An edge-computing-based automatic warehouse center multi-device low-latency cooperative scheduling control method and system

Abstract

This invention discloses a low-latency collaborative scheduling and control method and system for multiple devices in an automated warehousing center based on edge computing. The method includes: receiving temporary service requests by an edge computing node; determining, based on the temporary service requests, which automated guided vehicles (AGVs) will perform the temporary services; allocating temporary positioning sequences to the AAVs based on the AAVs' intention to perform the temporary services; determining whether the AAVs have entered a signal shadow area; and if so, sending the temporary positioning sequence to a preset receiving point. This invention enables rapid confirmation of the location of AAVs performing temporary services under unreliable communication conditions, reduces reliance on continuous positioning reporting, improves the real-time performance and stability of queue-jumping task scheduling and conveyor cycle control, and reduces queuing and congestion anomalies caused by information delays.

Description

Technical Field

[0001] This invention relates to the field of edge computing technology, and in particular to a low-latency collaborative scheduling and control method and system for multiple devices in an automated warehousing center based on edge computing. Background Technology

[0002] Automated warehouses typically consist of an inventory management system, a warehouse control system, and on-site automation equipment to complete operations such as receiving, storing, picking, verifying, packing, and shipping goods. In the shipping process, driven by business needs such as order waves and temporary order insertions, the system needs to break down the shipping operation into multiple continuous processes such as handling, handover, conveying, and sorting, and coordinate among various types of equipment to achieve efficient flow of goods from the warehouse's operating area to the shipping outlet.

[0003] In automated warehousing centers, equipment typically includes automated guided vehicles (AMRs / AGVs), conveyor systems (such as belt conveyors, roller conveyors, and their merging / diverting mechanisms and buffer sections), and downstream processing equipment (such as sorting machines, barcode weighing equipment, verification and packing stations, and automated palletizing equipment). AMRs are used to handle transport tasks between the warehouse area and the handover stations, arriving at designated pick-up and drop-off points according to task instructions and handing over goods to the conveyor systems. The conveyor systems continuously transport goods to subsequent stages such as sorting, packing, verification, or outbound loading docks. Because these devices share physical access channels, have sequential dependencies in the process flow, and are constrained by resources such as merging points, diverting points, buffer sections, and downstream grids, the system needs to coordinate the task allocation, arrival timing, and cycle time among the devices. Otherwise, problems such as AMRs queuing at checkpoints, conveyor systems waiting unloaded or buffers accumulating, and chain congestion caused by localized blockages can easily occur.

[0004] To meet the low-latency collaborative scheduling and control requirements of automated warehousing centers, edge computing nodes are typically deployed on-site to make real-time decisions locally. These edge computing nodes can assign tasks to automated navigation vehicles based on outbound requests, vehicle status, and congestion information, and issue navigation paths, target workstations, and action sequences. Simultaneously, based on the intensity of business requests, estimated time of arrival (ETA) of vehicles, and the buffer occupancy, merging / diversion status of conveyor systems, they generate conveyor cycle / release control strategies. The conveyor cycle is also constrained by the capacity and congestion status of downstream sorting, barcode scanning and weighing, and verification and packaging devices, requiring dynamic coordination using interlock signals and buffer capacity. In real-world environments, signal shadow areas may exist due to obstructions and interference, leading to delays or loss of vehicle location information reporting, thus reducing the timeliness and stability of scheduling and cycle pre-adjustment. Therefore, a technical solution for vehicle location confirmation and cycle collaborative control under unreliable communication conditions is urgently needed. Summary of the Invention

[0005] This invention provides a low-latency collaborative scheduling and control method for multiple devices in an automated warehousing center based on edge computing. Addressing the problem of timely location information reporting for temporary queue-jumping operations in signal shadow areas, the method involves an edge computing node receiving temporary service requests and determining the automated guided vehicle (AGV) to execute the temporary service. Simultaneously, it assigns a time-sensitive temporary positioning sequence to the AAV. The AAV determines it has entered a signal shadow area by continuously reporting real-time location information without receiving confirmation from the edge computing node. After entering, it repeatedly sends the temporary positioning sequence to a preset receiving point at a preset cycle. Upon receiving the temporary positioning sequence, the preset receiving point generates a hit report message containing reception time and reception strength information and sends it back to the edge computing node. The edge computing node, in the case of multiple hits, determines the location receiving point to ascertain the AAV's position and generates a control strategy for the conveyor system accordingly. Through these techniques, rapid confirmation of the temporary service vehicle's position can be achieved even under unreliable communication conditions, reducing reliance on continuous location reporting, improving the real-time performance and stability of queue-jumping task scheduling and conveyor cycle control, and reducing anomalies such as queuing and congestion caused by information delays.

[0006] This invention provides a low-latency collaborative scheduling and control method for multiple devices in an automated warehousing center based on edge computing, characterized in that the method includes: Temporary service requests are received by edge computing nodes; The edge computing node determines the autonomous navigation vehicle to perform the temporary service based on the temporary service request; Edge computing nodes will assign temporary positioning sequences to autonomous navigation vehicles based on the temporary services they will perform. The autonomous navigation vehicle determines whether it has entered a signal shadow area; and If it is determined that the autonomous navigation vehicle has entered a signal shadow area, the autonomous navigation vehicle will send a temporary positioning sequence to a preset receiving point.

[0007] In a preferred embodiment, the autonomous navigation vehicle determines that it has entered a signal shadow area by the following steps: The autonomous navigation vehicle sends real-time location information to the edge computing node multiple times; If the autonomous navigation vehicle fails to receive confirmation messages for real-time location information from the edge computing node multiple times in a row, the autonomous navigation vehicle will determine that it has entered a signal shadow area. The confirmation messages are used to indicate that the edge computing node has correctly received the real-time location information.

[0008] In a preferred embodiment, the autonomous navigation vehicle sends temporary positioning sequences to a preset receiving point multiple times within a preset period. The methods also include: When the preset receiving point receives the temporary positioning sequence, the preset receiving point generates a hit reporting message that includes the temporary positioning sequence and the received measurement information, wherein the received measurement information includes the receiving time information and the receiving strength information. A hit reporting message is sent from a preset receiving point to the edge computing node.

[0009] In a preferred embodiment, the preset receiving point includes a first preset receiving point and a second preset receiving point; The methods also include: If the edge computing node receives only a hit report message sent by the first preset receiving point during the receiving period, the edge computing node will determine the first preset receiving point as the location receiving point. If the edge computing node receives a hit report message sent by the first preset receiving point and a hit report message sent by the second preset receiving point during the receiving period, the edge computing node determines one of the first preset receiving point and the second preset receiving point as the location receiving point based on the hit report message sent by the first preset receiving point and the hit report message sent by the second preset receiving point. The location of the autonomous navigation vehicle is determined by edge computing nodes based on the location of the positioning receiver point; The control strategy for the conveyor is determined by the edge computing nodes based on the location of the autonomous navigation vehicle.

[0010] In a preferred embodiment, the method further includes: After the autonomous navigation vehicle completes its temporary task, it deletes the temporary positioning sequence stored in the autonomous navigation vehicle and sends a task completion notification to the edge computing node. After receiving the task completion notification, the edge computing node deletes the association between the temporary positioning sequence and the autonomous navigation vehicle.

[0011] This invention provides a low-latency collaborative scheduling and control system for multiple devices in an automated warehousing center based on edge computing. The system includes edge computing nodes, automated guided vehicles, and preset receiving points. The edge computing nodes, automated guided vehicles, and preset receiving points are configured to perform the following operations: Temporary service requests are received by edge computing nodes; The edge computing node determines the autonomous navigation vehicle to perform the temporary service based on the temporary service request; Edge computing nodes will assign temporary positioning sequences to autonomous navigation vehicles based on the temporary services they will perform. The autonomous navigation vehicle determines whether it has entered a signal shadow area; and If it is determined that the autonomous navigation vehicle has entered a signal shadow area, the autonomous navigation vehicle will send a temporary positioning sequence to a preset receiving point.

[0012] In a preferred embodiment, the autonomous navigation vehicle determines that it has entered a signal shadow area by the following steps: The autonomous navigation vehicle sends real-time location information to the edge computing node multiple times; If the autonomous navigation vehicle fails to receive confirmation messages for real-time location information from the edge computing node multiple times in a row, the autonomous navigation vehicle will determine that it has entered a signal shadow area. The confirmation messages are used to indicate that the edge computing node has correctly received the real-time location information.

[0013] In a preferred embodiment, the autonomous navigation vehicle sends temporary positioning sequences to a preset receiving point multiple times within a preset period. The edge computing nodes, autonomous navigation vehicles, and preset receiving points are also configured to perform the following operations: When the preset receiving point receives the temporary positioning sequence, the preset receiving point generates a hit reporting message that includes the temporary positioning sequence and the received measurement information, wherein the received measurement information includes the receiving time information and the receiving strength information. A hit reporting message is sent from a preset receiving point to the edge computing node.

[0014] In a preferred embodiment, the preset receiving point includes a first preset receiving point and a second preset receiving point; The edge computing nodes, autonomous navigation vehicles, and preset receiving points are also configured to perform the following operations: If the edge computing node receives only a hit report message sent by the first preset receiving point during the receiving period, the edge computing node will determine the first preset receiving point as the location receiving point. If the edge computing node receives a hit report message sent by the first preset receiving point and a hit report message sent by the second preset receiving point during the receiving period, the edge computing node determines one of the first preset receiving point and the second preset receiving point as the location receiving point based on the hit report message sent by the first preset receiving point and the hit report message sent by the second preset receiving point. The location of the autonomous navigation vehicle is determined by edge computing nodes based on the location of the positioning receiver point; The control strategy for the conveyor is determined by the edge computing nodes based on the location of the autonomous navigation vehicle.

[0015] In a preferred embodiment, the edge computing node, the autonomous navigation vehicle, and the preset receiving point are further configured to perform the following operations: After the autonomous navigation vehicle completes its temporary task, it deletes the temporary positioning sequence stored in the autonomous navigation vehicle and sends a task completion notification to the edge computing node. After receiving the task completion notification, the edge computing node deletes the association between the temporary positioning sequence and the autonomous navigation vehicle.

[0016] This invention offers the following advantages: It provides a low-latency collaborative scheduling and control method for multiple devices in an automated warehousing center based on edge computing. Addressing the problem of timely location information reporting for temporary queue-jumping operations in signal shadow areas, the method involves an edge computing node receiving temporary service requests and determining the automated guided vehicle (AGV) to execute the temporary service. Simultaneously, it assigns a time-sensitive temporary positioning sequence to the AVR. This invention enables rapid confirmation of the location of temporary service vehicles even under unreliable communication conditions, reducing reliance on continuous location reporting, improving the real-time performance and stability of queue-jumping task scheduling and conveyor cycle control, and reducing queuing and congestion anomalies caused by information delays. (See attached figures.) Figure 1 This is a system logic block diagram of one embodiment of the present invention.

[0017] Figure 2 This is a flowchart of a method according to an embodiment of the present invention.

[0018] Figure 3 This is a schematic diagram of an automated guided vehicle traveling in a warehouse center, according to an embodiment of the present invention.

[0019] Figure 4 This is a schematic diagram of an automatic navigation vehicle and a preset receiving point according to an embodiment of the present invention.

[0020] Figure 5 This is a schematic diagram of an automatic navigation vehicle and a preset receiving point according to another embodiment of the present invention. Detailed Implementation

[0021] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments.

[0022] Figure 1 This is a system logic block diagram of one embodiment of the present invention. Figure 1 As shown, the system of the present invention mainly includes: an edge computing node 100, an autonomous navigation vehicle 200, at least one preset receiving point 300, and a conveying device 400.

[0023] The edge computing node 100 includes: a service request receiving module 110, a vehicle allocation module 120, a temporary positioning sequence allocation module 130, a hit reporting receiving module 140, a positioning receiving point determination module 150, a vehicle location determination module 160, a conveying device control strategy generation module 170, and an associated maintenance and failure management module 180. The service request receiving module 110 is used to receive temporary service requests; the vehicle allocation module 120 is used to determine the automatic navigation vehicle 200 that will perform the temporary service based on the temporary service request; the temporary positioning sequence allocation module 130 is used to allocate a temporary positioning sequence corresponding to the temporary service to the automatic navigation vehicle 200; the hit reporting receiving module 140 is used to receive hit reporting messages sent by preset receiving points 300; the positioning receiving point determination module 150 is used to arbitrate the hit reporting messages of multiple preset receiving points 300 during the receiving period to determine the positioning receiving point; the vehicle position determination module 160 is used to determine the current position of the automatic navigation vehicle 200 based on the position of the positioning receiving point; the conveying device control strategy generation module 170 is used to generate a control strategy for the conveying device 400 based on the position of the automatic navigation vehicle 200; and the association maintenance and failure management module 180 is used to maintain the association between the temporary positioning sequence and the automatic navigation vehicle 200, and delete the association after the task is completed to realize the failure of the temporary positioning sequence.

[0024] The automated navigation vehicle 200 includes: a location reporting module 210, a confirmation reception detection module 220, a signal shadow zone determination module 230, a temporary positioning sequence storage module 240, and a sequence sending module 250. The location reporting module 210 sends real-time location information multiple times to the edge computing node 100; the confirmation reception detection module 220 detects confirmation reception information returned by the edge computing node 100 for the real-time location information; the signal shadow zone determination module 230 determines that the vehicle has entered a signal shadow zone if confirmation reception information is not received multiple times consecutively; the temporary positioning sequence storage module 240 stores the temporary positioning sequence issued by the edge computing node 100; and the sequence sending module 250 sends the temporary positioning sequence multiple times to a preset receiving point 300 at a preset cycle after entering the signal shadow zone, deletes the temporary positioning sequence after completing the temporary service, and sends a task completion notification to the edge computing node 100.

[0025] The preset receiving point 300 includes: a sequence monitoring module 310, a reception measurement module 320, a hit report generation module 330, and a report sending module 340. The sequence monitoring module 310 is used to monitor the temporary positioning sequence sent by the autonomous navigation vehicle 200; the reception measurement module 320 is used to obtain reception time information and reception strength information; the hit report generation module 330 is used to generate a hit report message including the temporary positioning sequence and reception measurement information when the temporary positioning sequence is received; and the report sending module 340 is used to send the hit report message to the edge computing node 100.

[0026] The conveying device 400 includes a cycle execution module 410 and a control interface module 420. The control interface module 420 is used to receive control strategies or cycle parameters issued by the edge computing node 100; the cycle execution module 410 is used to adjust the conveying cycle, release strategy, or buffer segment action according to the control strategy to match the handover sequence of the automated guided vehicle 200 and improve the overall outbound efficiency.

[0027] Figure 2 This is a flowchart of a method according to an embodiment of the present invention. Figure 2 As shown, the method of the present invention includes the following steps: Step 1: The edge computing node receives temporary service requests; In specific examples, edge computing nodes can be: industrial edge servers, edge gateways, industrial control computers (IPCs / industrial PCs), embedded edge controllers, edge computing all-in-one machines, field control servers, WCS edge control units, MES / SCADA edge nodes, network communication devices with edge computing capabilities, or combinations thereof. Edge computing nodes can be deployed as standalone units or in clusters, integrating or connecting storage units, network switching units, and security isolation units. They interact with the controllers / PLCs of automated guided vehicles, preset receiving points, and conveying devices via wired or wireless communication interfaces to perform functions such as processing temporary business requests, vehicle scheduling control, hit reporting and fusion, and conveying cycle control.

[0028] In automated warehousing centers, edge computing nodes primarily handle normal business requests. "Normal business requests" refer to requests generated by upper-layer business systems or workflows according to preset rules and entering the outbound task queue. Their timing, priority, and execution order conform to predetermined wave plans, first-in-first-out / first-come-first-served services, or preset priority strategies. Furthermore, while waiting for resource allocation and execution scheduling in the queue, they do not require interruption or rearrangement of the existing queue order. In contrast, temporary business requests refer to requests generated temporarily due to reasons such as emergency outbound shipments, abnormal reshipments, stockout replacements, customer expedited requests, or equipment failure bypass, after normal business requests have formed a task queue and are in the process of execution or waiting. These temporary requests have higher urgency or priority requirements than at least some normal business requests, triggering edge computing nodes to instantly adjust the existing task queue, resource allocation, or execution order. This allows the requests to obtain execution resources within a shorter timeframe and be scheduled for execution with priority or earlier. Due to the sudden nature of temporary services, edge computing nodes cannot provide the same path planning for temporary services as they do for normal services. In real-world systems, for temporary services, edge computing nodes can generally only provide a rough planned path for the automated guided vehicles (AGVs) performing these services. Furthermore, the edge computing nodes continuously adjust and update this rough planned path based on the real-time location of the AGVs. In other words, for AGVs performing temporary services, the edge computing nodes need to know the vehicle's real-time location.

[0029] Step 2: The edge computing node determines the autonomous navigation vehicle to perform the temporary service based on the temporary service request; In a specific example, a temporary business request can carry business attribute information for scheduling decisions. This information includes, but is not limited to: cargo identification, cargo type, cargo dimensions, weight or load class, packaging form (bin / pallet / turnaround box, etc.), pickup and handover locations, target outbound port or target conveyor, timeliness requirements or urgency level, whether weighing / scanning / verification processes are required, and permitted handling methods or fixture / carrier requirements. Upon receiving a temporary business request, the edge computing node can determine the appropriate automated guided vehicle (AGV) to execute the temporary business based on real-time on-site conditions. This includes factors such as the AVR's idle / busy status, estimated completion time, distance from the current location to the pickup point, available load capacity matching cargo weight, remaining battery power and charging schedule, current route congestion and traffic restrictions, vehicle health status or fault alarms, and compatibility with the target handover station / conveyor. The node then filters candidate vehicles that meet the constraints and selects the vehicle with the best overall cost or that meets the urgency requirements as the AVR to execute the business, ensuring that the temporary business can be quickly and feasiblely scheduled.

[0030] Step 3: The edge computing nodes allocate temporary positioning sequences to the autonomous navigation vehicles based on the temporary services they will perform. In a specific example, a temporary positioning sequence can consist of a preamble (for energy detection and synchronization), a frame header (for distinguishing service types), a temporary identifier field (for unique identification), and a check field. The preamble can use alternating bits or repeating symbols, such as a repeating pattern of "10101010" or "11001100"; the frame header can be set to a fixed pattern, such as "111000"; the temporary identifier field can be an 8-16 bit random or pseudo-random code; and the check field can use an 8-bit CRC or parity check. This type of sequence has a clear structure, easily set detection thresholds, and can be distinguished from other reference signals through the frame header.

[0031] Temporary location sequences can include a short correlation detection sequence as a preamble, such as a Barker code (e.g., "1110010" of length 7 or "1111100110101" of length 13), followed by a short temporary identifier field and a check field. This type of sequence exhibits good autocorrelation properties, facilitating correlation detection at the receiving point, and has a low false detection rate and is less prone to confusion with random traffic data.

[0032] Each of the above temporary positioning sequences can be further configured with a service type field or a reserved field to distinguish it from other reference signals in the system (such as synchronization sequences, regular heartbeat sequences, or maintenance broadcast sequences); at the same time, a verification field can be set to avoid false detection and misjudgment, and fast transmission and fast detection can be achieved by limiting the sequence length, thereby meeting the low-latency position anchoring requirements in the signal shadow area.

[0033] Step 4: The automated guided vehicle (AGV) determines whether it has entered a signal shadow area. In this invention, a signal shadow area refers to an area with poor wireless communication quality. For example, in an automated warehousing center scenario, areas with densely packed shelves on both sides of a road are likely to be signal shadow areas. An example of an AGV entering a signal shadow area can be found in [link to relevant documentation]. Figure 3 .like Figure 3 As shown, the automated guided vehicle entered an area with densely packed shelves, which is generally a signal shadow area due to the shielding effect of the metal shelves.

[0034] Step 5: If it is determined that the autonomous navigation vehicle has entered a signal shadow area, the autonomous navigation vehicle sends a temporary positioning sequence to the preset receiving point.

[0035] In a specific example, to rationally configure preset receiving points, a communication coverage assessment and drive test can be conducted on the automated warehousing center before deploying them. Specifically, wireless communication quality parameters can be collected at typical operation paths, intersections, rack aisles, loading and unloading points, and conveyor junction areas within the warehousing center to identify potentially unreliable signal shadow areas. These communication quality parameters include, but are not limited to, Received Signal Strength Indicator (RSSI), signal-to-noise ratio, packet loss rate, retransmission count, round-trip time, and the number of times acknowledgment of missing received information has been recorded. Based on the drive test results, areas meeting preset criteria are marked as signal shadow areas, and shadow area range information is generated and associated with the warehousing center map or road network topology. Subsequently, preset receiving points are deployed only within these signal shadow areas along the autonomous navigation vehicle's travel path at preset intervals. These preset receiving points are connected via wired connections to communication nodes (e.g., routers located outside the shadow areas) or edge computing nodes to ensure reliable return of hit-reported messages. The above methods can improve the success rate of positioning sequence reception and the effectiveness of position anchoring in signal shadow areas without increasing unnecessary deployment costs, thereby enhancing the stability and real-time performance of temporary service scheduling and collaborative control of transmission devices.

[0036] In a preferred embodiment, the autonomous navigation vehicle determines that it has entered a signal shadow area by the following steps: The autonomous vehicle sends real-time location information to the edge computing node multiple times. In a specific example, if the autonomous vehicle is in a non-signal shadow area, it can use wireless communication technologies such as LTE and NR to directly send its real-time location to the edge computing node. Even when the autonomous vehicle enters an area with poor wireless communication quality, it will still continuously send its real-time location to the edge computing node. If an autonomous vehicle fails to receive confirmation messages for its real-time location information from the edge computing node multiple times consecutively, the autonomous vehicle determines that it has entered a signal shadow area. These confirmation messages indicate that the edge computing node has correctly received the real-time location information. In a specific example, due to poor signal quality, multiple consecutive real-time location information messages sent by the autonomous vehicle may not be correctly received by the edge computing node. In this case, the edge computing node will not send confirmation messages to the autonomous vehicle, resulting in multiple consecutive instances of the autonomous vehicle failing to receive confirmation messages. In this specific example, the threshold for the number of consecutive failures can be 3, 4, 5, etc. That is, if the autonomous vehicle fails to receive confirmation messages for its real-time location information from the edge computing node 3 times (or 4, 5 times, etc.), the autonomous vehicle determines that it has entered a signal shadow area.

[0037] In a preferred embodiment, the autonomous navigation vehicle sends temporary positioning sequences multiple times to a preset receiving point within a preset period. In a specific example, the preset period can be set to 50ms to 300ms, preferably 100ms. The autonomous navigation vehicle can continuously send the temporary positioning sequence K times, where K can be set to 3 to 10 times, preferably 5 times. That is, in the preferred embodiment, the autonomous navigation vehicle sends 5 temporary positioning sequences in each 100ms period. After each 100ms period ends, a waiting time can be waited before the next temporary positioning sequence sending period begins. In one example, this waiting time can be set to 0.5s to 3s, preferably 1s.

[0038] The methods also include: When the preset receiving point receives the temporary positioning sequence, the preset receiving point generates a hit reporting message that includes the temporary positioning sequence and the received measurement information, wherein the received measurement information includes the receiving time information and the receiving strength information. In a specific example, the received time information can be a timestamp data obtained by the preset receiving point timestamping the moment when the first symbol of the temporary positioning sequence (or the start of the frame header) is detected. For example, the timestamp can adopt a timing precision of milliseconds or microseconds, such as the form "2026-02-28 10:15:23.127" recorded by the local clock of the preset receiving point; in another example, if the preset receiving point synchronizes its clock with the communication node / edge computing node through a wired network, the received time information can adopt an absolute timestamp under a unified time base, such as "1709086523.127" in UNIX timestamp, or "1709086523127000" in microsecond count.

[0039] Received signal strength information can be the signal strength or link quality parameters measured by a preset receiving point during the reception of a temporary positioning sequence. For example, received signal strength information may include Received Signal Strength Indicator (RSSI) values, such as "-72 dBm" or "-65 dBm"; or signal-to-noise ratio (SNR) values, such as "12 dB" or "18 dB"; or received correlation peak / correlation metric values, such as "correlation peak = 0.86". In another example, received signal strength information may be represented using a hierarchical quantization method, such as dividing RSSI into 5 levels (level 1 represents weak, level 5 represents strong), and carrying the level value in the hit reporting message to reduce the reporting load.

[0040] A hit reporting message is sent from a preset receiving point to the edge computing node.

[0041] In a preferred embodiment, the preset receiving point includes a first preset receiving point and a second preset receiving point; The methods also include: If the edge computing node receives only a hit report message sent by the first preset receiving point during the receiving period, the edge computing node will determine the first preset receiving point as the location receiving point. In a specific example, if an autonomous navigation vehicle sends a temporary positioning sequence five times consecutively within a preset period of 100ms after entering a signal shadow area, the edge computing node can set the receiving period to a time window of not less than the duration of a preset period to cover any hit reporting messages that may be generated by these five transmissions. Specifically, the receiving period can be set to 120ms to 150ms.

[0042] For example in Figure 4 In the example, since the autonomous navigation vehicle is only within the signal coverage area of ​​the first preset receiving point, only the first preset receiving point can receive the temporary positioning sequence continuously sent by the autonomous navigation vehicle within 100ms (assuming the autonomous navigation vehicle sends 5 temporary positioning sequences continuously within 100ms). In actual examples, the first preset receiving point may receive 2, 3, 4, or 5 temporary positioning sequences. Taking the first preset receiving point receiving 4 temporary positioning sequences as an example, the first preset receiving point can send 4 hit reporting messages to the edge computing node, each hit reporting message corresponding to one received temporary positioning sequence; of course, those skilled in the art will understand that the hit reporting message should also include at least the device ID of the preset receiving point; If the edge computing node receives a hit report message sent by the first preset receiving point and a hit report message sent by the second preset receiving point during the receiving period, the edge computing node determines one of the first preset receiving point and the second preset receiving point as the location receiving point based on the hit report message sent by the first preset receiving point and the hit report message sent by the second preset receiving point. In specific examples, to reduce the probability of overlapping reception of the same temporary positioning sequence by adjacent preset receiving points and to reduce positioning ambiguity caused by simultaneous hits from multiple points, directional / confined receiving structures can be configured for the preset receiving points. Specifically, the preset receiving points can use directional antennas (such as directional patch antennas, directional dipole antennas, or array antennas with main lobe pointing), with their receiving sensitive direction facing the preset vehicle traffic direction or critical path area, and the effective coverage area can be limited by setting the antenna elevation angle, azimuth angle, and installation height; alternatively, the preset receiving points can be equipped with electromagnetic shielding structures or confinement enclosures (such as metal shields, absorbing material enclosures, or shielding cavities with openings) to suppress incident signals from non-target directions, so that the preset receiving points only have high receiving sensitivity in the local spatial area pointed to by their openings. Furthermore, during the deployment phase, the signal shadow area can be measured and calibrated on-site, and by adjusting the pointing, opening angle, or shielding strength of the directional / confined structure, the effective coverage areas of adjacent preset receiving points can be made to overlap spatially as little as possible or only slightly overlap at the edge areas. However, due to the multipath effect of wireless signals, and for positioning accuracy considerations, adjacent preset receiving points cannot be too far apart. Therefore, it is generally difficult to avoid slight spatial overlap in the effective coverage areas of adjacent preset receiving points. For example, in Figure 5 In the example, the autonomous navigation vehicle is within the signal coverage area of ​​both the first and second preset receiving points. At this time, both the first and second preset receiving points may receive temporary positioning sequences sent by the autonomous navigation vehicle. To simplify the discussion, assume that the first preset receiving point sends hit reporting message A (assume RSSI 1) and hit reporting message B (assume RSSI 2) to the edge computing node, and the second preset receiving point sends hit reporting message C (assume RSSI 3) and hit reporting message D (assume RSSI 4) to the edge computing node. The rule for determining one of the first and second preset receiving points as the positioning receiving point based on the hit reporting messages sent by the first and second preset receiving points can be as follows: The edge computing nodes summarize the reception strength reported by the first preset receiving point and the second preset receiving point during the reception period to form their respective representative strength values. For example, for the first preset receiving point, the "stronger one-time reception strength" can be taken as the representative strength of the receiving point based on the reception strength in messages A and B; for the second preset receiving point, the "stronger one-time reception strength" can be taken as the representative strength of the receiving point based on the reception strength in messages C and D.

[0043] The edge computing node compares the representative strength values ​​of two preset receiving points. If the representative strength of the first preset receiving point is significantly higher than that of the second preset receiving point (the difference between the two reaches a preset judgment threshold), then the first preset receiving point is determined as the positioning receiving point; otherwise, if the representative strength of the second preset receiving point is significantly higher than that of the first preset receiving point, then the second preset receiving point is determined as the positioning receiving point.

[0044] If the representative strength of the first preset receiving point is not significantly different from that of the second preset receiving point, the average receiving strength at the first preset receiving point and the average receiving strength at the second preset receiving point can be calculated based on the values ​​of RSSI 1-RSSI 4, and the one with the higher average value can be used as the positioning receiving point. Furthermore, if the edge computing node determines, for example, that the second preset receiving point is outside the aforementioned rough planned path, that is, the autonomous navigation vehicle is unlikely to pass through the second preset receiving point, then the edge computing node can directly exclude the possibility of the second preset receiving point as a positioning receiving point. The edge computing node determines the location of the autonomous navigation vehicle based on the location of the positioning receiver point. In a specific example, the edge computing node can obtain the physical location of the preset receiver point based on the hardware ID of the preset receiver point (the association between the hardware ID and its physical location is preset when the warehouse is built). At this time, the edge computing node can roughly replace the location of the autonomous navigation vehicle with the physical location of the preset receiver point. The edge computing nodes determine the control strategy for the conveyor based on the location of the autonomous vehicle. In a specific example, if the edge computing node determines that the autonomous vehicle is approaching the conveyor, it can pre-increase the conveyor's cycle time to prevent goods from piling up at the conveyor.

[0045] In a preferred embodiment, the method further includes: After the autonomous navigation vehicle completes its temporary task, it deletes the temporary positioning sequence stored in the autonomous navigation vehicle and sends a task completion notification to the edge computing node. After receiving the task completion notification, the edge computing node deletes the association between the temporary positioning sequence and the autonomous vehicle. In a specific example, after assigning a temporary positioning sequence to the autonomous vehicle, the edge computing node can maintain an association between the autonomous vehicle and the temporary positioning sequence. After the autonomous vehicle completes its task, the edge computing node can delete the association between the temporary positioning sequence and the autonomous vehicle. Subsequently, the edge computing node can assign this same temporary positioning sequence to other autonomous vehicles, thus avoiding maintaining too many temporary positioning sequences at the edge computing node.

[0046] This invention provides a low-latency collaborative scheduling and control system for multiple devices in an automated warehousing center based on edge computing. The system includes edge computing nodes, automated guided vehicles, and preset receiving points. The edge computing nodes, automated guided vehicles, and preset receiving points are configured to perform the following operations: Temporary service requests are received by edge computing nodes; The edge computing node determines the autonomous navigation vehicle to perform the temporary service based on the temporary service request; Edge computing nodes will assign temporary positioning sequences to autonomous navigation vehicles based on the temporary services they will perform. The autonomous navigation vehicle determines whether it has entered a signal shadow area; and If it is determined that the autonomous navigation vehicle has entered a signal shadow area, the autonomous navigation vehicle will send a temporary positioning sequence to a preset receiving point.

[0047] In a preferred embodiment, the autonomous navigation vehicle determines that it has entered a signal shadow area by the following steps: The autonomous navigation vehicle sends real-time location information to the edge computing node multiple times; If the autonomous navigation vehicle fails to receive confirmation messages for real-time location information from the edge computing node multiple times in a row, the autonomous navigation vehicle will determine that it has entered a signal shadow area. The confirmation messages are used to indicate that the edge computing node has correctly received the real-time location information.

[0048] In a preferred embodiment, the autonomous navigation vehicle sends temporary positioning sequences to a preset receiving point multiple times within a preset period. The edge computing nodes, autonomous navigation vehicles, and preset receiving points are also configured to perform the following operations: When the preset receiving point receives the temporary positioning sequence, the preset receiving point generates a hit reporting message that includes the temporary positioning sequence and the received measurement information, wherein the received measurement information includes the receiving time information and the receiving strength information. A hit reporting message is sent from a preset receiving point to the edge computing node.

[0049] In a preferred embodiment, the preset receiving point includes a first preset receiving point and a second preset receiving point; The edge computing nodes, autonomous navigation vehicles, and preset receiving points are also configured to perform the following operations: If the edge computing node receives only a hit report message sent by the first preset receiving point during the receiving period, the edge computing node will determine the first preset receiving point as the location receiving point. If the edge computing node receives a hit report message sent by the first preset receiving point and a hit report message sent by the second preset receiving point during the receiving period, the edge computing node determines one of the first preset receiving point and the second preset receiving point as the location receiving point based on the hit report message sent by the first preset receiving point and the hit report message sent by the second preset receiving point. The location of the autonomous navigation vehicle is determined by edge computing nodes based on the location of the positioning receiver point; The control strategy for the conveyor is determined by the edge computing nodes based on the location of the autonomous navigation vehicle.

[0050] In a preferred embodiment, the edge computing node, the autonomous navigation vehicle, and the preset receiving point are further configured to perform the following operations: After the autonomous navigation vehicle completes its temporary task, it deletes the temporary positioning sequence stored in the autonomous navigation vehicle and sends a task completion notification to the edge computing node. After receiving the task completion notification, the edge computing node deletes the association between the temporary positioning sequence and the autonomous navigation vehicle.

[0051] It should be understood that the above description of the present invention is merely illustrative, used to explain the technical solution and principles of the present invention, and does not constitute a limitation on the scope of protection of the present invention. Those skilled in the art can make various modifications, substitutions, improvements, or equivalent treatments to the above embodiments without departing from the spirit and substance of the present invention. For example, adjustments can be made to the division of modules, data interaction flow, triggering conditions, parameter thresholds, message fields, sequence structure, sending strategy, arbitration rules, and hardware and software deployment forms, all of which should be considered to fall within the scope of protection of the present invention. In particular, the terms "comprising" and "including" in the specification indicate non-exclusive inclusion, meaning that in addition to the explicitly listed elements or steps, other elements or steps not explicitly listed may also be included; the serial numbers such as "first" and "second" in the specification are only used to distinguish different objects or steps and do not indicate limitations in order or importance; the terms such as "may," "can," and "for example" in the specification only indicate possibility or illustrative purposes and do not constitute a mandatory limitation.

[0052] Furthermore, the functional modules or units described in the specification can be implemented by hardware, software, firmware, or any combination thereof. For software implementations, the relevant functions can be stored as instructions in a computer-readable storage medium and executed by one or more processors to complete the corresponding method steps or device functions. The computer-readable storage medium can be any type of storage medium, including but not limited to non-volatile memory, volatile memory, disk, optical disk, flash memory, read-only memory, random access memory, etc. For hardware implementations, the functional modules or units can be implemented by general-purpose processors, special-purpose processors, digital signal processors, programmable logic devices, application-specific integrated circuits, gate circuits, or combinations thereof. For firmware implementations, the relevant logic can be embedded in a controller, microprocessor, or embedded system. Features from different implementation methods can also be combined with each other, as long as the combination does not violate the purpose of the invention or create technical contradictions, a new implementation method can be formed and also fall within the scope of the invention.

[0053] Finally, the scope of protection of this invention is defined by the claims, and the specification and drawings are only used to interpret the claims. Those skilled in the art should understand that any modifications, equivalent substitutions, or improvements made to this invention without departing from the spirit and scope defined by the claims should be included within the scope of protection of this invention.

Claims

1. A low-latency collaborative scheduling and control method for multiple devices in an automated warehousing center based on edge computing, characterized in that, The method includes: Temporary service requests are received by edge computing nodes; The edge computing node determines the autonomous navigation vehicle to perform the temporary service based on the temporary service request; The edge computing node assigns a temporary positioning sequence to the autonomous navigation vehicle based on the temporary service that the autonomous navigation vehicle will perform; The autonomous navigation vehicle determines whether it has entered a signal shadow area; and If it is determined that the automated navigation vehicle has entered the signal shadow area, the automated navigation vehicle sends the temporary positioning sequence to the preset receiving point.

2. The method according to claim 1, wherein, The automated navigation vehicle determines that it has entered the signal shadow area by the following steps: The autonomous navigation vehicle sends real-time location information to the edge computing node multiple times; If the autonomous navigation vehicle fails to receive confirmation of receipt of the real-time location information from the edge computing node multiple times consecutively, the autonomous navigation vehicle determines that it has entered the signal shadow area. The confirmation of receipt is used to indicate that the edge computing node has correctly received the real-time location information.

3. The method according to claim 1, wherein, The automated navigation vehicle sends the temporary positioning sequence to the preset receiving point multiple times within a preset period; The method further includes: When the preset receiving point receives the temporary positioning sequence, the preset receiving point generates a hit reporting message including the temporary positioning sequence and the received measurement information, wherein the received measurement information includes the received time information and the received strength information. The hit reporting message is sent from the preset receiving point to the edge computing node.

4. The method according to claim 3, wherein, The preset receiving point includes a first preset receiving point and a second preset receiving point; The method further includes: If the edge computing node receives only a hit report message sent by the first preset receiving point during the receiving period, the edge computing node will determine the first preset receiving point as the location receiving point. If an edge computing node receives a hit report message sent by a first preset receiving point and a hit report message sent by a second preset receiving point during the receiving period, the edge computing node determines one of the first preset receiving point and the second preset receiving point as the location receiving point based on the hit report message sent by the first preset receiving point and the hit report message sent by the second preset receiving point. The position of the autonomous navigation vehicle is determined by edge computing nodes based on the position of the positioning receiving point; The edge computing nodes determine the control strategy for the conveyor based on the location of the automated navigation vehicle.

5. The method according to claim 4, wherein, The method further includes: After the autonomous navigation vehicle completes the temporary task, it deletes the temporary positioning sequence stored in the autonomous navigation vehicle and sends a task completion notification to the edge computing node. After receiving the task completion notification, the edge computing node deletes the association between the temporary positioning sequence and the autonomous navigation vehicle.

6. A low-latency collaborative scheduling and control system for multiple devices in an automated warehousing center based on edge computing, the system comprising edge computing nodes, automated guided vehicles, and preset receiving points, characterized in that, The edge computing node, the autonomous navigation vehicle, and the preset receiving point are configured to perform the following operations: Temporary service requests are received by edge computing nodes; The edge computing node determines the autonomous navigation vehicle to perform the temporary service based on the temporary service request; The edge computing node assigns a temporary positioning sequence to the autonomous navigation vehicle based on the temporary service that the autonomous navigation vehicle will perform; The autonomous navigation vehicle determines whether it has entered a signal shadow area; as well as If it is determined that the automated navigation vehicle has entered the signal shadow area, the automated navigation vehicle sends the temporary positioning sequence to the preset receiving point.

7. The system according to claim 6, wherein, The automated navigation vehicle determines that it has entered the signal shadow area by the following steps: The autonomous navigation vehicle sends real-time location information to the edge computing node multiple times; If the autonomous navigation vehicle fails to receive confirmation of receipt of the real-time location information from the edge computing node multiple times consecutively, the autonomous navigation vehicle determines that it has entered the signal shadow area. The confirmation of receipt is used to indicate that the edge computing node has correctly received the real-time location information.

8. The system according to claim 6, wherein, The automated navigation vehicle sends the temporary positioning sequence to the preset receiving point multiple times within a preset period; The edge computing node, the autonomous navigation vehicle, and the preset receiving point are further configured to perform the following operations: When the preset receiving point receives the temporary positioning sequence, the preset receiving point generates a hit reporting message including the temporary positioning sequence and the received measurement information, wherein the received measurement information includes the received time information and the received strength information. The hit reporting message is sent from the preset receiving point to the edge computing node.

9. The system according to claim 8, wherein, The preset receiving point includes a first preset receiving point and a second preset receiving point; The edge computing node, the autonomous navigation vehicle, and the preset receiving point are further configured to perform the following operations: If the edge computing node receives only a hit report message sent by the first preset receiving point during the receiving period, the edge computing node will determine the first preset receiving point as the location receiving point. If an edge computing node receives a hit report message sent by a first preset receiving point and a hit report message sent by a second preset receiving point during the receiving period, the edge computing node determines one of the first preset receiving point and the second preset receiving point as the location receiving point based on the hit report message sent by the first preset receiving point and the hit report message sent by the second preset receiving point. The position of the autonomous navigation vehicle is determined by edge computing nodes based on the position of the positioning receiving point; The edge computing nodes determine the control strategy for the conveyor based on the location of the automated navigation vehicle.

10. The system according to claim 9, wherein, The edge computing node, the autonomous navigation vehicle, and the preset receiving point are also configured to perform the following operations: After the autonomous navigation vehicle completes the temporary task, it deletes the temporary positioning sequence stored in the autonomous navigation vehicle and sends a task completion notification to the edge computing node. After receiving the task completion notification, the edge computing node deletes the association between the temporary positioning sequence and the autonomous navigation vehicle.

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