CN110535520A

CN110535520A - Improve the intelligent movable trunking and relay system of indoor Internet of Things signal covering

Info

Publication number: CN110535520A
Application number: CN201911034084.XA
Authority: CN
Inventors: 寇京珅
Original assignee: Terminus Beijing Technology Co Ltd
Current assignee: Terminus Beijing Technology Co Ltd
Priority date: 2019-10-29
Filing date: 2019-10-29
Publication date: 2019-12-03
Anticipated expiration: 2039-10-29
Also published as: CN110535520B

Abstract

The invention discloses a kind of relay systems for improving indoor Internet of Things signal covering, judged by the effective covering power of signal of the scheduler module to each trunking, and when causing corresponding trunking that can not provide satisfactory signal effective coverage range due to generating evolution etc. object, it is mobile to control corresponding trunking, and carry out the judgement whether moving direction is conducive to signal relaying, so that corresponding trunking improves the ability of the signal relaying of itself offer, range and quality, so that indoor more objects obtain preferable communication link, expand the effective covering range of signal of each trunking on the whole, so that indoor Internet of Things signal covers to obtain whole promotion.

Description

Improve the intelligent movable trunking and relay system of indoor Internet of Things signal covering

Technical field

The present invention relates to Internet of Things field of communication technology, in particular to a kind of movement for improving indoor Internet of Things signal covering Intelligent trunking and a kind of relay system for improving indoor Internet of Things signal covering.

Background technique

In the Internet of Things building process applied towards indoor scene, generally selects short-distance wireless communication mode and establish object Data communication channel between product and article, the short-distance wireless communication mode that can be used include ZigBee, WIFI, bluetooth, 6LOWPAN etc..In short-distance wireless communication mode, a radio network gateway is usually set up, on the one hand which accesses internet, And the communications with Internet of Things background server are realized by internet, on the other hand wireless object then is provided towards the interior space Networking access covering, passes through short-distance wireless communication and local various articles are established and communicated to connect, including article and wireless network Direct communication connection type and the article for closing direct communication are logical by transferring realization and radio network gateway in local other articles The indirect communication connection type of letter.

In order to save electric energy and reduce radiation, signal power used by short-distance wireless communication mode is all lower, right The penetration power of wall is poor, therefore communication quality and distance have strong correlation, and are susceptible to indoor environment factor Influence.If the distance of a part of article and radio network gateway in coverage area is distant or intermediate there are barrier screenings Gear, then need to install special trunking, and the relay transmission of wireless communication signals is realized between article and radio network gateway.It is special It is not towards the indoor environment that building structure is complicated, signal separates more or more floors, setting trunking is to improvement Internet of Things The covering of net signal has the function of particularly critical.

In the prior art, the trunking is usually laid according to the natural space that building structure is formed, such as per several A trunking is installed in a room or each floor installs one, and trunking is using fixed installation structure.In this way Arrangement has the disadvantage that

First, because phenomena such as mechanism that wireless signal transmits indoors is complicated, and there are signal diffraction, lays according to building structure The layout and quantity for leading to trunking may not necessarily be optimized enough, for example can have the dead angle that signal can not cover, either Trunking setting excessively causes unnecessary radiation to increase.

Second, there is also position movements for many articles for accessing Internet of Things itself and the barrier in space, such as greatly Type conference centre or show ground, the position of many articles often adjust transformation, and the distributing position of relaying demand is caused to occur Variation, fixed trunking are difficult to meet.

Summary of the invention

(1) goal of the invention

To overcome above-mentioned at least one defect of the existing technology, optimizes the layout and quantity of indoor relaying equipment, meet room Signal after interior article reversing of position relays demand, improves ability, range and the quality of the signal relaying that trunking provides, this Disclosure of the invention following technical scheme.

(2) technical solution

As the first aspect of the present invention, the invention discloses the intelligent movable relayings for improving indoor Internet of Things signal covering to set It is standby, comprising:

Trunk module is connected with radio network gateway and each object wireless communication；

Signal covers monitoring modular, at least monitoring the first letter of Radio Link between the trunk module and respective objects object Number intensity, and with the quantity of the object of trunk module communication connection and communicate ID；

Mobile planning module, for analyzing the environmental information around the trunking, to select at least one candidate target Point, and obtain the location information of each candidate target point；

First Transmit-Receive Unit, for sending the location information of first signal strength information and each candidate target point To the scheduler module of relay system, and receive the move that the direction that the scheduler module is sent chooses target point；

Mobile mechanism, for driving the trunking to choose target point mobile to described, so that the trunk module is effective Accounting of the object quantity in all objects of the trunk module is promoted to not less than effective coating ratio threshold value；

Gateway communication monitoring modular, the second signal for monitoring Radio Link between the trunking and radio network gateway are strong Degree, and in the case where judging lowest signal intensity threshold value that the second signal intensity is lower than: Xiang Suoshu scheduler module hair Lost contact warning message is sent, so that the scheduler module controls corresponding trunking reverse movement；Or, being sent to the scheduler module Lost contact warning message so that the scheduler module choose it is new choose target point, and control the trunking to described new Choose target point mobile；Or, lost contact warning message is sent to the mobile mechanism of the trunking, so that the mobile mechanism stops It only moves and waits to be instructed；

Elevating mechanism adjusts the height and position of the trunk module for the movement according to the mobile mechanism；Wherein,

The move is generated in the case where the accounting is lower than effective coating ratio threshold value, the effective target object It is greater than the object of effectively covering signal threshold value for first signal strength of the trunk module；The environmental information is by pre- First it is set to indoor camera system or laser radar system acquisition, the geographical environment and road being able to reflect around the trunking Road situation；The elevating mechanism reduces the height position of the trunk module in the case where the trunking is mobile by driving It sets, and increases the height and position of the trunk module in the case where the trunking is not driven mobile.

In a kind of possible embodiment, the mobile planning module is also used to choose the position of target point according to described in Information planning chooses the movement routine of target point described in reaching, and controls the mobile mechanism to described according to the movement routine Choose target point mobile.

In a kind of possible embodiment, the trunking includes:

Target position acquisition device, for acquiring the environmental data at least one direction of trunking；

The environmental information of the trunking analysis includes the environmental data of the target position acquisition device acquisition.

In a kind of possible embodiment, the target position acquisition device includes at least one image capture device, The image data or point cloud data that each described image acquisition equipment acquires at least one direction respectively are as the environmental data；And And

The mobile planning module extracts the target point for meeting locality condition as institute from described image data or point cloud data State candidate target point；Wherein,

The locality condition includes: the distance between described trunking homeposition in distance threshold, and with it is described Access is capable of forming between trunking homeposition.

In a kind of possible embodiment, described image acquires equipment and uses 3D camera, and the 3D camera is used for Acquire the 3 D stereo picture of the trunking ambient enviroment.

As a second aspect of the invention, the invention also discloses the relay system for improving indoor Internet of Things signal covering, It further include radio network gateway and scheduler module including at least one trunking；Wherein,

The trunking includes:

Elevating mechanism adjusts the height and position of the trunk module for the movement according to the mobile mechanism；

Wherein, the environmental information is acquired by being pre-set at indoor camera system or laser radar system, is able to reflect this Geographical environment and road conditions around trunking；The elevating mechanism is in the case where the trunking is mobile by driving The height and position of the trunk module is reduced, and increases the relaying mould in the case where the trunking is not driven mobile The height and position of block；

The scheduler module includes:

Second Transmit-Receive Unit, the first signal of Radio Link between respective objects object sent for receiving the trunking The position at least one candidate target point that strength information and the trunking are selected by the environmental information around analysis Confidence breath；

Effective selection unit, for filtering out first signal strength from the object communicated to connect with the trunking Effective target object greater than the object of effective covering signal threshold value, as the corresponding trunking；

Mobile trigger unit, for judging institute of the effective target object quantity in corresponding trunking of each trunking Have whether the accounting in object is lower than effective coating ratio threshold value, and is lower than the feelings of effective coating ratio threshold value in the accounting Triggering command generation unit generates move under condition；

Described instruction generation unit is generated and is directed toward for choosing one from each candidate target point as target point is chosen The move for choosing target point, and be sent to the move of generation accordingly by second Transmit-Receive Unit Trunking；

Trend judgement unit, for the trunking start to it is described choose target point mobile after, judge the accounting Variation tendency；Wherein,

In the case that the accounting described in the Trend judgement unit judges is in rising trend: the scheduler module, which makes accordingly to relay, to be set It is standby to continue to move to, until the accounting is promoted to not less than effective coating ratio threshold value.

In a kind of possible embodiment, described instruction generation unit is using following one way in which from multiple described Target point is chosen described in choosing in candidate target point:

It randomly selects；

According to the priority ranking selection carried out in advance to direction.

In a kind of possible embodiment, the movement of target point is chosen described in the direction that described instruction generation unit generates Instruction includes:

The location information for choosing target point；Or,

The mark of target point is chosen described in reference, so that described in accordingly trunking identifies after receiving the move The described of mark reference chooses target point, and then obtains the location information for choosing target point.

In a kind of possible embodiment, the trunking start to it is described choose target point mobile after, institute State accounting described in Trend judgement unit judges it is on a declining curve in the case where:

Described instruction generation unit is generated far from the move for choosing target point, is reversely moved with controlling corresponding trunking It is dynamic, until the accounting is promoted to not less than effective coating ratio threshold value；Alternatively,

The candidate target point confidence in current position that described instruction generation unit is sent according to the trunking Breath chooses one as new target point of choosing from the candidate target dot position information of the current position, generates and be directed toward The new move for choosing target point, so that corresponding trunking new chooses target point mobile to this；Alternatively,

Described instruction generation unit generates the move for being directed toward the trunking homeposition, to control corresponding trunking The homeposition is returned, and optionally takes the candidate target from each candidate target point from the homeposition Point generates as new target point of choosing and is directed toward the new move for choosing target point so that accordingly trunking to this New chooses target point mobile.

In a kind of possible embodiment, the judgement rule in rising trend of accounting described in the Trend judgement unit judges It then include: to meet the accounting of the trunking in homeposition to be moved to more setting times lower than the trunking Or the accounting after set distance；

The judgment rule on a declining curve of accounting described in the Trend judgement unit judges includes: described in the trunking is mobile It is not judged as after setting time or the set distance in rising trend.

In a kind of possible embodiment, the scheduler module further include:

Scheduling statistics unit, for the mobile number of the trunking to be counted since homeposition from the trunking, And in the case where judging that the mobile number exceeds mobile frequency threshold value, indicate the relay system to the trunking Current position or the homeposition at send trunking.

In a kind of possible embodiment, the scheduler module further include:

Metrics calculation unit, each cluster of positional information calculation for each object to be considered as a cluster, and according to each object The distance between other clusters；

Cluster combining unit, for a new cluster will to be merged at a distance of two nearest clusters；

Unit is iterated to calculate, carries out the calculating of the distance between cluster for the new cluster to be substituted into the metrics calculation unit, so that The cluster combining unit merges new cluster out again, until the quantity of the cluster be reduced to scheduling amount threshold it is equal；Wherein,

Described instruction generation unit is also used to generate the move for being directed toward the position of each cluster respectively, and passes through described second The move of generation is sent to corresponding trunking by Transmit-Receive Unit.

In a kind of possible embodiment, the metrics calculation unit calculates the mode of distance between two clusters Are as follows:

Calculate in one of them described cluster the mean value of distance between all target points in all target points and another described cluster；Or

In each object for including using the cluster between two objects of lie farthest away the midpoint of line as the position of the cluster Set distance between calculating cluster；Or

Can include distance between the center of circle of the smallest circle of all objects in the cluster calculates cluster as the position of the cluster；Or

Distance between the center for the polygon that all objects for including using the cluster are formed calculates cluster as the position of the cluster.

(3) beneficial effect

The intelligent movable trunking and relay system disclosed by the invention for improving indoor Internet of Things signal covering, have has as follows Beneficial effect:

1, judged by the effective covering power of signal of the scheduler module to each trunking, and position is being generated due to object When setting the reasons such as transformation causes corresponding trunking that can not provide satisfactory signal effective coverage range, corresponding relaying is controlled Equipment is mobile, and carries out the judgement whether moving direction is conducive to signal relaying, so that corresponding trunking improves itself offer Ability, range and the quality of signal relaying expand each relaying so that indoor more objects obtain preferable communication link The effective covering range of signal of equipment on the whole, so that indoor Internet of Things signal covers to obtain whole promotion.

2, by the signal strength between monitoring trunking and radio network gateway, avoid trunking in scheduled module control The quality of connection between radio network gateway is lost when system is mobile in order to improve the quality of connection between object.

3, by being equipped with station acquisition device for trunking, it can be realized and independently acquire environmental information under the first visual angle Function, so that the selection of candidate target point is more reasonable.

4, in such a way that a variety of different target point selections are provided, a variety of possibility are provided for the moving direction of trunking Property, and priority can be set according to indoor arrangements scenes such as indoor partition arrangements, correct target point is chosen in raising Probability enables trunking to be moved to the position met the requirements as early as possible.

5, content is write by providing a variety of different moves, can sends when needed and is different from any candidate mesh The other positions information of punctuate, or it is capable of the length of reduction instruction when needed, so that move functional diversities.

6, for the trunking using higher-frequency time to scheduler module feedback information, pass through setting setting time or setting Distance extends judgement of the scheduler module to trunking effective target object accounting variation tendency to a certain extent, so that adjusting The judgement result for spending module is more mature, improves the probability being finally appropriately determined.

7, it avoids trunking from frequently shifting one's position in scheduling process by the mobile frequency threshold value of setting but always can not Reach requirement and fall into unlimited moving process, and send trunking in due course, to meet the relaying demand of object.

8, bad due to signal covering and need when needing to adjust trunking position etc. at least partly trunking In the case where being scheduled, it can be obtained corresponding by obtaining the position of indoor all objects and carrying out clustering algorithm operation Then the optimal location of each trunking controls corresponding trunking and goes to optimal location point, realize the signal covering of object, Ability, range and the quality for guaranteeing signal relaying, meet the relaying demand of object.

Detailed description of the invention

It is exemplary below with reference to the embodiment of attached drawing description, it is intended to for the explanation and illustration present invention, and cannot manage Solution is the limitation to protection scope of the present invention.

Fig. 1 is the structural block diagram of intelligent movable trunking first embodiment disclosed by the invention.

Fig. 2 is the three dimensional structure diagram of intelligent trunking first embodiment.

Fig. 3 is the structural block diagram of relay system first embodiment disclosed by the invention.

Fig. 4 is the structural block diagram of relay system second embodiment disclosed by the invention.

Fig. 5 is that relay system second embodiment is applied to indoor outdoor scene structural schematic diagram.

Specific embodiment

To keep the purposes, technical schemes and advantages of the invention implemented clearer, below in conjunction in the embodiment of the present invention Attached drawing, technical solution in the embodiment of the present invention is further described in more detail.

It should be understood that in the accompanying drawings, from beginning to end same or similar label indicate same or similar element or Element with the same or similar functions.Described embodiments are some of the embodiments of the present invention, rather than whole implementation Example, in the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other.Based in the present invention Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, It shall fall within the protection scope of the present invention.

Herein, " first ", " second " etc. are only used for mutual differentiation, rather than indicate their significance level and sequence Deng.

The division of module, unit or assembly herein is only a kind of division of logic function, in actual implementation may be used To there is other division modes, such as multiple modules and/or unit can be combined or are integrated in another system.As separation The module of part description, unit, component are also possible to indiscrete may be physically separated.It is shown as a unit Component can be physical unit, may not be physical unit, it can is located at a specific place, may be distributed over grid In unit.Therefore some or all of units can be selected to realize the scheme of embodiment according to actual needs.

Below with reference in the intelligent movable of the indoor Internet of Things signal covering of improvement disclosed in Fig. 1-Fig. 2 the present invention is described in detail After equipment first embodiment.As Figure 1-Figure 2, trunking disclosed in the present embodiment mainly includes: trunk module 100, Signal covers monitoring modular, mobile planning module, the first Transmit-Receive Unit and mobile mechanism 300.

Trunking be usually provided with it is multiple, can be according to careat size, the quantity of indoor compartment and indoor mesh Mark the quantity setting of object.Radio network gateway is connect with external the Internet.It is indoor can controlled object object equipped with signal receiving/transmission device, Trunking and radio network gateway and each object wireless communication connect, when realization user is away from home eventually using the intelligence in hand End is connected through the internet to trunking, and then object carries out corresponding actions in control room, such as control air-conditioning is opened, control NTSC television system NTSC is closed, and control pendent lamp is opened etc., realizes the function of being managed control to indoor equipment by Internet of Things.

Trunk module 100 is responsible for connecting with radio network gateway and each object wireless communication, the object in spatial dimension Direct wireless communication can be established with some trunking, realize the relay function of trunking.Trunk module is commonly equipped with Antenna 200, to enhance the ability of trunk module receiving and transmitting signal.If an object can be set with the relaying of two or more Standby to send and receive signals, then it is established with the strongest trunking of received signal strength and communicates to connect.

Signal covering monitoring modular at least monitors the signal strength of Radio Link between trunk module and respective objects object, claims For the first signal strength.First signal strength is able to reflect trunk module and between each object of trunk module communication connection Communication capacity, be mainly used for monitor trunk module from object receive signal intensity.Signal strength can use dBm (decibel relative to one milliwatt, decibel milliwatt), asu(alone signal unit independent signal list Member), RSSI(Received Signal Strength Indication, received signal intensity instruction), Rx(RX Receive, communications reception unit) etc. value carry out quantization means, above-mentioned value is bigger, the letter between trunking and object Number intensity is higher, and link quality is better.Signal, which covers monitoring modular, can indicate the first signal strength using RSSI value.

In one embodiment, signal covering monitoring modular is in addition to monitoring from the object communicated to connect with trunk module Place receives except the signal strength of signal, while also monitoring the quantity of the object communicated to connect with trunk module and communicating ID, The corresponding ID that the quantity and these objects that have the object of communication connection relationship are namely established with the trunk module is believed Breath.It is possible thereby to learn and each object of trunk module communication connection and corresponding object signal strength.Such as it relays It is a1-a10 totally ten objects that equipment A, which is currently connected with ID, and corresponding first signal strength is respectively s1-s10.

Monitoring modular is covered by signal and acquires signal strength, and is sent out the signal strength information by the first Transmit-Receive Unit It send to scheduler module, dispatches the trunking for subsequent scheduler module and part judgment basis is provided, avoid trunking in movement The connection between object is lost, loses and had connected in the process.

Environmental information around mobile planning module analysis trunking, to select at least one candidate target point.Ring Border information is able to reflect geographical environment and road conditions around the trunking, such as the quantity of barrier, size, position, And upward slope, descending and step of road etc., to cooperate mobile planning module to obtain the potential moving target position of trunking.

Environmental information can be the camera system being pre-set in indoor roof or side walls or laser radar system mentions It supplies, these equipment acquire indoor scene image or scene point cloud in real time, can generate the environment letter around each trunking Breath, and environmental information is sent to corresponding trunking in real time.In order to make trunking obtain ring corresponding with self-position Border information, camera system will recognise that the trunking in image, and send corresponding environmental information.Environmental information is also possible to It is acquired by the device that trunking itself is equipped with, specific descriptions can refer to later.

Mobile planning module analyzes environmental information, such as passes through thresholding method, edge detection method, extracted region Method etc. identifies image data, or is identified by clustering algorithm etc. to a cloud environment data, obtains trunking four The optional mobile target point in week, that is, candidate target point, while the location information of each candidate target point is also obtained, that is, The distance between trunking and each candidate target point and direction are obtained.

For example, trunking A is located at a crossroad, around there are four channel P1-P4, wherein have one in the P4 of channel The barrier may be an object with the barrier ob1(of 3 meters of 2m*2m*3m size of trunking A distance), channel P1-P3 The equal clear in certain distance then chooses three candidate target point t1-t3 respectively in the P1-P3 of channel, and assumes each Candidate target point and the current location trunking A are in different relative positions at a distance of 5 meters.It is understood that in the middle When equipment A is located at an opening, the candidate target point of selection be likely located at either trunking A to.

Ambient enviroment is analyzed by mobile planning module to obtain each candidate mobile target point and its corresponding position, and Each candidate target dot position information is sent to scheduler module by the first Transmit-Receive Unit, dispatches the relaying for subsequent scheduler module Equipment is mobile to provide some optinal plans, and the quantity of optinal plan depends on the quantity of candidate target point.

The location information of above-mentioned first signal strength information and above-mentioned candidate target point is sent to by the first Transmit-Receive Unit Scheduler module.First Transmit-Receive Unit can acquire data using preset time window as the period and send data, example to scheduler module A such as every 10 seconds or every 5 minutes signal strengths of acquisition are simultaneously sent to scheduler module.

The first signal strength information that scheduler module can be sent according to trunking A with trunking A from communicating to connect The object that the first signal strength is greater than effectively covering signal threshold value is filtered out in all objects, as having for trunking A Imitate object.

Then scheduler module judges effective target object quantity the accounting in all objects of the trunking of trunking A Than whether being lower than effective coating ratio threshold value.If above-mentioned accounting is lower than effective coating ratio threshold value, can be sent according to after equipment A Candidate target dot position information, therefrom select one as choosing target point, and generate corresponding move, that is, It says, move is generated in the case where accounting is lower than effective coating ratio threshold value.Then scheduler module sends move To trunking A, so that trunking A chooses movement at target point to this.

Mobile mechanism 300 is used to drive trunking to choosing target point mobile according to move, so that trunk module Accounting of the effective target object quantity in all objects of the trunk module be promoted to not less than effective coating ratio threshold value.In Trunking A is started by mobile mechanism's driving to after choosing target point mobile, trunking A over time can again to Scheduler module sends the first signal strength information of position after movement, and scheduler module can be according to before movement and after movement at this time The information of transmission judges the variation tendency of above-mentioned accounting, and in the case where above-mentioned accounting is in rising trend, make trunking A after Continuous movement, until accounting is promoted to not less than effective coating ratio threshold value.If trunking A is sent out to scheduler module after movement Deliver letters breath when have arrived at choose target point and in stop moving condition, then judge that above-mentioned accounting is at this time in scheduler module Ascendant trend and when being promoted to not less than effective coating ratio threshold value, scheduler module no longer needs to keep trunking A mobile.

In one embodiment, mobile planning module is also used to according to the location information planning arrival choosing for choosing target point The movement routine of middle target point, and mobile mechanism is controlled to choosing target point mobile according to movement routine.

In one embodiment, trunking includes: gateway communication monitoring modular, for monitoring trunking and wireless The signal strength of Radio Link between gateway, referred to as second signal intensity.Second signal intensity is able to reflect in trunking After the communication capacity between module and radio network gateway, it is mainly used for monitoring the intensity that trunk module receives signal from radio network gateway. Gateway communication monitoring modular can indicate second signal intensity using RSSI value.

For trunking A to choosing in target point t1 moving process, gateway communication monitoring modular judges that second signal is strong The lowest signal intensity threshold value being lower than is spent, then influences whether the normal data communication between trunking A and radio network gateway, causes User can not carry out corresponding actions by object in Internet of Things network control room.Relaying is guaranteed using following one of strategy at this time Equipment will not lose linking between radio network gateway when scheduled module controls mobile.

The first strategy, trunking A send lost contact warning message to scheduler module by the first Transmit-Receive Unit, dispatch mould Block generates the move for being directed toward trunking A homeposition, so that scheduler module controls corresponding trunking reverse movement, and Back to homeposition, and scheduler module chooses target point from other candidate target points again.

Second of strategy, trunking A send lost contact warning message to scheduler module by the first Transmit-Receive Unit, dispatch mould Block control trunking A stop movement, and future time window arrive when, scheduler module using current location as initial position (out Hair position) choose it is new choose target point, and control trunking and choose target point mobile to new.

The third strategy, gateway communication monitoring modular send lost contact warning message to the mobile mechanism of trunking, so that Mobile mechanism stops instruction that is mobile and waiting scheduler module.

By the signal strength between monitoring trunking and radio network gateway, trunking is avoided to control in scheduled module The quality of connection between radio network gateway is lost when mobile in order to improve the quality of connection between object.

In one embodiment, trunking includes: target position acquisition device, for acquiring trunking at least one The environmental data in a direction.Environmental data can use image data or point cloud data.Under normal conditions, target position is adopted The direction of acquisition means acquisition is horizontal direction.The environmental data of target position acquisition device acquisition is with being capable of 360 degree coverings levels Direction be it is excellent, selected with providing more candidate moving directions to scheduler module.The environmental information of trunking analysis can To only include the environmental data of target position acquisition device acquisition, that is to say, that trunking A passes through the acquisition of assembly target position Device can be realized the function that environmental information is independently acquired under the first visual angle, so that the selection of candidate target point is more reasonable.

Target position acquisition device includes at least one image capture device, and each image capture device acquires at least one respectively The image data or point cloud data in a direction are as environmental data.For example, target position acquisition device include four respectively for The image capture device of front, rear, left and right four direction is obtained a little to obtain image data, or using four laser radars Cloud data.It is understood that

The target point for meeting locality condition is extracted as candidate target point, and is obtained between each candidate target point and trunking A Relative position information.Wherein, locality condition includes: the distance between trunking homeposition in distance threshold, and And access is capable of forming between trunking homeposition.Access is capable of forming to be primarily referred to as on the way without large obstacle.

In order to which the target point of choosing for guaranteeing that scheduler module selects is that trunking A can be moved to, therefore on being arranged State locality condition.Image capture device can use 3D camera 400, and four 3D cameras 400 acquire trunking level side The 3 D stereo picture of upward environment, as above-mentioned environmental information.

In one embodiment, trunking further include: obstacle monitoring modular includes that trunking moves for detecting The barrier at least one direction including dynamic direction, and detecting the presence of at a distance between trunking lower than avoidance When the barrier of threshold value, Xiang Yidong planning module issues avoidance warning message, so that mobile planning module control mobile mechanism keeps away Barrier.

In one embodiment, the trunking further include: elevating mechanism 500, for the movement according to mobile mechanism Adjust the height and position of trunk module.Wherein, elevating mechanism 500 reduces relaying mould in the case where trunking is mobile by driving The height and position of block, and increase in the case where trunking is not driven mobile the height and position of trunk module.When relaying is set When standby A scheduled module control movement, elevating mechanism is shunk, to reduce the height and position of trunk module, to reduce relaying The center of gravity of equipment A avoids toppling because of gravity center instability.After trunking A stops movement and is in position stable state, explanation Trunking A reaches the position that can satisfy relaying demand, and elevating mechanism is extended at this time, to promote the height of trunk module Position is spent, to improve the signal transmit-receive intensity and signal cover of trunk module.

It is additionally provided with charging interface 600 on trunking, is filled for being moved to indoor charged area when electricity is low Electricity.

It is real below with reference to the relay system first of the indoor Internet of Things signal covering of improvement disclosed in Fig. 3 the present invention is described in detail Apply example.As shown in figure 3, relay system disclosed in the present embodiment mainly includes at least one trunking, it further include radio network gateway And scheduler module.Trunking can be using trunking disclosed in aforementioned intelligent movable trunking first embodiment.It adjusts Degree module in the position of object for being transferred, indoor newly-increased object, trunking will lose the communication with object In the case that connection etc. may influence user management control object, position scheduling is carried out to indoor each trunking, is referred to It waves each trunking and carries out corresponding position movement, each trunking is made to be able to maintain the connection with indoor objects object, Jin Erbao Hold control of the user to indoor objects object.For including that trunking A, trunking B ... wait the relaying of multiple trunkings For system, commander that each trunking is distinguished by scheduler module, non-interfering and scheduling.

Scheduler module includes effective screening unit, mobile trigger unit, instruction generation unit, Trend judgement unit and second Transmit-Receive Unit.

Second Transmit-Receive Unit receives the information that the first Transmit-Receive Unit of trunking is sent, these information include the first signal Strength information and candidate target dot position information.It should be noted that the information transmit-receive between trunking and scheduler module It can be and realized indirectly by radio network gateway as medium, be also possible to establish individual signal transmitting and receiving link and be directly realized by 's.

The first signal strength that Effective selection unit is sent according to trunking A, from the mesh communicated to connect with trunking The object that the first signal strength is greater than effectively covering signal threshold value, effective mesh as corresponding trunking are filtered out in mark object Mark object.Effectively covering signal threshold value is the threshold value that can evaluate the signal covering power of trunking, trunking and object Between signal strength only be higher than the threshold value in the case where, could illustrate to be linked as between trunking and the object Valid link, the two receive and send messages will not it is excessive because of noise, decaying it is excessive and lead to information distortion so that it cannot correctly into Row information transmitting-receiving.For example, in corresponding the first signal strength of s1-s10 of a1-a10 object that trunking A is currently connected, s1- The signal strength of s6, s8, s10 have been more than effective covering signal threshold value, therefore the effective target object quantity of trunking A is 8.

Mobile trigger unit judges all objects of the effective target object quantity in corresponding trunking of each trunking In accounting whether be lower than effective coating ratio threshold value.Effective coating ratio threshold value is can to evaluate the signal covering of trunking The threshold value of ability could illustrate working as trunking in the case that the signal covering power of trunking is only higher than the threshold value Front position can satisfy the communication connection of indoor objects object, otherwise illustrate the relay capabilities of trunking in also object needs So as to failing sufficiently to be utilized when communication connection, it is therefore desirable to which shift position is to meet the communication connection with indoor objects object.

For example, effectively coating ratio threshold value is 75%, the effective target object accounting of trunking A is 8/10=80%, is not below Effective coating ratio threshold value, illustrates that the current operation conditions of trunking A is good, no replacement is required position；If due to object Position is transferred so that the object sum connecting with trunking A falls to 8, and effective target object quantity falls to 4, The effective target object accounting of trunking A is 4/8=50% at this time, moves trigger unit at this time and determines above-mentioned accounting lower than effectively covering Lid proportion threshold value illustrates that trunking A needs shift position, relays need to meet the communication connection of indoor objects object on the whole It asks, therefore the instruction generation unit for triggering scheduler module generates move, to carry out position scheduling to trunking.

And for other trunkings, also due to the position of object is mobile, some objects may be made to go out In the join domain of other present trunkings, lead to the object sum connecting with other trunkings increase but effective target Object does not change, that is to say, that newly-increased object is not effective target object, may cause the above-mentioned of other trunkings at this time Accounting is lower than effective coating ratio threshold value, and then other trunkings is caused to also need shift position.Only description is related to below The influence and scheduling of trunking A.

After instruction generation unit is moved trigger unit triggering, the candidate target point confidence sent according to trunking A Breath chooses one as target point is chosen from each candidate target point, and generating direction, this chooses the move of target point, and leads to It crosses the second Transmit-Receive Unit and the move of generation is sent to corresponding trunking, so that corresponding trunking refers to according to movement Enabling to this chooses the position of target point mobile.For example, three candidate target points that instruction generation unit is sent from trunking A One is chosen in t1-t3 as interim and chooses target point, it is assumed that has chosen t1, then instruction generation unit generates corresponding mobile Instruction, and trunking A is sent this information to by the second Transmit-Receive Unit.The first Transmit-Receive Unit of trunking A, which receives, to be adjusted The direction that degree module is sent has the move for choosing target point, parses the target point of choosing being directed toward in move, in turn Know to choose the position of target point.Then the mobile mechanism of trunking A drives trunking to choosing the position of target point to move It is dynamic.

The length of time window has with short, and long-time window is likely to be longer than trunking under experience and is moved to from homeposition Average time needed for choosing target point, and short time window is then likely to the shorter than average time.

Once and to the short time window that scheduler module sends a data it is with acquisition in trunking A every 10 seconds below Example starts to be likely in the time as defined in time window after choosing target point mobile according to move in trunking It does not reach also and chooses target point t1, trunking A acquires the location information of the first signal strength and candidate target point simultaneously at this time It is sent to scheduler module, the mobile trigger unit of scheduler module calculates time window finish time (from homeposition 10 seconds Above-mentioned accounting later), that is, calculating the effective target object quantity of trunking A and foundation has the object of connection relationship total Several ratio, the variation tendency of the above-mentioned accounting of Trend judgement unit judges.

In the case where the above-mentioned accounting of Trend judgement unit judges is in rising trend, illustrate that effective target object increases on the whole , that is to say, that compared in homeposition, trunking A can find energy during to choosing target point t1 mobile It is enough preferably to provide the position of relay services to each object.Therefore scheduler module continues mobile mechanism driving trunking A To choosing target point t1 mobile, until above-mentioned accounting is promoted to not less than effective coating ratio threshold value.

Finally stay in and choose at target point t1 it should be noted that trunking A can be, it is also possible to stay in It chooses at certain position in target point t1 moving process, which position no matter is stayed in, above-mentioned accounting is not less than effective covering Proportion threshold value.

For long-time window that is primary and sending a data to scheduler module was acquired by trunking A every 5 minutes below, Start to arrived and choose in the time as defined in time window after choosing target point mobile according to move in trunking Target point t1,

Remaining time is then waited for.When having begun to pass through 5 minutes from homeposition is mobile apart from trunking A, in The location information of the first signal strength and candidate target point is acquired after equipment A and is sent to scheduler module, the shifting of scheduler module Dynamic trigger unit calculates the above-mentioned accounting of time window finish time (after homeposition 5 minutes), Trend judgement unit Judge the variation tendency of accounting.Since the position of trunking A is mobile, reliable communication link may be established with new object It connects, it is also possible to which enhancing weakens the signal strength for having the object of connection.

In the case where the above-mentioned accounting of Trend judgement unit judges is in rising trend, illustrate that effective target object increases on the whole , that is to say, that compared in homeposition, trunking A can be mentioned preferably at target point t1 to each object choosing For relay services.

If being promoted in the above-mentioned accounting of time window finish time not less than effective coating ratio threshold value, in It can stay in and be chosen at the position target point t1 after equipment A, complete scheduling of the scheduler module to trunking A.If in the time The above-mentioned accounting of window finish time fails to be promoted to not less than effective coating ratio threshold value, then scheduler module makes mobile mechanism Drive trunking A mobile continuously along identical moving direction, until above-mentioned accounting is promoted to not less than effective coating ratio threshold Value.

Above-mentioned homeposition refers to that scheduler module judges that trunking needs shift position to meet object relaying Demand and after issuing move, trunking carried out according to move it is mobile for the first time before the location of.Energy Trunking is enough set to meet the final stop place settling position of relaying demand (above-mentioned accounting meets the requirements).Trunking exists Multiple complete moving process may be had by reaching between settling position, therefore may be deposited between homeposition and stop place In multiple temporary positions.

The present embodiment judged by the effective covering power of signal of the scheduler module to each trunking, and due to mesh When mark object, which generates the reasons such as evolution, causes corresponding trunking that can not provide satisfactory signal effective coverage range, control Corresponding trunking movement is made, and carries out the judgement whether moving direction is conducive to signal relaying, so that corresponding trunking improves Ability, range and the quality of the signal relaying itself provided expand so that indoor more objects obtain preferable communication link The big effective covering range of signal of each trunking on the whole, so that indoor Internet of Things signal covers to obtain whole promotion.

In one embodiment, instruction generation unit is by the way of randomly selecting or according in advance to direction progress Priority ranking choose mode choose target point from multiple candidate target points.

By taking tri- candidate target points of above-mentioned t1-t3 as an example, randomly selects and refer to randomly selecting a conduct from t1-t3 Choose target point.

According to the priority ranking selection carried out in advance to direction specifically: assuming that t1, t2, t3 are sequentially located at trunking The positive left side A, front side, right side, and the priority in direction is followed successively by with front side highest priority, the priority of other sides from It is that starting is once successively decreased along clockwise direction, therefore priority ranking is t2 > t3 > t1 with front side, under such priority rule It can select t2.If trunking A is mobile towards t2 but scheduler module to find that above-mentioned accounting fails in rising trend, and take Control trunking A, which returns to homeposition and chooses a conduct again from remaining candidate target point, chooses target point When, at this time t3 can be selected according to the priority rule.

In such a way that a variety of different target point selections are provided, a variety of possibility are provided for the moving direction of trunking Property, and priority can be set according to indoor arrangements scenes such as indoor partition arrangements, correct target point is chosen in raising Probability enables trunking to be moved to the position met the requirements as early as possible.

In one embodiment, it includes choosing mesh that the direction that instruction generation unit generates, which chooses the move of target point, The location information of punctuate, or refer to the mark for choosing target point.

In the case where trunking A sends the location information of tri- candidate target points of t1-t3 to scheduler module, mould is dispatched Block by screening, triggering, and etc. after, generate instruction when directly the location information for choosing target point directly can be incorporated into In move, after trunking A receives move, can directly it be moved according to the location information parsed from instruction It is dynamic.What direction at this time chose that target point refers to is exactly comprising choosing aiming spot information.

And when trunking A sends the location information of tri- candidate target points of t1-t3 to scheduler module, it can also be simultaneously To each candidate target point affix number as the mark for choosing target point, such as number respectively t1-t3 can be referred to, dispatch Module will can be referred to only when generating instruction chooses the number of target point to be incorporated into move, and trunking A is received After move, the mark in instruction is parsed, such as be identified as t2, since mark can make trunking A receive shifting That mark reference is identified after dynamic instruction chooses target point, and then obtains choosing the location information of target point, that is to say, that relaying Equipment A can determine the location information that t2 is referred to by mark t2, and mobile according to the location information.Direction choosing at this time What middle target point referred to is exactly the mark that target point is chosen comprising referring to.

Content is write by providing a variety of different moves, can send when needed and be different from any candidate target The other positions information of point, or it is capable of the length of reduction instruction when needed, so that move functional diversities.

Selection due to choosing target point may be random, or even if may also can select according to priority ranking One is unfavorable for establishing connection with more multiple target objects in position or is unfavorable for the quality of connection reinforced with have connected object, because This above-mentioned accounting is also possible that downward trend.Therefore in one embodiment, opened in trunking according to move Begin, in the case where the above-mentioned accounting of Trend judgement unit judges is on a declining curve, to show to move after choosing target point mobile There is deviation in direction, and effective target object quantity is caused more to reduce instead on the whole, can use following three kinds of strategies at this time One of.

The first strategy: instruction generation unit is generated far from the move for choosing target point, and single by the second transmitting-receiving Member is sent to trunking A, after trunking A receives the move, if mobile mechanism does not reach also and chooses target at this time Point t1 then stops moving and controlling corresponding trunking reverse movement, that is, mobile towards the separate direction for choosing target point t1, If mobile mechanism, which arrived and stop at, at this time chooses target point t1, directly moved towards the direction contrary with moving before It is dynamic, to make effective target object realize increase on the whole close to object, until above-mentioned accounting is promoted to not less than effectively covering ratio Example threshold value.

Second strategy: due to must be at the time of judging accounting trend near the time point that time window terminates, this When scheduler module just received the first signal strength information and each candidate target dot position information that trunking A is sent, because The candidate target dot position information in current position that this instruction generation unit is sent according to trunking, from current position Candidate target dot position information in choose one as new target point of choosing, generate the shifting for choosing target point for being directed toward this newly Dynamic instruction, and trunking A is sent to by the second Transmit-Receive Unit, so that trunking A new chooses target point to move to this. If mobile mechanism, which does not reach also, at this time chooses target point t1, above-mentioned current location be exactly homeposition to choose target point t1 it Between some position on route, instruction generation unit can first control trunking A and stop movement, then make again trunking A to New chooses target point mobile.If mobile mechanism, which arrived and stop at, at this time chooses target point t1, above-mentioned current location is just It is to choose target point t1, instruction generation unit can directly generate move so that trunking A chooses target point to move to new It is dynamic.

The third strategy: instruction generation unit generates the move for being directed toward trunking homeposition, and passes through second Transmit-Receive Unit is sent to trunking A, returns to homeposition to control corresponding trunking, and going out before trunking A A candidate target point is optionally taken to choose target point as new in each candidate target point sent at hair position to scheduler module, Such as t3 is chosen as target point is chosen, it generates and is directed toward the new move for choosing target point, and is single by the second transmitting-receiving Member is sent to trunking A, so that trunking new chooses target point t3 mobile to this.If mobile mechanism does not reach also at this time Target point t1 is chosen, then instruction generation unit first controls trunking A and stops moving, and then retransmits return instruction, relaying is set Standby A do not reach choose target point t1 before i.e. fold-back homeposition.If mobile mechanism, which arrived and stop at, at this time chooses mesh Punctuate t1, then instruction generation unit can directly generate move so that trunking A is returned and chosen target point to move to new It is dynamic.

Above-mentioned three kinds of strategies are applicable in the case where long period time window and short period time window.

If before the movement, trunking A is located in the obstructed blind alley in three faces, then candidate target point is usually only One, that is, a mobile target point being located on unique path, it is inevasible at this time to choose unique candidate mesh Punctuate is used as and chooses target point, and generates the move for being directed toward the target point, after trunking A receives the move, It can be mobile to the target point.Even if Trend judgement unit judges accounting is on a declining curve at this time, instruction generation unit will not be held Any one of above-mentioned three kinds of strategies of row, until trunking A move and staying in one has other moving directions that can select The position selected.

In the case where trunking sends data to scheduler module using long-time window (such as 5 minutes), due to relaying The movement of equipment is likely to the judgement of accounting next time prior to scheduler module and completes, therefore Trend judgement unit judges are above-mentioned The opportunity of the variation tendency of accounting is usually exactly positioned at homeposition or to choose at target point, and judge that accounting variation tendency is exactly The accounting at target point will be chosen to compare with the accounting at temporary position at homeposition or before, if being risen or being held It is flat then judge in rising trend, judge if being declined on a declining curve.

And in the case where (such as 10 seconds) shorter for time window, judge that the situation of accounting variation tendency can be become Change.In one embodiment, Trend judgement unit judges accounting judgment rule in rising trend includes: to meet trunking Accounting in homeposition is moved to the accounting after more setting times or set distance lower than trunking.And Trend judgement list Member judge that accounting judgment rule on a declining curve includes: that trunking moves after above-mentioned setting time or above-mentioned set distance not It is judged as in rising trend.

Assuming that scheduler module selection chooses target point t1 distance to be approximately equal to trunking A with normal speed movement five The distance of time window, and assume accounting of the trunking A in homeposition be 60%, and assume setting time be three when Between window duration.After trunking A moves a time window, Trend judgement unit judges go out moving and a time After the corresponding distance of window, the above-mentioned accounting of trunking A maintains an equal level in 60%.Do not reach setting time, therefore trunking also at this time A can continue to choosing target point t1 mobile, and after moving a time window again, Trend judgement unit judges relay at this time out The above-mentioned accounting of equipment A becomes 70%, and trunking A has been lower than in the accounting without departing from realization homeposition in setting time and has worked as The accounting of front position, therefore be judged as in rising trend.Trunking A can continue to t1 movement, such as move again After one time window, above-mentioned accounting becomes 80%, and effective coating ratio threshold value higher than 75%, trunking A can stop at this time It moves and stays in position.The case where using set distance as measurement, is similarly.

If after trunking A moves three time windows, the accounting at two temporary positions is respectively 50% and 70%, then The current accounting of trunking A is equally judged as in rising trend, avoids because accounting at first temporary position becomes It is determined as that downward trend causes to produce wrong judgement immediately for 50%.

If after trunking A moves three time windows, the accounting at two temporary positions is to maintain an equal level in 60%, very To being respectively less than 60%, then trunking A fails accounting when realizing at most three time windows in homeposition lower than final Accounting, therefore ascendant trend will not be judged as, and due to not being judged as ascendant trend after reaching setting time, Therefore it is judged as downward trend, it was demonstrated that the current effective target object quantity for choosing target point that can not improve trunking A.

For the trunking using higher-frequency time to scheduler module feedback information, by setting setting time or setting away from From, extend judgement of the scheduler module to trunking effective target object accounting variation tendency to a certain extent so that scheduling The judgement result of module is more mature, improves the probability being finally appropriately determined.

Trunking A have passed through multiple position it is mobile after, which includes reached multiple to choose target point, return halfway Situations such as returning to homeposition, but fail the above-mentioned accounting meet demand for making trunking A, it at this time may be because due to room Interior some regional locations for not being disposed with object originally are additionally arranged some objects, cause originally to be responsible for the single of the region Trunking can not combine in region each object to the relaying demand of high link quality.Therefore in a kind of embodiment In, scheduler module further include: scheduling statistics unit, for the movement of trunking to be counted since homeposition from trunking Number, and in the case where judging that mobile number exceeds mobile frequency threshold value, indicate relay system to the current of trunking Trunking is sent at position or at homeposition.

It acts, dispatches since the movement of trunking A is usually in accordance with the move of scheduler module sending Statistic unit can generate the number of move according to instruction generation unit to count the mobile number of trunking.

The mobile number of trunking A can be calculated only and reach the number that difference chooses target point, will can also be returned halfway The case where returning also can be regarded as primary movement.Since mobile number excessively may cause trunking A apart from homeposition too far, such as In the region for reaching trunking B, connection is established with the trunking B object being responsible in the region that trunking B is responsible for, And the object in the original region trunking A then cannot achieve signal relaying, therefore mobile frequency threshold value should not be arranged excessively, Such as it is set as 4 times.

Scheduling statistics unit can send signal by the responsible module sending for sending trunking to relay system, with Send trunking in the region for being responsible for the module for being responsible for sending trunking to trunking A.At this time due to trunking A Through leaving at homeposition, therefore can also be set to trunking F is sent at the homeposition of trunking A to relaying Trunking F is sent in the standby current position A, while scheduler module instruction trunking A returns to homeposition.If having increased relaying newly After equipment F, the trunking A positioned at current location or the trunking F positioned at homeposition are still unable to satisfy relaying demand, Then scheduler module continues the trunking movement that control is unable to meet demand.

It avoids trunking from frequently shifting one's position in scheduling process by the mobile frequency threshold value of setting but can not reach always It is fallen into unlimited moving process to requiring, and sends trunking in due course, to meet the relaying demand of object.

Below with reference to the relay system the of the indoor Internet of Things signal covering of improvement disclosed in Fig. 4-Fig. 5 the present invention is described in detail Two embodiments.In order to make scheduler module more rationally and accurately dispatch to trunking, so that effective target object quantity Insufficient trunking can more rapidly reach suitable position, preferably to meet user to the relaying of indoor objects object Demand, and realize multiple trunkings are scheduled simultaneously, scheduler module can also utilize clustering algorithm to object into Row divides, and is scheduled accordingly to the position of trunking.

As shown in figure 4, relay system disclosed in the present embodiment and the difference of aforementioned relay system first embodiment are: this Scheduler module in embodiment further includes metrics calculation unit, cluster combining unit and iterative calculation unit.

Metrics calculation unit is used to each object being considered as a cluster, and the positional information calculation according to each object is each The distance between cluster and other clusters.

The quantity for participating in the object that distance calculates is different with application scenarios.If indoor each trunking is thrown for the first time Enter to use, has not determined out the location layout of each trunking, all objects fail have a stable trunking Meet relaying demand, then need to classify to all object application clustering algorithms at this time so that each trunking according to Position arrangement is carried out according to classification results, therefore objects all at this time is all satisfied setting condition namely all objects Cluster operation is both participated in, as shown in Figure 5.If only it is indoor certain it is several at a distance of closer trunkings due to effective target object Accounting needs shift position lower than respective threshold, then only clustering algorithm can be carried out to the object in corresponding region, with right Trunking in the corresponding region carries out position arrangement.Below by taking indoor all objects both participate in cluster operation as an example.

The location information that scheduler module can obtain object is filled by the positioning being pre-installed on indoor each object Offer or realization are set, the second Transmit-Receive Unit is also used to receive the object location information that these positioning devices are sent.Specifically Positioning method can use following one of which:

The first: bluetooth positioning.It is respectively mounted a bluetooth equipment on all objects, and several bluetooths letter is installed indoors Mark, positions object by triangulation location mode, to obtain target object location.

Second: ultra wide band (UWB) positioning.A ultra-wide tape label, and cloth indoors are respectively mounted on all objects Set the anchor node and bridge node (locating base station) of multiple known locations, object as the blind node and locating base station being newly added into Row communication, target object location is determined using triangulation location.

The third: LED visible light positioning.It is respectively mounted photodiode or camera on all objects, pacifies indoors Several LED light is filled, lamps and lanterns are encoded, ID is modulated on light, lamps and lanterns issue high frequency flicker signal, then by photoelectricity two Pole pipe or camera receive and identify the ID of multiple lamps and lanterns, and then determine target object location.

4th kind of Wi-Fi positioning.It is respectively mounted Wi-fi equipment on all objects, several wireless networks is installed indoors Network access point, since the signal strength of wireless signal decays with the increase of propagation distance, object is closer from access point, connects The signal strength of access point is stronger, otherwise weaker.The signal strength and known wireless communication received according to Wi-fi device measuring Number fading model, it is estimated that the distance between transmitting-receiving side can calculate object according to the distance value of multiple estimations Position.

When metrics calculation unit carries out that distance calculates for the first time, due to only including an object in each cluster at this time, Therefore the position of object is the position of cluster.

The distance between each cluster and other clusters that cluster combining unit is used to calculate according to metrics calculation unit, will be at a distance of most Two close clusters are merged into a new cluster.As shown in figure 5, in all objects, the cluster of the cluster of object a1 and object a2 it Between distance it is nearest, then cluster combining unit merges the cluster of object a1 with the cluster of object a2, obtains new cluster b1.

The new cluster that iterative calculation unit is used to obtain cluster combining unit substitute into metrics calculation unit carry out between cluster away from From calculating, so that cluster combining unit merges new cluster out again,

The every carry out an iteration of unit is iterated to calculate, will merge to form new cluster there are two cluster, no matter the two clusters itself include There are several objects, therefore every carry out an iteration, the quantity of cluster will reduce one.The termination condition of iteration is until cluster Quantity is reduced to equal with scheduling amount threshold.Depending on amount threshold is dispatched according to the quantity of trunking, quantity is usually dispatched Threshold value is exactly to need to carry out the quantity of the trunking of position change, that is to say, that the corresponding cluster of each trunking, this One or more objects are contained in a cluster, all objects ultimately form three clusters, and three trunkings respectively correspond Three clusters realize that all objects are covered by the range of signal of all trunkings.

Instruction generation unit generates the move for being directed toward the position of each cluster respectively, and will be generated by the second Transmit-Receive Unit Move be sent to corresponding trunking.As shown in figure 5, the position such as broken line triangle institute that three trunkings are original Show, after receiving move, respectively along being moved at triangles shaped position shown in arrow, triangles shaped position is The position for last three clusters that iterative calculation unit calculates.Meanwhile each trunking can be protected at a distance from radio network gateway It demonstrate,proves second signal intensity and is not less than lowest signal intensity threshold value.

For only to indoor one or the multiple trunkings in part due to effective target object accounting lower than respective threshold and For the case where needing shift position, application mode and the above-mentioned process substantially phase that all trunkings are carried out with position distribution Together, when difference is only to carry out position distribution to some trunking, only from the area that the trunking prejudged out is responsible for It is selected as the target object location of calculation basis in domain, rather than all objects are included in operation, and finally obtained Cluster is one, and the trunking is made to be moved to the position of the finally obtained cluster, with object all in overlay area.

It is understood that special charged area can also be arranged in interior, be in respectively after equipment charge.

The present embodiment is bad due to signal covering and needed when needing to adjust trunking position etc. at least partly In the case that equipment is scheduled, it can be obtained by obtaining the position of indoor all objects and carrying out clustering algorithm operation To the optimal location of corresponding each trunking, then controls corresponding trunking and go to optimal location point, realize the letter of object Number covering, guarantee signal relaying ability, range and quality, meet the relaying demand of object.

In one embodiment, metrics calculation unit can obtain distance between cluster by the way of directly calculating distance, Such as metrics calculation unit calculates in a cluster mean value of distance between all target points in all target points and another cluster, makees For the distance between a cluster and another cluster.Metrics calculation unit can also first determine the position of cluster, then according to two clusters Position determine distance between cluster.It include multiple objects in the cluster as made of merging, cluster made of a merging Position can use following one of which: in each object for including with cluster between two objects of lie farthest away in line Position of the point as cluster；Or can include the center of circle of the smallest circle of all objects in cluster as the position of cluster；Or with cluster packet Position of the center for the polygon that all objects contained are formed as cluster.After obtaining the position of two clusters, it can be obtained two The distance between cluster.

The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers It is included within the scope of the present invention.Therefore, protection scope of the present invention should be with the scope of protection of the claims It is quasi-.

Claims

1. a kind of intelligent movable trunking for improving indoor Internet of Things signal covering characterized by comprising

2. trunking as described in claim 1, which is characterized in that the trunking includes:

3. trunking as claimed in claim 2, which is characterized in that the target position acquisition device includes at least one figure As acquisition equipment, each described image acquisition equipment is acquired respectively described in the image data or point cloud data conduct at least one direction Environmental data；Also,

4. a kind of relay system for improving indoor Internet of Things signal covering, which is characterized in that including at least one trunking, also Including radio network gateway and scheduler module；Wherein,

The trunking includes:

The scheduler module includes:

5. relay system as claimed in claim 4, which is characterized in that start to choose target point to described in the trunking After movement, in the case that accounting described in the Trend judgement unit judges is on a declining curve:

6. relay system as described in claim 4 or 5, which is characterized in that accounting described in the Trend judgement unit judges is in The judgment rule of ascendant trend includes: to meet the accounting of the trunking in homeposition lower than the trunking The accounting after being moved to more setting times or set distance；

7. relay system as described in claim 4 or 5, which is characterized in that the scheduler module further include:

8. relay system as claimed in claim 7, which is characterized in that the metrics calculation unit calculates between two clusters The mode of distance are as follows: