边缘计算驱动的AGV设备智能化调度系统架构与人机协同控制策略

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中图分类号：F259.27 文献标志码：A DOI： 10.13714/j.cnki.1002-3100.2025.18.010

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Intelligent Scheduling System Architecture and Human-Machine Collaborative Control Strategy for AGVEquipment Driven by Edge Computing

LIFengxian（Yunji Era （Shanghai） Inteligent Technology Co.，Ltd.，Shanghai2Ol6l2，China）

Abstract： Aimingat the problems ofhigh communicationlatencyandhuman-machinecolaborationieficiencyintraditional AGV systemsincomplexindustrialsenaris，thispaperpropossaerarchcalahitectreofintellgncedrivenAGVqupmenteuling systembasedonedgecomputing，andconstructsatrinitymodelof "human-machinecollaboration-edgecomputing-nteligent perceptin". Byitegrating multisource perceptiondatasuchasLiDARandRFID，combined withthedynamic prioritycontrolstrategy real-timecolaborationbetweenhuman-machine instructionsandequipmentcontrolcanbeachieved.Meanwhile，thelightweight MQTT-SNcommunication protocolandedgecaching mechanismaredesigned tosolve theinterface adaptation isueofheterogeeous AGVequipment schedulingsystem.Theexperiments hasshown thattheresponsedelayofhuman-machine instructions hasbeenreduced from 480 ms to 85ms （a decrease of 82.3% ，and the colision rate of multi-AGV scheduling has been reduced from 12 times per hour to 2 times per hour （a decrease of 83.3% ， significantly improving the automation and safety of industrial logistics.

Keywords：dgecomputing;AGVqupment;humanacincolboratiecotrol;itellgntsesing;shdulingssttue

0引言

自动导引车（AGV）在工业物流中承担着关键的运输任务，但其内置系统受限于功能、算力与通信延迟，难以应对多任务并发、动态环境感知及人工干预等复杂场景。（剩余5890字）