, then the antenna angle of the corresponding receiving node will not be adjusted. In addition to the above, at time X, the antenna is controlled to rotate the antenna adjustment angle Z1 in the horizontal azimuth, and at time X, the antenna is controlled to rotate the antenna adjustment angle Z2 in the vertical elevation.
5. The collaborative scheduling method for a group of construction equipment for a rock breakwater based on edge computing according to claim 1, characterized in that, If no data transmission relationship with edge node i as the receiving node is established within a complete preset period, a time window is actively generated for edge node i after the preset period ends.
6. The collaborative scheduling method for a group of construction equipment for a rock breakwater based on edge computing according to claim 1, characterized in that, If the antenna adjustment angle Z1 is greater than a predetermined multiple of the preset horizontal angle threshold and the antenna adjustment angle Z1 is greater than a predetermined multiple of the preset vertical angle threshold, a prompt message will be sent to the preset administrator.
7. The collaborative scheduling method for a group of construction equipment for a rock breakwater based on edge computing according to claim 1, characterized in that, The length of the time window is directly proportional to the number of data transmission relationships.