With the rapid development of the economy, the manufacturing and logistics industries face unprecedented challenges in Industry 4.0, particularly in warehousing management. This paper proposes a novel distributed smart warehousing system based on the Internet of Things (IoT), integrating cutting-edge technologies such as 5G, RFID, and AGVs to optimize warehousing operations. The main contributions of this study are threefold: First, a comprehensive framework for the smart warehousing system is established, introducing a novel fusion approach that seamlessly incorporates 5G, RFID, and AGV technologies. Second, a 5G Seamless Low-Latency Warehousing Network Architecture (5G-SLNA) is devised to ensure uninterrupted network coverage and low-latency communication within warehousing scenarios. Third, a Multi-Factor Task Priority Scheduling Algorithm for smart warehousing (MFTPSA) is proposed, and a reinforcement learning method is adopted to improve the accuracy of the algorithm and ensure that tasks are executed in the most efficient way. Through a proof-of-concept implementation and comparative evaluation, the system demonstrates significant improvements in communication latency, identification accuracy, and error reduction, leading to increased work efficiency and reduced operational costs. The results highlight the system’s adaptability, extensibility, providing strong support for the intelligent transformation of the industry in the context of Industry 4.0 and smart logistics.