CN110535520B

CN110535520B - Mobile intelligent relay equipment and relay system for improving indoor Internet of things signal coverage

Info

Publication number: CN110535520B
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: 2020-02-14
Anticipated expiration: 2039-10-29
Also published as: CN110535520A

Abstract

The invention discloses a relay system for improving indoor Internet of things signal coverage, which judges the effective signal coverage capability of each relay device through a scheduling module, controls the corresponding relay device to move when the corresponding relay device cannot provide a signal effective coverage range meeting requirements due to the position change of a target object and the like, and judges whether the moving direction is favorable for signal relay, so that the corresponding relay device improves the signal relay capability, range and quality provided by the corresponding relay device, more indoor targets obtain better communication links, the overall effective signal coverage range of each relay device is expanded, and the indoor Internet of things signal coverage is integrally improved.

Description

Mobile intelligent relay equipment and relay system for improving indoor Internet of things signal coverage

Technical Field

The invention relates to the technical field of communication of the Internet of things, in particular to mobile intelligent relay equipment for improving signal coverage of the indoor Internet of things and a relay system for improving signal coverage of the indoor Internet of things.

Background

In the construction process of the internet of things for indoor scene application, a short-distance wireless communication mode is usually selected to establish a data communication channel between articles, and the short-distance wireless communication modes which can be adopted comprise ZigBee, WIFI, Bluetooth, 6LOWPAN and the like. In the short-distance wireless communication mode, a wireless gateway is usually set, on one hand, the gateway is accessed to the internet and realizes communication transmission with a background server of the internet of things through the internet, on the other hand, the gateway provides access coverage of the wireless internet of things for indoor space, and communication connection is established with various local articles through short-distance wireless communication, including a direct communication connection mode of direct communication between the articles and the wireless gateway, and an indirect communication connection mode of communication between the articles and the wireless gateway through transfer of other local articles.

In order to save electric energy and reduce radiation, the signal power adopted by the short-distance wireless communication mode is low, the penetration force on the wall is poor, and therefore the communication quality has strong correlation with the distance and is easily influenced by indoor environment factors. If a part of articles in the coverage area is far away from the wireless gateway or is blocked by an obstacle in the middle, special relay equipment needs to be installed to realize relay transmission of wireless communication signals between the articles and the wireless gateway. Especially, the relay equipment is arranged to improve the signal coverage of the internet of things in an indoor environment with a complex building structure and more signal partitions or with multiple floors.

In the prior art, the relay devices are generally arranged according to the natural space formed by the building structure, for example, one relay device is installed in every few rooms or one relay device is installed on each floor, and the relay devices adopt a fixed installation structure. Such an arrangement has the following drawbacks:

first, since the mechanism of indoor transmission of wireless signals is complex, there are phenomena such as signal diffraction, and the layout and number of relay devices cannot be optimized according to the arrangement of building structures, for example, there may be dead corners where signals cannot cover, or unnecessary radiation increase due to too many relay devices.

Secondly, many articles connected to the internet of things and obstacles in the space also have position movement, for example, in a large conference center or an exhibition hall, the positions of many articles are frequently adjusted and changed, so that the distribution positions of relay requirements change, and fixed relay equipment is difficult to meet.

Disclosure of Invention

Objects of the invention

In order to overcome at least one defect in the prior art, optimize the layout and the number of indoor relay devices, meet the signal relay requirement after the indoor article is transposed, and improve the capability, the range and the quality of signal relay provided by the relay devices, the invention discloses the following technical scheme.

(II) technical scheme

As a first aspect of the present invention, the present invention discloses a mobile intelligent relay device for improving indoor internet of things signal coverage, comprising:

a relay module which is in wireless communication connection with the wireless gateway and each target object;

the signal coverage monitoring module is used for monitoring at least first signal strength of a wireless link between the relay module and a corresponding target object, and the number and communication ID of the target objects in communication connection with the relay module;

the mobile planning module is used for analyzing environmental information around the relay equipment to select at least one candidate target point and obtain position information of each candidate target point;

the first transceiving unit is used for sending the first signal strength information and the position information of each candidate target point to a scheduling module of a relay system and receiving a movement instruction which is sent by the scheduling module and points to the selected target point;

the moving mechanism is used for driving the relay equipment to move to the selected target point so that the proportion of the number of the effective target objects of the relay module in all the target objects of the relay module is increased to be not lower than the effective coverage proportion threshold value;

a gateway communication monitoring module, configured to monitor a second signal strength of a wireless link between the relay device and a wireless gateway, and if it is determined that the second signal strength is lower than a minimum signal strength threshold value: sending loss of connection alarm information to the scheduling module so that the scheduling module controls the corresponding relay equipment to move reversely; or sending loss of connection alarm information to the scheduling module so that the scheduling module selects a new selected target point and controls the relay equipment to move to the new selected target point; or sending loss of connection alarm information to a moving mechanism of the relay equipment so as to enable the moving mechanism to stop moving and wait for indication;

the lifting mechanism is used for adjusting the height position of the relay module according to the action of the moving mechanism; wherein the content of the first and second substances,

the moving instruction is generated under the condition that the ratio is lower than the effective coverage ratio threshold, and the effective target is a target of which the first signal strength of the relay module is greater than an effective coverage signal threshold; the environment information is collected by a camera system or a laser radar system which is arranged indoors in advance, and the geographic environment and the road condition around the relay equipment can be reflected; the elevating mechanism lowers the height position of the relay module in a case where the relay device is driven to move, and raises the height position of the relay module in a case where the relay device is not driven to move.

In a possible implementation manner, the movement planning module is further configured to plan a movement path to the selected target point according to the position information of the selected target point, and control the movement mechanism to move to the selected target point according to the movement path.

In one possible embodiment, the relay device includes:

the target position acquisition device is used for acquiring environmental data of at least one direction of the relay equipment;

the environment information analyzed by the relay device includes environment data collected by the target position collection device.

In one possible embodiment, the target position acquisition device includes at least one image acquisition device, and each image acquisition device respectively acquires image data or point cloud data of at least one direction as the environment data; and the number of the first and second electrodes,

the mobile planning module extracts a target point meeting position conditions from the image data or the point cloud data as the candidate target point; wherein the content of the first and second substances,

the position condition includes: the distance between the starting position of the relay device and the starting position of the relay device is within a distance threshold value, and a path can be formed between the starting position of the relay device and the starting position of the relay device.

In a possible implementation manner, the image capturing device employs a 3D camera, and the 3D camera is configured to capture a three-dimensional stereoscopic picture of an environment around the relay device.

As a second aspect of the present invention, the present invention further discloses a relay system for improving indoor internet of things signal coverage, comprising at least one relay device, a wireless gateway and a scheduling module; wherein the content of the first and second substances,

the relay device includes:

the lifting mechanism is used for adjusting the height position of the relay module according to the action of the moving mechanism;

the environment information is collected by a camera system or a laser radar system which is arranged indoors in advance, and the geographic environment and the road condition around the relay equipment can be reflected; the elevating mechanism lowers the height position of the relay module in a case where the relay device is driven to move, and raises the height position of the relay module in a case where the relay device is not driven to move;

the scheduling module includes:

the second transceiver unit is used for receiving first signal strength information of a wireless link between the relay equipment and a corresponding target object and position information of at least one candidate target point selected by the relay equipment through analyzing surrounding environment information;

the effective screening unit is used for screening out the target object with the first signal strength larger than the effective coverage signal threshold value from the target objects in communication connection with the relay equipment as an effective target object corresponding to the relay equipment;

the mobile triggering unit is used for judging whether the ratio of the number of the effective target objects of each relay device in all the target objects of the corresponding relay device is lower than an effective coverage ratio threshold value or not and triggering the instruction generating unit to generate a mobile instruction under the condition that the ratio is lower than the effective coverage ratio threshold value;

the instruction generating unit is used for selecting one of the candidate target points as a selected target point, generating the movement instruction pointing to the selected target point, and sending the generated movement instruction to the corresponding relay equipment through the second transceiving unit;

a trend judgment unit, configured to judge a change trend of the proportion after the relay device starts to move to the selected target point; wherein the content of the first and second substances,

when the trend judgment unit judges that the proportion is in an ascending trend: the scheduling module causes the corresponding relay device to continue moving until the occupancy rises to be not less than the effective coverage percentage threshold.

In a possible embodiment, the instruction generation unit selects the selected target point from the plurality of candidate target points by one of:

randomly selecting;

and sorting and selecting according to the priority of the direction in advance.

In a possible embodiment, the movement instruction pointing to the selected target point generated by the instruction generation unit includes:

position information of the selected target point; or the like, or, alternatively,

and referring to the identifier of the selected target point, so that the corresponding relay equipment identifies the selected target point referred by the identifier after receiving the moving instruction, and further obtains the position information of the selected target point.

In one possible embodiment, in a case where the tendency judgment unit judges that the proportion is in a downward tendency after the relay apparatus starts moving to the selected target point:

the instruction generating unit generates a movement instruction far away from the selected target point to control the corresponding relay equipment to move reversely until the ratio is increased to be not lower than the effective coverage ratio threshold; alternatively, the first and second electrodes may be,

the instruction generating unit selects one from the candidate target point position information at the current position as a new selected target point according to the candidate target point position information at the current position sent by the relay equipment, and generates a moving instruction pointing to the new selected target point so as to enable the corresponding relay equipment to move to the new selected target point; alternatively, the first and second electrodes may be,

the command generation unit generates a movement command directed to the departure position of the relay device to control the corresponding relay device to return to the departure position, and selects one candidate target point from the candidate target points at the departure position as a new selected target point, and generates a movement command directed to the new selected target point to move the corresponding relay device to the new selected target point.

In one possible embodiment, the determination rule that the trend determination unit determines that the proportion is in an increasing trend includes: the occupation ratio of the relay equipment at the starting position is lower than that of the relay equipment after the relay equipment moves for at most a set time or a set distance;

the judgment rule that the trend judgment unit judges that the proportion is in the descending trend comprises the following steps: the relay device is not judged to be in an ascending trend after moving the set time or the set distance.

In one possible implementation, the scheduling module further includes:

and the scheduling counting unit is used for counting the moving times of the relay equipment from a starting position of the relay equipment and indicating the relay system to additionally assign the relay equipment to the current position or the starting position of the relay equipment under the condition that the moving times is judged to exceed a moving time threshold value.

In one possible implementation, the scheduling module further includes:

the distance calculation unit is used for regarding each target object as a cluster and calculating the distance between each cluster and other clusters according to the position information of each target object;

a cluster merging unit for merging two clusters that are closest to each other into a new cluster;

the iteration calculation unit is used for substituting the new clusters into the distance calculation unit to calculate the distance between the clusters so as to enable the cluster combination unit to combine the new clusters again until the number of the clusters is reduced to be equal to the threshold value of the scheduling number; wherein the content of the first and second substances,

the instruction generating unit is further configured to generate a movement instruction pointing to the position of each cluster, and send the generated movement instruction to the corresponding relay device through the second transceiver unit.

In a possible embodiment, the distance calculation unit calculates the distance between two clusters by:

calculating the mean value of the distances between all target points in one cluster and all target points in another cluster; or

Calculating the inter-cluster distance by taking the midpoint of a connecting line between two farthest-apart target objects in each target object contained in the cluster as the position of the cluster; or

Calculating the inter-cluster distance by taking the center of a minimum circle capable of containing all the target objects in the cluster as the position of the cluster; or

Calculating the inter-cluster distance by taking the center of a polygon formed by all the targets contained in the cluster as the position of the cluster.

(III) advantageous effects

The mobile intelligent relay equipment and the relay system for improving the indoor Internet of things signal coverage have the following beneficial effects:

1. the method comprises the steps that the effective signal coverage capacity of each relay device is judged through a scheduling module, and when the corresponding relay device cannot provide a signal effective coverage range meeting requirements due to the fact that the position of a target object is changed and the like, the corresponding relay device is controlled to move, and whether the moving direction is favorable for signal relay is judged, so that the capacity, the range and the quality of signal relay provided by the corresponding relay device are improved, more indoor target objects can obtain better communication links, the integral effective signal coverage range of each relay device is expanded, and the indoor Internet of things signal coverage is integrally improved.

2. By monitoring the signal strength between the relay device and the wireless gateway, the problem that the relay device loses the connection quality with the wireless gateway to improve the connection quality with a target object when the relay device is controlled to move by the scheduling module is avoided.

3. The relay equipment is provided with the position acquisition device, so that the function of autonomously acquiring the environmental information at the first visual angle can be realized, and the selection of the candidate target point is more reasonable.

4. By providing various different target point selection modes, various possibilities are provided for the moving direction of the relay equipment, the priority can be set according to indoor layout situations such as indoor partition arrangement and the like, the probability of selecting the correct target point is improved, and the relay equipment can be moved to the position meeting the requirements as soon as possible.

5. By providing a plurality of different writing contents of the movement instruction, other position information different from any candidate target point can be sent when needed, or the length of the instruction can be simplified when needed, so that the movement instruction function is diversified.

6. For the relay equipment which feeds back information to the scheduling module at a higher frequency, the determination of the effective target ratio change trend of the relay equipment by the scheduling module is prolonged to a certain extent by setting the set time or the set distance, so that the determination result of the scheduling module is more mature, and the probability of final correct determination is improved.

7. The moving time threshold is set to avoid that the relay equipment changes positions frequently in the scheduling process but cannot meet the requirements all the time and falls into the infinite moving process, and the relay equipment is added in due time to meet the relay requirement of the target object.

8. Under the condition that at least part of relay equipment needs to be scheduled when the positions of the relay equipment need to be adjusted due to poor signal coverage, the optimal positions of the corresponding relay equipment can be obtained by acquiring the positions of all indoor target objects and carrying out clustering algorithm operation, then the corresponding relay equipment is controlled to go to the optimal position points, the signal coverage of the target objects is realized, the signal relay capacity, the signal relay range and the signal relay quality are ensured, and the relay requirements of the target objects are met.

Drawings

The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining and illustrating the present invention and should not be construed as limiting the scope of the present invention.

Fig. 1 is a block diagram of a mobile intelligent relay device according to a first embodiment of the present disclosure.

Fig. 2 is a schematic three-dimensional structure diagram of the first embodiment of the intelligent relay device.

Fig. 3 is a block diagram of a relay system according to a first embodiment of the present disclosure.

Fig. 4 is a block diagram of a relay system according to a second embodiment of the present disclosure.

Fig. 5 is a schematic view of a real-world structure of a relay system in a second embodiment applied indoors.

Detailed Description

In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention.

It should be noted that: in the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are some embodiments of the present invention, not all embodiments, and features in embodiments and embodiments in the present application may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate their degree of importance, order, and the like.

The division of modules, units or components herein is merely a logical division, and other divisions may be possible in an actual implementation, for example, a plurality of modules and/or units may be combined or integrated in another system. Modules, units, or components described as separate parts may or may not be physically separate. The components displayed as cells may or may not be physical cells, and may be located in a specific place or distributed in grid cells. Therefore, some or all of the units can be selected according to actual needs to implement the scheme of the embodiment.

A first embodiment of the mobile intelligent relay device for improving signal coverage of the indoor internet of things disclosed by the invention is described in detail below with reference to fig. 1-2. As shown in fig. 1-2, the relay device disclosed in this embodiment mainly includes: a relay module 100, a signal coverage monitoring module, a movement planning module, a first transceiver unit and a moving mechanism 300.

The relay device is generally provided in plural, and may be provided according to the size of the indoor area, the number of indoor compartments, and the number of indoor objects. The wireless gateway is connected with the external Internet. Indoor controlled object is equipped with signal transceiver, and repeater equipment and wireless gateway and each object wireless communication are connected, realize that the user utilizes the intelligent terminal in the hand to be connected to repeater equipment through the internet when going out, and then control indoor object and carry out corresponding action, for example control air conditioner and open, control the TV and close, control ceiling lamp and open etc. realize carrying out supervisory control's function to indoor equipment through the thing networking.

The relay module 100 is responsible for wireless communication connection with the wireless gateway and each target object, and the target object in the spatial range establishes direct wireless communication with a certain relay device, so as to realize the relay function of the relay device. The relay module is generally equipped with an antenna 200 to enhance the ability of the relay module to transceive signals. If a target object can transceive signals with two or more relay devices, the target object establishes a communication connection with the relay device with the strongest received signal strength.

The signal coverage monitoring module monitors at least a signal strength of a wireless link between the relay module and a corresponding target object, referred to as a first signal strength. The first signal strength can reflect the communication capacity between the relay module and each target object in communication connection with the relay module, and is mainly used for monitoring the strength of the signal received by the relay module from the target object. The Signal Strength can be represented quantitatively by using values such as dBm (decibel relative to one milliwatt), asu (individual Signal unit), RSSI (Received Signal Strength Indication), Rx (Rx receive unit), and the like, and the larger the value is, the higher the Signal Strength between the relay device and the target is, the better the link quality is. The signal coverage monitoring module may represent the first signal strength using RSSI values.

In one embodiment, the signal coverage monitoring module monitors the signal strength of the signal received from the target object in communication connection with the relay module, and also monitors the number of target objects in communication connection with the relay module and the communication ID, that is, the number of target objects in communication connection with the relay module, and the corresponding ID information of the target objects. Therefore, each target connected with the relay module in communication and the corresponding signal intensity of the target can be known. For example, relay device a is currently connected with ten targets having IDs a1-a10, and the corresponding first signal strengths are s1-s10, respectively.

The signal coverage monitoring module is used for acquiring signal strength, the first transceiving unit is used for sending the signal strength information to the scheduling module, partial judgment basis is provided for the subsequent scheduling module to schedule the relay equipment, and the loss of the relay equipment in the moving process and the connection between the relay equipment and a connected target object are avoided.

The mobile planning module analyzes environmental information around the relay device to select at least one candidate target point. The environment information can reflect the geographical environment and road conditions around the relay device, such as the number, size and position of obstacles, the ascending slope, descending slope and steps of the road and the like, so as to cooperate with the movement planning module to obtain the potential movement target position of the relay device.

The environmental information can be provided by a camera system or a laser radar system which is arranged on an indoor roof or a side wall in advance, the devices collect indoor scene images or scene point clouds in real time, the environmental information around each relay device can be generated, and the environmental information is sent to the corresponding relay device in real time. In order for the relay device to obtain environment information corresponding to its own position, the camera system recognizes the relay device in the image and transmits the corresponding environment information. The environmental information may also be collected by means of a device provided in the relay device itself, as will be described in detail later.

The mobile planning module analyzes the environment information, for example, identifies image data by a threshold segmentation method, an edge detection method, a region extraction method, or identifies point cloud environment data by a clustering algorithm, and obtains optional mobile target points around the relay device, that is, candidate target points, and also obtains position information of each candidate target point, that is, the distance and direction between the relay device and each candidate target point.

For example, the relay device a is located at a crossroad, and four channels P1-P4 are provided around the relay device a, wherein a 2m × 3m obstacle ob1 (which may be an object) is provided in the channel P4, which is 3 meters away from the relay device a, and no obstacle is provided in the channels P1-P3 within a certain distance, three candidate target points t1-t3 are respectively selected from the channels P1-P3, and it is assumed that each candidate target point is 5 meters away from the current position of the relay device a, but is located at a different relative position. It will be appreciated that when the relay device a is located in an open area, the selected candidate target point may be located in either direction of the relay device a.

The mobile planning module analyzes the surrounding environment to obtain each candidate mobile target point and the corresponding position of the candidate mobile target point, and the first transceiving unit sends the position information of each candidate target point to the scheduling module, so that some alternatives are provided for the subsequent scheduling module to schedule the relay equipment to move, and the number of the alternatives depends on the number of the candidate target points.

The first transceiver unit transmits the first signal strength information and the position information of the candidate target point to a scheduling module. The first transceiver unit may collect data at a preset time window as a period and send the data to the scheduling module, for example, collect signal strength every 10 seconds or every 5 minutes and send the signal strength to the scheduling module.

The scheduling module screens out the target object with the first signal strength larger than the effective coverage signal threshold from all target objects in communication connection with the relay device A according to the first signal strength information sent by the relay device A, and the target object is used as an effective target object of the relay device A.

The scheduling module then determines whether the ratio of the number of valid targets of relay device a to all targets of the relay device is below a valid coverage ratio threshold. If the ratio is lower than the effective coverage ratio threshold, one of the candidate target point position information sent by the relay device a is selected as a selected target point and a corresponding movement instruction is generated, that is, the movement instruction is generated under the condition that the ratio is lower than the effective coverage ratio threshold. The scheduling module then sends a move instruction to relay device a to cause relay device a to move to the selected target point.

The moving mechanism 300 is configured to drive the relay device to move to the selected target point according to the moving instruction, so that the ratio of the number of the effective targets of the relay module in all the targets of the relay module is increased to be not lower than the effective coverage ratio threshold. After the relay device A is driven by the moving mechanism to start moving to the selected target point, the relay device A can send the first signal intensity information of the moved position to the scheduling module again after a period of time, at the moment, the scheduling module can judge the change trend of the occupation ratio according to the information sent before and after moving, and under the condition that the occupation ratio is in the rising trend, the relay device A continues to move until the occupation ratio is increased to be not lower than the effective coverage ratio threshold. If the relay device a reaches the selected target point and is in the movement stop state when sending information to the scheduling module after moving, the scheduling module does not need to move the relay device a any more when the scheduling module judges that the ratio is in an ascending trend and is increased to be not lower than the effective coverage ratio threshold value.

In one embodiment, the movement planning module is further configured to plan a movement path to the selected target point according to the position information of the selected target point, and control the movement mechanism to move to the selected target point according to the movement path.

In one embodiment, a relay device includes: and the gateway communication monitoring module is used for monitoring the signal strength of a wireless link between the relay equipment and the wireless gateway, and the signal strength is called as second signal strength. The second signal strength can reflect the communication capacity between the relay module of the relay device and the wireless gateway, and is mainly used for monitoring the strength of the signal received by the relay module from the wireless gateway. The gateway communication monitoring module may use the RSSI values to indicate the second signal strength.

When the relay device a moves to the selected target point t1, if the gateway communication monitoring module determines that the second signal strength is lower than the minimum signal strength threshold, normal data communication between the relay device a and the wireless gateway is affected, and therefore a user cannot control an indoor target object to perform corresponding actions through the internet of things. At the moment, one of the following strategies is adopted to ensure that the relay equipment does not lose the link with the wireless gateway when the relay equipment is controlled to move by the scheduling module.

In the first strategy, the relay device A sends the loss connection alarm information to the scheduling module through the first transceiver unit, the scheduling module generates a movement instruction pointing to the starting position of the relay device A, so that the scheduling module controls the corresponding relay device to move reversely and return to the starting position, and the scheduling module selects the selected target point from other candidate target points again.

In the second strategy, the relay device A sends out the loss connection alarm information to the scheduling module through the first receiving and sending unit, the scheduling module controls the relay device A to stop moving, and when the next time window arrives, the scheduling module selects a new selected target point by taking the current position as the initial position (the starting position) and controls the relay device to move to the new selected target point.

In the third strategy, the gateway communication monitoring module sends out loss of connection alarm information to the mobile mechanism of the relay equipment so that the mobile mechanism stops moving and waits for the instruction of the scheduling module.

By monitoring the signal strength between the relay device and the wireless gateway, the problem that the relay device loses the connection quality with the wireless gateway to improve the connection quality with a target object when the relay device is controlled to move by the scheduling module is avoided.

In one embodiment, a relay device includes: and the target position acquisition device is used for acquiring environmental data of at least one direction of the relay equipment. The environmental data may be image data, or point cloud data. In general, the direction of acquisition by the target position acquisition means is the horizontal direction. The environment data collected by the target position collecting device is preferably the horizontal direction capable of being covered by 360 degrees, so that more candidate moving directions are provided for the scheduling module to select. The environmental information analyzed by the relay device may only include the environmental data collected by the target position collection device, that is, the relay device a can realize the function of autonomously collecting the environmental information at the first view angle by assembling the target position collection device, so that the selection of the candidate target point is more reasonable.

The target position acquisition device comprises at least one image acquisition device, and each image acquisition device respectively acquires image data or point cloud data in at least one direction as environment data. For example, the target position acquisition device includes four image acquisition apparatuses facing four directions, i.e., front, rear, left, and right, respectively, to acquire image data, or four laser radars to acquire point cloud data. It will be appreciated that the above-described,

and extracting the target points meeting the position conditions as candidate target points, and obtaining the relative position information between each candidate target point and the relay device A. Wherein the location conditions include: the distance between the starting position of the relay device and the starting position of the relay device is within a distance threshold value, and a path can be formed between the starting position of the relay device and the starting position of the relay device. The ability to form a passage is primarily meant to be free of large obstacles in the way.

The above-described position condition is set in order to ensure that the selected target point selected by the scheduling module is movable to the relay apparatus a. The image capturing device may employ a 3D camera 400, and the four 3D cameras 400 capture three-dimensional stereoscopic pictures of the environment in the horizontal direction of the relay device as the environment information.

In one embodiment, the relay device further comprises: and the obstacle monitoring module is used for detecting obstacles in at least one direction including the moving direction of the relay equipment, and sending obstacle avoidance alarm information to the mobile planning module when detecting that the obstacles with the distance to the relay equipment lower than an obstacle avoidance threshold exist, so that the mobile planning module controls the mobile mechanism to avoid the obstacles.

In one embodiment, the relay device further comprises: and the lifting mechanism 500 is used for adjusting the height position of the relay module according to the action of the moving mechanism. Wherein the elevating mechanism 500 lowers the height position of the relay module in a case where the relay device is driven to move, and raises the height position of the relay module in a case where the relay device is not driven to move. When the relay equipment A is controlled by the scheduling module to move, the lifting mechanism contracts to reduce the height position of the relay module so as to reduce the gravity center of the relay equipment A and avoid overturning due to unstable gravity center. When the relay device a stops moving and is in a position stable state, it is indicated that the relay device a reaches a position capable of meeting the relay requirement, and at this time, the lifting mechanism extends to raise the height position of the relay module, so as to improve the signal transceiving intensity and the signal coverage range of the relay module.

The relay device is further provided with a charging interface 600 for moving to an indoor charging area for charging when the electric quantity is low.

A first embodiment of the relay system for improving the signal coverage of the indoor internet of things disclosed by the invention is described in detail below with reference to fig. 3. As shown in fig. 3, the relay system disclosed in this embodiment mainly includes at least one relay device, and further includes a wireless gateway and a scheduling module. The relay device may adopt the relay device disclosed in the foregoing first embodiment of the mobile intelligent relay device. The scheduling module is used for scheduling the positions of indoor relay devices under the condition that the positions of the target objects are moved, the target objects are newly added indoors, the communication connection between the relay devices and the target objects is about to be lost and the like, which possibly affect the user management control target objects, commanding the relay devices to carry out corresponding position movement, enabling the relay devices to keep the connection with the indoor target objects, and further keeping the control of the users on the indoor target objects. For a relay system including a plurality of relay devices such as the relay device a and the relay device B …, each relay device is separately directed and scheduled by a scheduling module without interfering with each other.

The scheduling module comprises an effective screening unit, a mobile triggering unit, an instruction generating unit, a trend judging unit and a second transceiving unit.

The second transceiver unit receives information sent by the first transceiver unit of the relay equipment, wherein the information comprises first signal strength information and candidate target point position information. It should be noted that, the information transceiving between the relay device and the scheduling module may be indirectly implemented through a wireless gateway as a medium, or may be directly implemented by establishing a separate signal transceiving link.

The effective screening unit screens out the target object with the first signal intensity larger than the effective coverage signal threshold value from the target objects in communication connection with the relay equipment according to the first signal intensity sent by the relay equipment A, and the target object is used as an effective target object of the corresponding relay equipment. The effective coverage signal threshold is a threshold capable of evaluating the signal coverage capability of the relay device, and the signal strength between the relay device and the target object can only indicate that the link between the relay device and the target object is an effective link under the condition that the signal strength is higher than the threshold, so that the information transmitted and received by the relay device and the target object cannot be distorted due to excessive noise and attenuation, and the information cannot be correctly transmitted and received. For example, of the first signal strengths of s1-s10 corresponding to the a1-a10 target object currently connected by the relay device a, the signal strengths of s1-s6, s8 and s10 exceed the effective coverage signal threshold, so that the number of effective target objects of the relay device a is 8.

The mobile trigger unit judges whether the ratio of the number of the effective objects of each relay device in all the objects of the corresponding relay device is lower than an effective coverage ratio threshold value. The effective coverage ratio threshold is a threshold capable of evaluating the signal coverage capability of the relay device, and the signal coverage capability of the relay device can only indicate that the current position of the relay device can meet the communication connection of the indoor target object if the signal coverage capability of the relay device is higher than the threshold, otherwise, the relay capability of the relay device cannot be fully utilized when the target object needs to be used for communication connection, and therefore the position needs to be moved to meet the communication connection with the indoor target object.

For example, if the effective coverage ratio threshold is 75%, the effective target ratio of the relay device a is 8/10=80%, and the effective target ratio is not lower than the effective coverage ratio threshold, it indicates that the current operation condition of the relay device a is good, and the position does not need to be changed; if the total number of the objects connected with the relay device a is reduced to 8 and the number of the effective objects is reduced to 4 due to the position of the object being moved, the effective object ratio of the relay device a is 4/8=50%, and the movement triggering unit determines that the ratio is lower than the effective coverage ratio threshold value, which indicates that the relay device a needs to move the position to satisfy the communication connection relay requirement of the indoor object as a whole, so that the instruction generating unit of the scheduling module is triggered to generate the movement instruction to perform the position scheduling on the relay device.

For other relay devices, because of the movement of the position of the target object, some target objects may appear in the connection area of other relay devices, which results in the total number of target objects connected to other relay devices increasing but the effective target object not changing, that is, the newly added target object is not an effective target object, and at this time, the ratio of other relay devices may be lower than the effective coverage ratio threshold, and further, other relay devices may also need to move the position. Only the impact and scheduling related to relay device a is described below.

After the instruction generating unit is triggered by the movement triggering unit, one of the candidate target points is selected as a selected target point according to the position information of the candidate target point sent by the relay device A, a movement instruction pointing to the selected target point is generated, and the generated movement instruction is sent to the corresponding relay device through the second transceiving unit, so that the corresponding relay device moves to the position of the selected target point according to the movement instruction. For example, the instruction generating unit selects one of the three candidate destination points t1-t3 transmitted from the relay apparatus a as a temporary selected destination point, and assuming that t1 is selected, the instruction generating unit generates a corresponding movement instruction and transmits the information to the relay apparatus a through the second transmitting and receiving unit. The first transceiving unit of the relay device a receives the mobile instruction which is sent by the scheduling module and points to the selected target point, analyzes the selected target point pointed in the mobile instruction, and further knows the position of the selected target point. The movement mechanism of the relay device a then drives the relay device to move to the position of the selected target point.

The length of the time window is long or short, the long time window is likely to be longer than the average time required for the relay device to move from the departure position to the selected target point under experience, and the short time window is likely to be shorter than the average time.

Taking a short time window that the relay device a collects data once every 10 seconds and sends data to the scheduling module as an example, after the relay device starts to move to the selected target point according to the movement instruction, the relay device a is likely not to reach the selected target point t1 within the time specified by the time window, at this time, the relay device a collects the first signal strength and the position information of the candidate target point and sends the first signal strength and the position information to the scheduling module, the movement triggering unit of the scheduling module calculates the ratio of the time window ending time (after 10 seconds from the starting position), that is, the ratio of the number of effective target objects of the relay device a to the total number of target objects with connection relation, and the trend judging unit judges the variation trend of the ratio.

In the case where the trend judgment unit judges that the above-described occupancy rate is in the ascending trend, it is described that the effective objects are increased as a whole, that is, the relay apparatus a can find a position capable of providing the relay service to each object better in the process of moving to the selected target point t1 than in the departure position. The dispatch module causes the movement mechanism to drive relay device a to continue moving toward the selected target point t1 until the occupancy rises to no less than the effective coverage percentage threshold.

It should be noted that the relay device a may finally stay at the selected target point t1, or may stay at a certain position during moving to the selected target point t1, and the occupancy ratio is not lower than the effective coverage ratio threshold value at any position.

Taking a long time window that the relay device a collects data every 5 minutes and sends the data to the scheduling module as an example, after the relay device starts moving to the selected target point according to the movement instruction, the relay device reaches the selected target point t1 within the time specified by the time window,

the remaining time is in a wait state. When 5 minutes have elapsed since the distance relay device a started moving from the departure position, the relay device a acquires the first signal strength and the position information of the candidate target point and transmits the first signal strength and the position information to the scheduling module, the movement triggering unit of the scheduling module calculates the ratio at the time of ending the time window (after 5 minutes from the departure position), and the trend judging unit judges the variation trend of the ratio. Due to the movement of the position of the relay apparatus a, a reliable communication connection may be established with a new object, and the signal strength of an object to which the connection has been made may be increased or decreased.

In the case where the tendency judgment unit judges that the above-described occupancy rate is in the ascending tendency, it is described that the effective objects are increased as a whole, that is, the relay apparatus a can provide the relay service to each object better at the selected target point t1 than at the departure position.

If the ratio at the end of the time window has been raised to be not lower than the effective coverage ratio threshold, the relay device a may stay at the selected target point t1, and the scheduling module completes the scheduling of the relay device a. If the ratio at the end of the time window is not increased to be not lower than the effective coverage ratio threshold, the scheduling module enables the moving mechanism to drive the relay device A to continuously move along the same moving direction until the ratio is increased to be not lower than the effective coverage ratio threshold.

The starting position refers to a position where the relay device is located before moving for the first time according to the moving instruction after the scheduling module judges that the relay device needs to move to meet the relay requirement of the target object and issues the moving instruction. The final stopping position of the relay equipment, which meets the relay requirement (the ratio meets the requirement), is a stable position. The relay device may have had too many complete movements before reaching the stable position, and thus there may be multiple temporary positions between the departure position and the stop position.

In the embodiment, the scheduling module is used for judging the effective signal coverage capability of each relay device, and when the corresponding relay device cannot provide a signal effective coverage range meeting the requirement due to the reasons of position change of the target object and the like, the corresponding relay device is controlled to move, and whether the moving direction is favorable for signal relay is judged, so that the corresponding relay device improves the capability, range and quality of signal relay provided by the corresponding relay device, more indoor target objects obtain better communication links, the integral effective signal coverage range of each relay device is expanded, and the indoor internet of things signal coverage is integrally improved.

In one embodiment, the instruction generation unit selects the selected target point from the plurality of candidate target points in a random selection manner or in a priority sorting selection manner performed on the directions in advance.

Taking the three candidate targets t1-t3 as an example, the random selection refers to randomly selecting one target from t1-t3 as the selected target.

The priority ranking selection according to the direction in advance is specifically as follows: assuming that t1, t2 and t3 are located on the left side, the front side and the right side of the front face of the relay device a in sequence, the priority of the direction is the highest in sequence from the front side, and the priorities of the other sides decrease once in the clockwise direction from the front side, so that the priorities are sorted as t2> t3> t1, and t2 is selected under the priority rule. If relay device a moves toward t2 but the scheduling module finds that the occupancy fails to trend upward and assumes control of relay device a to return to the departure location and reselect one of the remaining candidate destination points as the selected destination point, t3 may be selected according to the priority rule.

By providing various different target point selection modes, various possibilities are provided for the moving direction of the relay equipment, the priority can be set according to indoor layout situations such as indoor partition arrangement and the like, the probability of selecting the correct target point is improved, and the relay equipment can be moved to the position meeting the requirements as soon as possible.

In one embodiment, the movement instruction pointing to the selected target point generated by the instruction generation unit includes position information of the selected target point, or an identifier indicating the selected target point.

Under the condition that the relay device A sends the position information of three candidate target points t1-t3 to the scheduling module, the scheduling module can directly compile the position information of the selected target point into a movement instruction when generating the instruction after the steps of screening, triggering and the like, and the relay device A can directly move according to the position information analyzed from the instruction after receiving the movement instruction. The point pointing to the selected target point at this time contains the position information of the selected target point.

When the relay device a sends the position information of the three candidate target points t1-t3 to the scheduling module, a number may be added to each candidate target point at the same time as an identifier capable of referring to the selected target point, for example, the numbers are t1-t3, the scheduling module may compile only the number capable of referring to the selected target point into a movement instruction when generating the instruction, and after receiving the movement instruction, the relay device a parses the identifier in the instruction, for example, the identifier is t2, because the identifier enables the relay device a to identify the selected target point referred to by the identifier after receiving the movement instruction, and further obtains the position information of the selected target point, that is, the relay device a can determine the position information referred to t2 by the identifier t2 and move according to the position information. The pointing to the selected target point at this time includes an identifier indicating the selected target point.

By providing a plurality of different writing contents of the movement instruction, other position information different from any candidate target point can be sent when needed, or the length of the instruction can be simplified when needed, so that the movement instruction function is diversified.

The above ratio may also have a tendency to decrease, since the selection of the selected target point may be random, or even if ordered according to priority, a target point may be selected that is positionally unfavorable for establishing a connection with more targets or for enhancing the quality of the connection with the connected targets. Therefore, in an embodiment, after the relay device starts to move to the selected target point according to the movement instruction, in the case where the trend determining unit determines that the above-mentioned proportion is in a downward trend, it indicates that the moving direction is deviated, so that the number of effective targets is rather reduced, and at this time, one of the following three strategies may be adopted.

The first strategy is: the command generating unit generates a moving command far away from the selected target point and sends the moving command to the relay device A through the second transceiving unit, after the relay device A receives the moving command, if the moving mechanism does not reach the selected target point t1 at the moment, the moving is stopped and the corresponding relay device is controlled to move reversely, namely, the relay device moves towards the direction far away from the selected target point t1, and if the moving mechanism reaches and stops at the selected target point t1 at the moment, the relay device directly moves towards the direction opposite to the previous moving direction to approach the target object, so that the effective target object is increased as a whole until the ratio is increased to be not lower than the effective coverage ratio threshold value.

The second strategy is: since the time when the occupancy trend is determined is certainly near the time point when the time window ends, and the scheduling module just receives the first signal strength information and the position information of each candidate target point sent by the relay device a at this time, the instruction generating unit selects one from the position information of the candidate target points at the current position as a new selected target point according to the position information of the candidate target points at the current position sent by the relay device, generates a movement instruction pointing to the new selected target point, and sends the movement instruction to the relay device a through the second transceiving unit, so that the relay device a moves to the new selected target point. If the moving mechanism has not reached the selected target point t1 at this time, the current position is a position on the route from the departure position to the selected target point t1, and the command generating unit controls the relay device a to stop moving first, and then moves the relay device a to a new selected target point. If the moving mechanism has reached and stopped at the selected target point t1, the current position is the selected target point t1, and the command generating unit directly generates a movement command to move the relay apparatus a to a new selected target point.

The third strategy is as follows: the instruction generating unit generates a movement instruction pointing to the departure position of the relay apparatus and transmits the movement instruction to the relay apparatus a through the second transceiving unit to control the corresponding relay apparatus to return to the departure position, and selects one candidate target point from candidate target points previously transmitted to the scheduling module at the departure position by the relay apparatus a as a new selected target point, for example, t3 as the selected target point, generates a movement instruction pointing to the new selected target point, and transmits the movement instruction to the relay apparatus a through the second transceiving unit to move the relay apparatus to the new selected target point t 3. If the moving mechanism has not reached the selected target point t1 at this time, the command generating unit controls the relay apparatus a to stop moving first, and then sends a return command to return the relay apparatus a to the departure position before reaching the selected target point t 1. If the movement mechanism has reached and stopped at the selected target point t1 at this time, the instruction generation unit directly generates a movement instruction to return the relay apparatus a and move it toward a new selected target point.

The three strategies described above are applicable both in the case of long and short periodic time windows.

If the relay device a is located in a dead-end clan with three sides being blocked before moving, only one candidate target point is usually located, that is, only one moving target point located on a unique path, at this time, the unique candidate target point is inevitably selected as a selected target point, a moving instruction pointing to the target point is generated, and the relay device a moves to the target point after receiving the moving instruction. At this time, even if the tendency judgment unit judges that the occupancy is in the downward tendency, the instruction generation unit does not execute any of the above three strategies until the relay apparatus a moves and stays at a position where other moving directions can be selected.

In the case where the relay device transmits data to the scheduling module in a long time window (for example, 5 minutes), since the movement of the relay device is likely to be completed prior to the next duty ratio determination of the scheduling module, the trend determining unit determines the change trend of the duty ratio at a starting position or a selected target point at all times, and determines the change trend of the duty ratio by comparing the duty ratio at the selected target point with the duty ratio at a temporary position at or before the starting position, and if the change trend of the duty ratio is increased or leveled, it is determined that the change trend is increased, and if the change trend is decreased, it is determined that the change trend is decreased.

In the case where the time window is short (for example, 10 seconds), the situation of the determination of the occupancy change tendency changes. In one embodiment, the determination rule by which the trend determination unit determines that the proportion is in the ascending trend includes: the occupation ratio of the relay device in the starting position is lower than that of the relay device after the relay device moves for at most a set time or a set distance. The judgment rule for judging that the occupation ratio is in the descending trend by the trend judgment unit comprises the following steps: the relay device is not judged to be in an ascending trend after moving the set time or the set distance.

Assume that the selected target point t1 selected by the scheduling module is approximately equal to the distance that relay device a moved five time windows at normal speed, and assume that the percentage of time relay device a was at the departure location is 60%, and assume that the set time is the duration of three time windows. When the relay apparatus a moves by one time window, the tendency judgment unit judges that the above-mentioned occupation ratio of the relay apparatus a is equal to 60% after moving by a distance corresponding to one time window. At this time, the set time has not been reached yet, and therefore the relay apparatus a can continue to move to the selected target point t1, and when a time window has moved further, the trend judgment unit judges that the above-mentioned occupancy of the relay apparatus a at this time becomes 70%, and the relay apparatus a shows that the occupancy of the sending position is lower than the occupancy of the current position within the time that has not exceeded the set time, and therefore is judged to be in the ascending trend. Relay a may continue to move to t1, e.g., after moving another time window, the percentage becomes 80% above the 75% effective coverage threshold, at which time relay a may stop moving and stay at that location. The same applies to the case of using the set distance as a measure.

If the occupation ratios at the two temporary positions are respectively 50% and 70% after the relay device a moves three time windows, the current occupation ratio of the relay device a is also determined to be in an ascending trend, and the error determination caused by immediately determining to be in a descending trend when the occupation ratio at the first temporary position becomes 50% is avoided.

If the occupancy rates at the two temporary positions are equal to 60% or even less than 60% after the relay device a moves through the three time windows, the occupancy rate when the relay device a fails to realize the departure position in at most three time windows is lower than the final occupancy rate, and therefore the relay device a is not determined as an ascending trend, and the relay device a is determined as a descending trend because the occupancy rate is not determined as an ascending trend after reaching the set time, which proves that the number of effective targets of the relay device a cannot be increased by the currently selected target point.

For the relay equipment which feeds back information to the scheduling module at a higher frequency, the determination of the effective target ratio change trend of the relay equipment by the scheduling module is prolonged to a certain extent by setting the set time or the set distance, so that the determination result of the scheduling module is more mature, and the probability of final correct determination is improved.

After the relay device a moves for multiple times, the situations that the relay device a reaches multiple selected target points and returns to the starting position midway are included, but the occupation ratios of the relay device a cannot meet the requirements, and at this time, a single relay device originally responsible for the area cannot simultaneously meet the relay requirements of each target object in the area on high link quality because some target objects are additionally arranged at some area positions where the target objects are not originally arranged in the room. Thus, in one embodiment, the scheduling module further comprises: and the scheduling counting unit is used for counting the moving times of the relay equipment from the starting position of the relay equipment and indicating the relay system to additionally assign the relay equipment to the current position or the starting position of the relay equipment under the condition that the moving times is judged to exceed the moving time threshold.

Since the movement of the relay device a usually acts according to the movement instruction sent by the scheduling module, the scheduling counting unit may count the movement times of the relay device according to the times of generating the movement instruction by the instruction generating unit.

The number of movements of the relay device a may be calculated only as the number of times to reach different selected target points, or may be calculated as one movement when the relay device a returns halfway. Since the number of movements is too many, which may cause the relay device a to be too far away from the departure location, for example, to reach the area of the relay device B, a connection is established with the target object in charge of the relay device B in the area in charge of the relay device B, and the target object in the original area of the relay device a cannot implement signal relaying, the threshold value of the number of movements is not set too many, for example, 4 times.

The scheduling statistical unit may send the dispatching signal to the module in charge of dispatching the relay device of the relay system, so that the module in charge of dispatching the relay device can dispatch the relay device to the area in charge of the relay device a. At this time, since the relay device a has already left the departure position, the relay device F may be added to the departure position of the relay device a, or the relay device F may be added to the current position of the relay device a, and the scheduling module instructs the relay device a to return to the departure position. If the relay device a located at the current position or the relay device F located at the starting position cannot meet the relay requirement after the relay device F is newly added, the scheduling module continues to control the relay device which cannot meet the requirement to move.

The moving time threshold is set to avoid that the relay equipment changes positions frequently in the scheduling process but cannot meet the requirements all the time and falls into the infinite moving process, and the relay equipment is added in due time to meet the relay requirement of the target object.

A second embodiment of the relay system for improving the signal coverage of the indoor internet of things disclosed by the invention is described in detail below with reference to fig. 4 to 5. In order to enable the scheduling module to more reasonably and accurately schedule the relay equipment, the relay equipment with insufficient effective target object quantity can more quickly reach a proper position to better meet the relay requirement of a user on an indoor target object, and simultaneously schedule a plurality of relay equipment, the scheduling module can also divide the target object by utilizing a clustering algorithm, and accordingly, the position of the relay equipment is scheduled.

As shown in fig. 4, the relay system disclosed in this embodiment is different from the first embodiment of the relay system described above in that: the scheduling module in this embodiment further includes a distance calculating unit, a cluster merging unit, and an iteration calculating unit.

The distance calculation unit is used for regarding each target object as a cluster and calculating the distance between each cluster and other clusters according to the position information of each target object.

The number of targets involved in the distance calculation varies depending on the application scenario. If the indoor relay devices are put into use for the first time, the position layout of the relay devices is not determined, and all the target objects cannot have a stable relay device to meet the relay requirement, all the target objects need to be classified by applying a clustering algorithm at this time, so that the relay devices are arranged in positions according to the classification result, all the target objects meet the set condition at this time, that is, all the target objects participate in clustering operation, as shown in fig. 5. If only some relay devices which are relatively close to each other in the room need to move due to the fact that the effective target object ratio is lower than the corresponding threshold value, the clustering algorithm can be only carried out on the target objects in the corresponding area, and therefore the relay devices in the corresponding area are arranged in the position. In the following, all objects in a room are taken as an example to participate in clustering operation.

The dispatching module can obtain the position information of the target object, which is provided or realized by positioning devices pre-installed on each indoor target object, and the second transceiver unit is also used for receiving the position information of the target object sent by the positioning devices. The specific positioning mode can adopt one of the following modes:

the first method comprises the following steps: and (6) Bluetooth positioning. All install a bluetooth equipment on all targets to at indoor installation a plurality of bluetooth beacon, fix a position the target through the triangulation location mode, in order to obtain the target position.

And the second method comprises the following steps: ultra Wideband (UWB) positioning. All the targets are provided with an ultra-wideband tag, a plurality of anchor nodes and bridge nodes (positioning base stations) with known positions are arranged indoors, the targets serve as newly-added blind nodes to communicate with the positioning base stations, and the positions of the targets are determined by means of triangulation positioning.

And the third is that: the LED can be positioned by visible light. The method comprises the steps that photodiodes or cameras are arranged on all targets, a plurality of LED lamps are arranged indoors, the lamps are coded, ID is modulated on lamplight, the lamps send high-frequency flicker signals, the photodiodes or the cameras receive and recognize the IDs of the lamps, and then the positions of the targets are determined.

A fourth Wi-Fi position fix. Wi-fi equipment is installed on all targets, a plurality of wireless network access points are installed indoors, and as the signal intensity of wireless signals is attenuated along with the increase of propagation distance, the closer the target is to the access points, the stronger the signal intensity of the access points is, and otherwise, the weaker the signal intensity is. According to the Wi-fi equipment, the received signal strength and a known wireless signal fading model are measured, the distance between the receiving party and the transmitting party can be estimated, and according to a plurality of estimated distance values, the position of the target object can be calculated.

When the distance calculation unit performs the initial distance calculation, the position of the target object is the position of the cluster because each cluster only contains one target object at the time.

The cluster merging unit is used for merging two clusters which are closest to each other into a new cluster according to the distance between each cluster and other clusters calculated by the distance calculation unit. As shown in fig. 5, in all the targets, the cluster of target a1 is closest to the cluster of target a2, and the cluster merging unit merges the cluster of target a1 with the cluster of target a2 to obtain a new cluster b 1.

The iteration calculating unit is used for substituting the new cluster obtained by the cluster merging unit into the distance calculating unit to calculate the distance between the clusters so as to enable the cluster merging unit to merge the new cluster again,

the iterative computation unit combines two clusters to form a new cluster every time iteration is performed, and the number of clusters is reduced by one every time iteration is performed no matter the two clusters contain a plurality of targets. The termination condition for the iteration is until the number of clusters decreases to be equal to the scheduling number threshold. The scheduling number threshold is determined according to the number of the relay devices, and generally, the scheduling number threshold is the number of the relay devices that need to change the location, that is, each relay device corresponds to one cluster, the cluster includes one or more target objects, all the target objects finally form three clusters, and the three relay devices respectively correspond to the three clusters, so that all the target objects are covered by the signal ranges of all the relay devices.

The command generating unit generates a movement command pointing to the position of each cluster, respectively, and transmits the generated movement command to the corresponding relay device through the second transmitting and receiving unit. As shown in fig. 5, the original positions of the three relay devices are shown as dashed triangles, and after receiving the movement instruction, the three relay devices move to the positions of the solid triangles respectively as shown by the arrows, where the positions of the solid triangles are the positions of the last three clusters calculated by the iterative calculation unit. Meanwhile, the distance between each relay device and the wireless gateway can ensure that the second signal strength is not lower than the minimum signal strength threshold value.

The application method of the method is substantially the same as the above-mentioned process of allocating the positions of all relay devices when only one or a plurality of relay devices in a room need to move the positions because the effective target ratio is lower than the corresponding threshold, and the difference is that when only one relay device is allocated, only the target position serving as the basis of calculation is selected from the area which is determined in advance and is in charge of the relay device, instead of all the target objects being included in the calculation, and the relay device moves to the position of the finally obtained cluster to cover all the target objects in the area.

It is understood that a dedicated charging area may be provided indoors to charge each relay device.

In the embodiment, under the condition that at least part of relay equipment needs to be scheduled, such as when the relay equipment needs to be adjusted due to poor signal coverage, the optimal position of each corresponding relay equipment can be obtained by acquiring the positions of all indoor target objects and performing clustering algorithm operation, and then the corresponding relay equipment is controlled to go to the optimal position point, so that the signal coverage of the target objects is realized, the signal relay capacity, range and quality are ensured, and the relay requirement of the target objects is met.

In one embodiment, the distance calculation unit may obtain the inter-cluster distance by directly calculating the distance, for example, the distance calculation unit calculates a mean value of distances between all target points in one cluster and all target points in another cluster as the distance between one cluster and another cluster. The distance calculation unit may also determine the cluster positions first and then determine the inter-cluster distance based on the two cluster positions. Since the merged cluster contains a plurality of targets, the position of one merged cluster may be any of: taking the midpoint of a connecting line between two farthest targets in each target contained in the cluster as the position of the cluster; or taking the center of a minimum circle which can contain all target objects in the cluster as the position of the cluster; or the center of a polygon formed by all the targets contained in the cluster is taken as the position of the cluster. After the positions of the two clusters are obtained, the distance between the two clusters can be obtained.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. The utility model provides an improve indoor thing networking signal coverage's removal intelligent repeater which characterized in that includes:

the gateway communication monitoring module is used for monitoring second signal strength of a wireless link between the relay equipment and the wireless gateway and sending loss of connection alarm information to the scheduling module under the condition that the second signal strength is judged to be lower than a minimum signal strength threshold value, so that the scheduling module controls the corresponding relay equipment to move reversely; or sending loss of connection alarm information to the scheduling module so that the scheduling module selects a new selected target point and controls the relay equipment to move to the new selected target point; or sending loss of connection alarm information to a moving mechanism of the relay equipment so as to enable the moving mechanism to stop moving and wait for indication;

2. The relay device of claim 1, wherein the relay device comprises:

3. The relay device according to claim 2, wherein the target position acquisition means includes at least one image acquisition device, each of which acquires image data or point cloud data of at least one direction as the environment data; and the number of the first and second electrodes,

4. A relay system for improving indoor Internet of things signal coverage is characterized by comprising at least one relay device, a wireless gateway and a scheduling module; wherein the content of the first and second substances,

the relay device includes:

the scheduling module includes:

5. The relay system according to claim 4, wherein, in a case where the tendency judgment unit judges that the proportion is in a downward tendency after the relay apparatus starts moving to the selected target point:

6. The relay system according to claim 4 or 5, wherein the determination rule by which the trend determination unit determines that the proportion is in an upward trend includes: the occupation ratio of the relay equipment at the starting position is lower than that of the relay equipment after the relay equipment moves for a set time or a set distance;

7. The relay system of claim 4 or 5, wherein the scheduling module further comprises:

8. The relay system of claim 7, wherein said distance calculation unit calculates the distance between two of said clusters by: