DE102018131038B3 - Management of a meshed radio network in the vicinity of a restricted area - Google Patents

Abstract

The invention relates to the integration of a new radio node in a meshed network, which is in the area of a restricted area. The new radio node does not initially send out signals independently, but tries to receive all other radio nodes on the basis of which it can determine the relative direction of the transmitter of a signal. The radio node can then send the registration message in the determined relative direction of the transmitter so that a predetermined “blocked” area is left out when the radio signals are sent. The transmitting node, which receives the registration message, can also determine the relative direction of the new radio node on the basis of the radio signals and can also send the confirmation of the integration into the meshed network in this relative direction.

Description

TECHNICAL AREA

The invention relates, inter alia, to a method for integrating a new radio node in a meshed network which is in the region of at least one restricted area. The invention further relates to the design of corresponding radio nodes for use in a meshed network which is in the area of at least one restricted area. Individual functions of the radio nodes can be implemented using software (e.g. computer program) that is stored on one or more computer-readable storage media. The meshed network can be, for example, a sensor network.

TECHNICAL BACKGROUND

Sensor networks were originally conceived as a military early warning system for monitoring pipelines and national borders. Today, sensor networks can be used in a wide variety of areas (for example, in logistics / goods management (e.g. in warehouses), for monitoring and / or controlling production facilities, power plants, etc., for monitoring nature reserves (e.g. for pollutants, forest fires and animal migration), etc. ) are used - their application is as diverse as the available sensors.

A distributed sensor network consists of a large number of distributed sensor nodes that communicate with one another. Sensor networks usually refer to networks in which data is recorded by sensors and transmitted (wirelessly). The various data recorded by sensors, e.g. physical quantities, for data acquisition or for controlling the actuators, which can also form part of the sensor network. The main difference between a sensor network and local area networks (LAN), WLANs and mobile radio networks is that the sensor and actuator data are typically relatively small amounts of data. This data can be transmitted wired or wireless. The transport and routing protocols are usually optimized for small amounts of data and / or energy-saving operation, since the sensor nodes are often operated with batteries and should be operated for as long (often several years) as possible without changing the batteries. Wireless sensor networks are also known as wireless sensor networks (WSN).

Sensor networks are often self-organized networks (SON), maintenance-free, interference-resistant, battery-operated and are characterized by extremely low power consumption. In order to meet these requirements, classic techniques for setting up and operating ad hoc networks are often not sufficient. For this reason, specialized protocols are often used that take into account the special properties of wireless sensor networks.

The individual sensor nodes of a sensor network usually consist of a processor and a data memory (e.g. a flash memory). There are also one or more sensors and a module for radio communication (transceiver). All components of the sensor node are usually powered by a battery. In principle, however, it is also conceivable to connect the sensor nodes to a power grid or to supply them with power via a bus system. The components of the sensor node can be accommodated on a single computer chip (System on Chip, SoC), which considerably reduces the size compared to assembled individual components.

As already mentioned, sensor networks generally form meshed ad hoc networks. Modern ad hoc networks configure themselves automatically and work autonomously (i.e. without a central authority for network management). The company uses special network protocols for the respective network type and uses gateways to other networks (e.g. Internet, (W) LAN, cellular network, etc.). Data can be forwarded from network nodes (sensor nodes) to network nodes via several stations until they have reached their recipient.

The use of sensor networks can be problematic, for example, in industrial and / or production plants (e.g. in petrochemical production plants), since there is a risk of explosion in certain areas of the industrial and / or production plant and therefore prevent the introduction of radio signals into these areas for safety reasons is. In particular, pulsed radio signals with a high energy density are often problematic here, and industry standards (e.g. ISO / IEC standard series 60079 and ISO / IEC standard series 80079) place general requirements on the design, testing and labeling of devices and components in potentially explosive or explosive environments firmly. Also, sensitive (measuring) electronics are often used in industrial and / or production plants, which must be protected against excessive entry of electromagnetic energy by radio waves.

Radio antennas generally radiate their power omnidirectionally in all directions. Even in the case of directionally emitted radio signals, reflection can result in an undesired input of power in areas of an industrial and / or production system which is explosive or must be protected against excessive radio power input for other reasons. Through manual configuration The radiation profiles of the antennas or the selection of appropriate antennas for the individual sensor nodes in the network can circumvent such problems, but require that the sensor network be configured manually. Accordingly, new network nodes are added manually.

The operation of an autonomous ad-hoc network (meshed network), on the other hand, is problematic in such a case, since new network nodes generally do not know in which areas radio power should not be brought in, if possible. In many protocols for the management of ad-hoc networks, the new network nodes automatically “report” after they are switched on (e.g. by sending signals) to make other network nodes aware of their presence. There is a risk that new network nodes will transmit radio signals with undesirably high performance even in areas to be protected.

US 2014/0335846 A1 discloses a system for restricting the operation of wireless devices, e.g. B. cell phones, comprising a controller and a variety of sensors. The system limits device use and allows emergency calls. The sensors receive transmissions from devices and use the transmissions to identify and determine whether a device is within a restricted zone, for example by triangulation. US 2010/0265895 A1 discloses a method for targeted ad hoc communication in the competition access period. US 2016/0014118 A1 relates to an access control method, authentication method and authentication device. Out US 2015/0089606 A1 goes a method and an apparatus for managing an area-restricted network and a method and an apparatus for receiving area keys. Out US 2015/0373618 A1 shows a method and a device for directional mesh initialization.

SUMMARY OF THE INVENTION

Based on this background, the technical task arises to propose a method that allows new nodes to integrate themselves into an existing meshed network independently (if possible without manual configuration), but without sending radio signals into a “blocked” area. This area is also referred to below as the "restricted area" or "restricted zone". Such a “blocked” area can be, for example, an area in which radio signals may only be transmitted with an energy density less than a predetermined threshold value. The maximum energy density that may be introduced into such an area can be specified, for example, by a norm or standard, or it can also be determined on an application-specific basis. Alternatively, such a "blocked" area can also be defined as such for other reasons.

According to one aspect of the invention, a new radio node that is to be integrated into a meshed network (also referred to as a “mesh network”, for example an autonomous ad hoc network) does not initially send out signals independently. The new radio node first tries to receive signals from other network nodes that are already integrated in the network. The signals transmitted by the other radio nodes already integrated in the network indicate the availability of the mesh network and are such that they enable the new radio node to determine the relative direction of the transmitter. These signals are also referred to below as radio beacon signals. The new radio node, which receives such a beacon signal, can use the signal to determine the relative direction from which the signal was received and can use this information to align its radio signals in this direction. In this way it can be ensured that a predetermined “blocked” area is left out when the radio signals are transmitted. Since the new radio node previously received a beacon signal from the determined direction, it can assume that there can be no “blocked” area along this direction of transmission.

The signal transmitted by the new radio node has a registration function. The radio node integrated in the network, which receives such a registration signal from the new radio node, can integrate the radio node into the network and, for example, send confirmation of registration in the network and optional further configuration information. If the new network node receives several beacon signals from other radio nodes, the new network node can select a radio node to which it answers. The radio nodes can use beamforming (also: spatial filtering) to align their own radio signals in a certain direction in order to avoid one or more "blocked" areas. Beamforming allows the transmission power of a radio signal viewed by an antenna array to be directed in a certain direction by signal processing.

An embodiment according to this aspect of the invention relates to a method for integrating a new radio node in a meshed network, which is in the area of at least one restricted area, into which radio signals, for example, may only be transmitted with an energy density less than a predetermined threshold. According to this method, several radio nodes already integrated in the meshed network transmit radio beacon signals. Each of the integrated The radio beacon sends the respective beacon signal relative to its position in all directions, but saves the area of the at least one restricted area. Before the new radio node transmits for the first time, it receives at least one radio beacon signal from the radio beacon signals transmitted by the integrated radio node. For each radio beacon signal transmitted by the integrated radio node and received by the new radio node, the new radio node determines, based on the respective radio beacon signal received, the relative direction of the radio beacon signal emitting the received radio beacon signal and already integrated in the meshed network, in order to subsequently register -Send a message to a radio node that is already integrated in the meshed network and from which a radio beacon signal has been received. The new radio node emits the radio signal containing the registration message by means of beam shaping in the determined relative direction of the already integrated radio node (for example by beamforming the radio signal emitted by an antenna array of the new radio node) that the radio signal does not or only with an energy density smaller than the predetermined threshold is emitted into the at least one restricted area. One integrated radio node receives the registration message and confirms the integration of the new radio node into the meshed network.

In a further embodiment, the new radio node can select an integrated radio node to which the registration message is sent from the integrated radio nodes from which a beacon signal was received. The new radio node can, for example, if it has received several radio beacon signals from different nodes, select a preferred radio node with which it wants to register. For example, he can select the radio node from which the radio beacon signal with the strongest signal power is received.

The new radio node does not have to react immediately to the first radio beacon signal that it receives after it has been activated. In one embodiment, after its activation, the new radio node is initially operated in a listening mode for a predetermined period of time, in which the new radio node does not transmit itself and attempts to receive beacon signals from radio nodes integrated in the meshed network, in the respective relative direction determine the radio node integrated in the meshed network based on the respective radio beacon signal received. For example, after the predetermined period of time has elapsed, the new radio node can select an integrated radio node to which the registration message is sent. Alternatively, however, the new radio node can also send the registration message to the radio node from which it first receives a radio beacon signal.

If the new radio node has received several radio beacon signals, the new radio node in one embodiment of the invention can also determine its relative position with respect to the other radio nodes based on the received radio beacon signals and / or other radio signals from the radio nodes already integrated in the meshed network received by triangulation. For this purpose, the new radio node should receive radio beacon signals from four radio nodes that are already integrated in the network, if possible. The four radio nodes should not be in line with the new radio node with regard to the signal direction (i.e. span a convex space).

In one embodiment of the invention, the meshed network initially comprises at least four integrated radio nodes that span a non-convex space. It is thus ensured that the new radio node (i.e. with regard to the direction of reception of the signals by the new radio node) and the radio nodes already integrated in the network are not in line. The four radio nodes that form the initial meshed network can be configured manually with configuration information. This can be done, for example, via an interface integrated in the radio node, which can be wired or wireless. The configuration information in this case comprises at least the following information: position information which defines the absolute position of the respective radio node in a reference coordinate system; Restricted area information defining the at least one restricted area in the reference coordinate system; and optionally, map information of a topological map of the environment of the radio node or the network.

In one embodiment of the invention, each radio node already integrated in the network transmits its radio beacon signal in a rasterized manner, the at least one restricted area being left out. The radio nodes each send out beacon signals in several steps in a radiation sector (i.e. divided into several sub-sectors with the smallest possible opening angle of the sub-sector), so that the radio beacon signals sweep over the radiation sector of the respective radio node.

In a further embodiment, an integrated radio node can determine the relative direction of the new radio node based on a radio signal which contains the registration message and which is received by the new radio node. The integrated radio node can radiate a radio signal by beam shaping in the determined relative direction of the new radio node. This radio signal can be a confirmation of the integration of the new Radio nodes included in the meshed network. The radio signal is thus not radiated into the at least one restricted area or only with an energy density less than the predetermined threshold value.

Confirming the integration of the new radio node in the meshed network by the one integrated radio node includes, for example, sending position information that identifies the absolute position of the one integrated radio node in a reference coordinate system and sending blocked area information that identifies the at least one blocked area in the reference coordinate system , The position information can optionally additionally identify the absolute position of other radio nodes already integrated in the meshed network in the reference coordinate system, which are known to the integrated radio node that received the registration message. The new radio node can determine its own absolute position in the reference coordinate system based on its own relative position determined by triangulation and the position information of other integrated radio nodes in the reference coordinate system. The new radio node can then communicate the absolute position of the new radio node in the reference coordinate system determined in this way to at least one integrated radio node by means of a further message. The radio signal containing the determined absolute position of the new radio node is also directed by the new radio node by means of beam shaping (beamforming) in the determined relative direction of the integrated radio node, so that the radio signal does not or only with an energy density lower than the predetermined threshold value in the at least one restricted area is emitted.

In another embodiment, the new radio node selects another radio node that is already integrated in the meshed network and from which a radio beacon signal was received if the new radio node did not confirm its integration into the meshed network within a predetermined period of time after the registration message was sent receives through the one integrated radio node, and sends another (second) registration message directed to the other integrated radio node. The radio signal contained in the second registration message is directed by means of beam shaping in a determined relative direction of the other selected integrated radio node, so that the radio signal is preferably not radiated into the at least one restricted area.

A further embodiment according to the invention relates to a radio node for use in a meshed network, which lies in the area of at least one restricted area, into which only radio signals with an energy density less than a predetermined threshold value may be sent. The radio node comprises a transceiver for receiving beacon signals from several other radio nodes already integrated in the meshed network, the transceiver being adapted not to transmit itself before a beacon signal has been received; and a processor unit for determining, for each radio beacon signal received by the transceiver, based on the respective received radio beacon signal, a relative direction of the other radio node which emits the respective received radio beacon signal with respect to the radio node. The transceiver is also set up for the directed transmission of a registration message to another radio node that is already integrated in the meshed network and from which a radio beacon signal has been received. Furthermore, the transceiver is set up in such a way that it radiates the radio signal containing the registration message by means of beam shaping in the determined relative direction of the other radio node already integrated in the meshed network, so that the radio signal does not or only with an energy density lower than the predetermined one Threshold value in which at least one restricted area is emitted. The transceiver is also set up to receive a confirmation message from one of the other radio nodes already integrated in the meshed network, the confirmation message confirming the integration of the new radio node into the meshed network by the one integrated radio node.

In a further embodiment, the processor unit is set up to select the one other integrated radio node to which the registration message is sent from the integrated radio nodes from which a beacon signal was received.

In a further embodiment of the invention, the radio node is initially operated in a listening mode in which the transceiver is set up after it has been activated, in which the transceiver is set up not to transmit itself and attempts to send beacon signals from other radio nodes integrated in the meshed network to receive and to determine the relative direction of the other radio nodes integrated in the meshed network based on the respective received radio beacon signal. After the predetermined period of time has elapsed, for example, the transceiver can select the other integrated radio node to which the registration message is sent. Alternatively, the transceiver is set up to send the registration message to the other radio node already integrated in the meshed network, from which it first receives a radio beacon signal.

In a further embodiment, the processor unit is set up to determine the relative position of the radio node by triangulation based on a plurality of received radio beacon signals and / or other radio signals which have been received by the other radio nodes already integrated in the meshed network.

According to a further embodiment, the transceiver is set up to: receive position information which identifies the absolute position of the one other integrated radio node in a reference coordinate system; and receiving restricted area information identifying the at least one restricted area in the reference coordinate system. The position information can optionally also identify the respective absolute position of other radio nodes already integrated in the meshed network in the reference coordinate system, which are known to the one integrated other radio node.

In a further embodiment, the processor unit is set up to determine the own absolute position of the radio node in the reference coordinate system based on an own relative position determined by triangulation and the position information of at least one integrated radio node in the reference coordinate system, and a notification of the determined absolute position of the radio node in the To cause the reference coordinate system at least the one other integrated radio node by means of a message. The transceiver is also set up to emit the radio signal containing the message by means of beam shaping in the determined relative direction of the one integrated radio node, so that the radio signal is not emitted into the at least one restricted area or only with an energy density smaller than the predetermined threshold value. The transceiver can also be set up to send the determined absolute position of the new radio node in the reference coordinate system to the one integrated radio node by means of the registration message.

According to a further embodiment, the processor unit of the radio node is also set up to select another radio node which is already integrated in the meshed network and from which a radio beacon signal has been received if the radio node does not confirm its integration into a predetermined period after the registration message has been sent the meshed network receives an integrated radio node. The transceiver can also be set up to send a second registration message directed to the other integrated radio node, and to radiate the radio signal containing the second registration message in a determined relative direction of the other selected integrated radio node by means of beam shaping, so that this Radio signal is not radiated into the at least one restricted area.

Another embodiment relates to a radio node for use in a meshed network, which lies in the area of at least one restricted area, into which only radio signals with an energy density less than a predetermined threshold value may be sent. It is assumed that the radio node is already integrated in the meshed network and the radio node comprises a transceiver for transmitting a radio beacon signal, the transceiver being set up to transmit the radio beacon signal in a rasterized manner, the at least one restricted area being left out ; the transceiver further receiving a radio signal containing a registration message from another radio node not integrated in the meshed network. The radio node also includes a processor unit for determining the relative direction of the other radio node based on the radio signal received by the other radio node. The transceiver can also be set up to send a confirmation message to the other radio node, the confirmation message confirming the integration of the new radio node into the meshed network by the one integrated radio node. Furthermore, the transceiver can use beam shaping to radiate the radio signal containing the confirmation message in the determined relative direction of the other radio node, so that the radio signal is not radiated into the at least one restricted area, or only with an energy density lower than the predetermined threshold value.

list of figures

• 1 zeigt ein beispielhaftes Sensornetz, das aus vier bereits in das Netz integrierten Knoten A, B, C, und D steht, und in das ein neuer Netzknoten X integriert werden soll, wobei im Bereich des Sensornetzes ein Sperrgebiet liegt,
• 2 zeigt das Sensornetz aus 1, nachdem der Knoten X im Sensornetz integriert wurde,
• 3 zeigt die Berücksichtigung von topologischen Gegebenheiten, zum Beispiel Gebäuden G1, Bestimmung der Abstrahlung-Sektoren, in denen der Netzknoten X seine Funksignale aussendet, um zu verhindern, dass Funksignale in das Sperrgebiet abgestrahlt werden,
• 4 zeigt ein Flussdiagrammgemäß einer Ausführungsform der Erfindung, dass die einzelnen Operationen des neuen Netzknoten, zum Beispiel Netzknoten X, und eines bereits im Netzwerk integrierten Knotens, zum Beispiel Knoten A, die ausgeführt werden, um den neuen Netzknoten im Netz zu integrieren,
• 5 zeigt ein Flussdiagrammgemäß einer weiteren Ausführungsform der Erfindung, dass die einzelnen Operationen des neuen Netzknoten, zum Beispiel Netzknoten X, und eines bereits im Netzwerk integrierten Knotens, zum Beispiel Knoten A, die ausgeführt werden, um den neuen Netzknoten im Netz zu integrieren
• 6 zeigt ein Beispiel, wie der Netzknoten X basierend auf Informationen zu den Abstrahl-Sektoren der anderen im Netz integrierten Netzknoten A, B, C und D, die Lage des Sperrgebiets S1 bestimmen kann,
• 7 illustriert beispielhaft die Definition eines dreidimensionalen Sperrgebiets,
• 8 zeigt einen Funkknoten gemäß einer Ausführungsform der Erfindung, und
• 9 zeigt ein Beispiel von Routen zwischen den einzelnen Funkknoten des vermaschten Netzes, wie sie auf der Ebene des Routingprotokolls gebildet werden.

Embodiments of the invention are explained in more detail with reference to the accompanying figures.

• 1 shows an exemplary sensor network consisting of four nodes already integrated in the network A . B . C , and D stands, and in that a new network node X to be integrated, with a restricted area in the area of the sensor network,
• 2 shows the sensor network 1 after the knot X was integrated in the sensor network,
• 3 shows the consideration of topological conditions, for example buildings G1 , Determination of the radiation sectors in which the network node X transmits its radio signals to prevent radio signals from being emitted into the restricted area,
• 4 FIG. 4 shows a flow diagram according to an embodiment of the invention that the individual operations of the new network node, for example network nodes X , and a node that is already integrated in the network, for example nodes A that are executed in order to integrate the new network node into the network,
• 5 shows a flow diagram according to a further embodiment of the invention that the individual operations of the new network node, for example network nodes X , and a node that is already integrated in the network, for example nodes A that are executed in order to integrate the new network node in the network
• 6 shows an example of how the network node X based on information on the radiation sectors of the other network nodes integrated in the network A . B . C and D , the location of the restricted area S1 can determine
• 7 exemplifies the definition of a three-dimensional restricted area,
• 8th shows a radio node according to an embodiment of the invention, and
• 9 shows an example of routes between the individual radio nodes of the meshed network, as they are formed at the level of the routing protocol.

In the following description of the embodiments of the invention, elements having the same effect are provided with the same reference symbols in the figures, so that their description is interchangeable in the different exemplary embodiments.

DETAILED DESCRIPTION OF THE INVENTION

In general, the invention relates to the operation of a meshed network comprising a plurality of radio nodes, which can be operated autonomously and without a central authority for network management, starting from an initially existing network that can be configured manually. The meshed network can be, for example, a sensor network that contains sensors and optionally also actuators. However, the invention is not limited to sensor networks. According to one aspect of the invention, the protocols for integrating new radio nodes in the network itself are designed in such a way that it can be ensured that “blocked” areas are left out by the individual radio nodes when radio signals are transmitted. As a result, the power density of the radio signals introduced into a restricted area can be kept below a predetermined threshold value, so that devices can also be operated in the restricted area, which could be disturbed, damaged or even caused to explode by an excessive input of power by the radio signals. Different threshold values can be assigned to the different restricted areas. The meshed network can, for example, be an ad hoc network that is operated in an industrial or production plant. However, the invention is not so limited. The invention can also be used in other sensor networks which, for example, record parameters in households (e.g. energy consumption, gas consumption, district heating consumption, etc.) and transmit them to a central unit, the households being in an area which is also a restricted area in the sense of these Invention includes. Another exemplary application of a meshed network according to the invention is industrial and / or production plants or laboratories that use sensitive measurement technology that could be disturbed by the input of electromagnetic radio waves. The invention can also be used to address safety-critical aspects: For example, in prisons, inmates must not have radio reception. Another example and also safety-critical systems in which signals may only be detectable within the system.

According to one aspect of the invention, a new radio node that is to be integrated into the meshed network does not initially send out signals independently. Rather, the radio node first tries to receive signals from other network nodes that are already integrated in the network. Since the network nodes radiate their radio signals within a radiation sector (or several radiation sectors) and thus ensure that the one or more restricted areas are left out, the new radio node can use the received signals to determine in which direction relative to its position there is no restricted area. The signals transmitted by the other radio nodes already integrated in the network indicate the availability of the mesh network and enable the new radio node to determine the relative direction of the transmitter. These signals are referred to as radio beacon signals. The new radio node that receives such a beacon signal can use the signal to determine the relative direction from which the beacon signal was received and can use this information to align its radio signals in this direction to ensure that when the Radio signals a predetermined restricted area is left out without the new radio node having to know in advance the existence or position of the restricted area. The use of radiation sectors that define the “permissible” areas in which a respective radio node can transmit its radio power influences the neighborhood detection of the network management protocols of the mesh network (eg Neighbor Discovery (NDP)), as it is limited the directions of transmission of the radio signals are not all possible radio nodes are recognized as neighboring nodes in the network and the routing is adapted accordingly.

Since the new radio node previously received a beacon signal from the determined direction, it can assume that there is no “blocked” area along this direction of transmission. Furthermore, the new radio node can assume that a radio signal emitted in the relative direction can be received with high probability by another radio node integrated in the network. The signal transmitted by the new radio node has a registration function. The radio node integrated in the network, which receives such a registration signal from the new radio node, can integrate the new radio node and to which the registration signal was received into the network. Furthermore, he can send a confirmation of the registration in the network, as well as optional further configuration information to the new radio node, with the help of which the new radio node can determine, for example, its absolute position in a reference coordinate system, about the location of the one or more restricted areas in the area of the meshed network , and / or about other radio nodes and optionally their position in the reference coordinate system. If the new network node receives several beacon signals from other radio nodes, the new network node can select radio nodes with which it is registered. The radio nodes can use beamforming to align their own radio signals in a certain direction in order to avoid one or more "blocked" areas. Beamforming also allows the transmission power to be sent as extensively as possible in the direction.

The basic functioning of this registration method for integrating a new radio node into the meshed network is described in more detail below with reference to 1 explained. 1 shows an exemplary meshed network, which consists of four nodes already integrated in the network A . B . C , and D exists, and in that a new network node X should be integrated. The nodes integrated in the network A . B . C and D span a meshed network, in whose area also the restricted area S1 lies. In 1 it is assumed, for example, that the individual nodes A . B . C and D form the initial or minimum network, from which further nodes can be integrated into the meshed network. In this case, the nodes A . B . C and D have been configured manually, i.e. they have precise knowledge of their absolute position (optionally also the absolute position of the other three radio nodes) in a reference coordinate system, as well as optionally topological information about the environment in the area of the meshed network and the location of one or more restricted areas how restricted area S1 which are in the area of the meshed network and into which, if possible, no radio signals (and if only with a power density below a predetermined threshold value) should be introduced. The individual radio nodes A . B . C and D Those who are already integrated into the network therefore know which sector they need to cut out to ensure that there are no radio signals in the restricted area S1 with too high a power density. In 1 become the "permissible" radiation sectors A1 . B1 . C1 and D1 shown, in which the respective radio nodes may send their radio signals. The data for this initial configuration can be, for example, via an interface of the radio nodes A . B . C and D be imported.

As in 1 can be seen, the radio node B not directly with the new radio node X communicate since the restricted area S1 between the two nodes on their line of sight. The new radio node can accordingly X only the beacon signals B _A1 . B _C1 and B _D1 the radio node A . C and D received as exemplary in 1 is pictured. The beacon signals B _A1 . B _B1 . B _C1 and B _D1 are from the network nodes A . B . C and D transmitted by means of beamforming in such a way that the radio nodes transmit from the respective antenna A . B . C and D radiated power in the respective radiation sector A1 . B1 . C1 and D1 of the respective radio node is transmitted. This ensures that the radio node ensures that the service request is in the restricted area S1 is below a threshold. The threshold value can, for example, be determined in an application-specific manner and / or be prescribed by a standard. In one exemplary embodiment, the threshold value is selected such that the reception (in particular the decoding of the data) of the radio signal in a restricted area (for example a correctional facility) is not possible.

The new radio node X who wants to be integrated into the meshed network does not send out any radio signals to ensure that he does not accidentally send a radio signal to a restricted area. The radio node X Instead, it monitors the radio channel on which the radio nodes communicate with each other and determines whether it receives one or more radio beacon signals from other radio nodes, here radio nodes A . C and D , receives. Based on these beacon signals B _A1 . B _C1 and B _D1 the other radio node A . C . D In the meshed network, the radio node can X the relative direction of the radio nodes A . C . D determine from which it receives a respective beacon signal B _A1 . B _C1 and B _D1 has received. Based on the assumption that the other radio nodes A . C and D not even in the restricted area S1 the radio node knows to be able to transmit X that from the relative direction from the beacon signals B _A1 . B _C1 and B _D1 cannot be received through the restricted area and thus the radio node X can send itself in this direction.

The radio node X can therefore send a radio signal in one of the relative directions from which it has received a beacon signal, which contains a registration for the meshed network (and thus select an already integrated radio node and send a registration message to it). After receipt of the registration message by one of the radio nodes already integrated in the network A . C or D this radio node can be the new radio node X integrate into the network. This happens, for example, in that the respective radio node, which is already integrated in the network, correspondingly routes its routing table around the radio node X optionally also supplements the other radio nodes via the new radio node X informed. For this purpose, the radio node can also determine the relative direction of the radio node X on the basis of the radio signal that transmits the registration message and store it accordingly. This enables the radio node to communicate with the radio node X the radio signal also send out the correct relative direction without the power input by the radio signal into the restricted area S1 to increase.

Furthermore, the radio node that receives the registration message from radio nodes X received, confirm the registration with a corresponding confirmation message. This confirmation message is also directed by radio signal in the determined relative direction of the radio node X sent out, so that again the restricted area S1 can be left out. By means of the confirmation message, the respective radio node already integrated in the network can be sent to the radio node X also send further configuration information. The configuration information includes, for example, the absolute position of the other radio nodes in the meshed network (as far as it is known), the absolute location and extent of the restricted area S1 in the reference coordinate system, etc. With the help of this additional configuration information, the radio node can X a radiation sector X1 determine how in 2 shown, and / or based on the configuration information and its known relative position, its absolute position relative to the other radio nodes A . B . C and D determine.

The configuration information that the radio node X from one of the other radio nodes already integrated in the network can also receive information regarding the topology in the vicinity of the radio node X included (e.g. 2D, 2.5D or 3D map material). Based on this topological information (eg geographic information and / or geodata), which is obtained from one or more other radio nodes, the radio node can X together with its absolute position in the reference coordinate system, not only the exact relative location of the restricted area S1 regarding the position of the radio node X determine, but also determine topological peculiarities of the environment, for example a reflection / attenuation of the radio node X transmitted radio signals in the direction of the restricted area S1 could cause. The radio node can use this additional topological information X to determine one or more radiation sectors so that it can be ensured that radio signals are from the radio node X Within these radiation sectors directed by means of beamforming are sent a power request in the restricted area below a predetermined threshold.

The topological information can be geographic information and / or geodata (2D, 3D or 2.5D) of a topological map, which at least describes the surroundings of the radio node. The geographic information can be, for example ISO 19107 Geography information - Spatial schema (spatial reference schema) - must be defined to be compatible (see DIN EN ISO 19107: 2017 ), its successor standard ISO FDIS 19107 currently has to be formally confirmed. Even if in the following reference is made to geographic information and / or geodata of the topological map material, it is in principle also conceivable to use topographic, geographical or thematic maps that contain or supplement geographic information and / or geodata (2D, 3D or 2.5D) were.

Alternatively, it is also possible for the radio node to receive at least part of the configuration data, for example the topological map and / or its absolute position in the map, via another interface. For this purpose, the radio node can identify a wired or (further) wireless interface, such as a USB interface or a Bluetooth interface. This makes it possible to transmit larger amounts of data to the radio node. This can happen, for example, before or during the initial start-up of the radio node or also during its operation (also as an update), for example in the maintenance operation of the radio node. Optionally, the interface can also be used to update the firmware or other settings on the radio node.

The information about the environment of the radio node (for example geographic information of the topological map or additional meta information of topographic, geographical or thematic maps) can be, for example, information about buildings or other radio obstacles in the area of the radio node. This building information could be very detailed: For example, this is a model or blueprint of the building in which the radio node is located. This could optionally be supplemented with information on the nature / material of walls and / or ceilings. The building information could also contain corresponding information about neighboring buildings that are in the vicinity or radio area of the radio node. Such information could be used by the radio node to take into account reflections of the radio signal by the building in which the radio node is located and / or by surrounding buildings or other obstacles in the area of the radio node when determining its one or more radiation sectors , Additionally or alternatively, this information could also be used by the radio node to determine the transmission power for the individual radio signals and / or their attenuation. Based on the data relating to reflection and / or attenuation, and optionally also the transmission power, the radio node could also determine the transmission direction of the radio signals, in particular the “permitted range” (radiation sector (s)) into which it is allowed to transmit the radio signals.

In 3 is shown as an example of how topological conditions in the vicinity of the radio node X could be taken into account. In 3 it is assumed, for example, that a skyscraper G1 in the immediate vicinity of the radio node X exists, due to the orientation of the building relative to the restricted area S1 is to be feared that one towards the building G1 emitted radio signal is reflected by it in such a way that a correspondingly increased power input into the restricted area S1 comes about. The radio node X can therefore the radiation sectors X1-1 and X1-2 determine accordingly adapted so that the radio node X neither directly in the direction of the restricted area S1 , still in the direction of the building G1 Posted.

4 shows a flow diagram according to an embodiment of the invention that the individual functions of the new network node, for example network node X , and a node that is already integrated in the network, for example nodes A , point to the new network node X to integrate into the network. The new network node X does not begin to transmit on its own, but is, after its activation (or the activation of the transceiver), for example in a listening mode in which the radio node X the radio channel to receive radio beacon signals from other radio nodes already integrated in the network, such as radio nodes A , wait 401 , As soon as one of one of the registered radio nodes A . B . C or D sent out 410 Beacon signal received 402 the radio node tries X the relative direction of the radio node sending the received beacon signal, ie the radio node A to determine 403 , In the in 4 implementation shown, the radio node responds X immediately upon receiving 402 the first radio beacon signal and immediately tries the radio node A from which he received the beacon signal in step 402 received by registering a registration message in the determined relative direction from which he received the beacon signal in the step 402 has received, sends 404 , The radio node X can influence the radiation direction of its antenna, for example by beamforming, in such a way that the total energy of the radio signal, which contains the registration message, is in the determined relative direction of the radio node A is sent.

radio nodes A receives the registration message in step 411 , Based on the radio signal that carries the registration message 412 the radio node A the relative direction of the radio node X , The radio node A registered 413 the new radio node X in the meshed network. This can happen, for example, in that the radio node A the radio node X in the routing table, and optionally the other radio nodes B . C and D about the accessibility of the radio node X via the radio node A informed. Alternatively, the radio nodes could B . C and D the accessibility of the radio node X also learn about the exchanged messages in the meshed network and update their routing tables accordingly.

After registration 413 can the radio node A the successful registration of the radio node X to confirm. To do this sends 414 he a confirmation message in the direction of the radio node X , The confirmation message is sent from the radio node X receive 405 and completes the registration process of the radio node X from. After receiving the registration confirmation, the radio node can X its data towards the radio node A send, which then, depending on the addressee, forwards it to another radio node (optionally via other radio nodes) until the addressee of the data is reached. The addressee of the data can also be connected in another network outside the meshed network, for example via the Internet, a company network, etc.

In addition to the confirmation that the registration in the meshed network was successful, the confirmation message can optionally also contain further information. This additional information can relate, for example, to the accessibility and / or position of other nodes B . C and D obtain in the meshed network (position information), and / or information relating to the restricted areas located in the area of the meshed network (restricted area information) and / or contain additional topological map information based on that of the new radio node X can determine the direction in which it is allowed to send radio signals (ie that for determining the one or more radiation sectors of the radio node X serve). The optional further steps of the radio node X with the help of the additional information from the confirmation message will be discussed in more detail below with reference to 5 explained.

After registration of the new radio node X in the network, this can be reached by the other radio nodes in the meshed network, or can itself communicate with other radio nodes or access and use an external network (e.g. the Internet, a company network, etc.) via one or more of the other radio nodes communicate. Depending on the implementation of the meshed network, the radio node newly integrated in the meshed network can X thus transmit its data to a central unit, or for example to a control unit which intervenes in a production process or other industrial process based on the recorded sensor data.

Basically, it is possible that the new radio node X not only responds from a first radio beacon signal, but in response to the reception of several radio beacon signals sends one or more registration messages to one or more radio nodes already integrated in the meshed network, and accordingly also a confirmation message and the optional additional information, as described, receives. As will be explained in more detail below, the radio node can X when receiving multiple beacon signals, determine its relative position itself using triangulation and determine its absolute position in the reference coordinate system after the radio node X has received the absolute position of the radio nodes in the reference coordinate system which have sent the multiple radio beacon signals. This allows the radio node X determine the exact position of the restricted area or several restricted areas and optionally determine with the help of the topological additional information in which directions he may transmit his radio signals for communication and in which not, in order to ensure that the power density introduced into the one or more restricted areas is below a predetermined threshold is held.

An alternative registration process for a radio node is described below in relation to the 5 described. Similar to 4 is the new radio node X who wants to integrate into the meshed network, initially in a listening mode and does not send out any radio signals. Wait accordingly 401 the new radio node X on the reception of beacon signals from other radio nodes already registered in the network, such as the radio nodes A . C and D , In the embodiment of the 5 the radio node tries X first to receive several beacon signals from different radio nodes in the meshed network before sending a registration message. Accordingly, first 501 started a timer which serves to monitor a predetermined period of time in which the radio node X first receives and evaluates radio beacon signals. It is assumed that the radio nodes already registered in the network, A . B . C and D emit radio beacon signals at regular intervals (periodically), optionally synchronized with each other, whereby, as in relation to 1 described, avoid existing restricted areas. As in 1 shown, it is assumed below that the radio node X only the beacon signals from the radio nodes A . C and B can receive because the radio node X not in the radiation sector B1 of the radio node B lies and therefore receives no signals from this radio node.

As soon as the radio node X receives a beacon signal within the time period monitored by the timer 402 , the radio node determines X based on the beacon signal, the relative direction from which he received the respective beacon signal from one of the registered radio nodes A . C or D sent out 410 was received. For example, the beacon signal can contain an identifier of the transmitting radio node and the radio node X can temporarily store the determined relative direction and the identifier of the radio node that sent the respective radio beacon signal. The beacon signal can optionally also contain further information / parameters that a new radio node needs in order to be able to register itself in the network. However, this information / parameters are specific to the radio technology used and are not considered in more detail here.

As long as the timer has not expired 502 , evaluates the radio node X the beacon signals received according to the steps 402 and 403 and stores for each new identifier of a radio node the relative direction from which it received the associated radio beacon signal. Optionally, the radio node X if he receives a beacon signal several times from one and the same radio node, recalculate the relative direction of the radio node determined in each case and combine different results with one another in order to determine the relative direction of the respective radio node more precisely.

After the timer has expired 502 , the radio node can X , provided that it has received at least two, preferably at least three (radio beacon) signals from different radio nodes, one relative position relative to the radio node A . C and D from which he has received (radio beacon) signals 503 , At least three (radio beacon) signals are necessary for triangulation in three-dimensional space, while two (radio beacon) signals from different radio nodes are sufficient for a two-dimensional position determination. The accuracy of the position determination depends, among other things, on the number of (radio beacon) signals for triangulation that are received from different radio nodes. The more (beacon) signals are received from different radio nodes, the more precisely the position can be determined by triangulation. Another factor that determines the accuracy of the triangulation is the quality of the beamforming. The "narrower" the transmitted radio signals are emitted in a certain direction, the more precisely the direction of the transmitting radio node can be determined, so that the stated minimum number of different (radio beacon) signals can be sufficient for a sufficiently precise triangulation.

Dials after the timer expires 504 the radio node X one of the radio nodes, for example radio nodes A from which he received a beacon signal and transmits 404 a registration message to this radio node. The radio node X can influence the radiation direction of its antenna in such a way, for example by beamforming, that the entire energy of the radio signals that the registration message contains is in the determined relative direction of the radio node A is sent. As mentioned, the radio node has X the necessary relative direction has already been determined and cached. The registration message can, for example, in addition to the detection of the radio node X also more information about the radio node X contain. For example, the registration message can also identify the identifiers of those radio nodes, ie the other radio nodes C and D , included, of which the radio node X has also received beacon signals.

radio nodes A receives the registration message in step 411 , Based on the radio signals that the registration message transports 412 the radio node A the relative direction of the radio node X , The registered radio node A registers the new radio node X in the meshed network by the radio node X for example in the routing table. The radio node optionally provides information A the other radio nodes B . C and D about the accessibility of the radio node X via the radio node A informed. Alternatively, the radio nodes could B . C and D the accessibility of the radio node X also learn about the exchanged messages in the meshed network and update their routing tables accordingly. The exact implementation and acquisition of routes for the routing of network messages in the meshed network is an implementation question of the routing protocol and is not considered in more detail here. As already mentioned, the control / monitoring of the direction of radiation of the radio signals indirectly intervenes in the neighborhood algorithm of the network management by beamforming, so that actually potential neighbors of the radio node X , such as the radio node B , the radio node X remain hidden and a possible direct route in the meshed network is not formed at all or is recognized as such.

After registration 413 can the radio node A the successful registration of the radio node X to confirm. To do this sends 414 he a confirmation message to the radio node X from the radio node X receive 405 is received and the registration process of the radio node X concludes. After receiving the registration confirmation, the radio node can X its data towards the radio node A send, which then, depending on the addressee, forwards it to another radio node and optionally via other radio nodes until the addressee of the data is reached. This can also be connected to the meshed network in another network outside the meshed network, for example via the Internet, company network, etc.

In some of the aforementioned embodiments, the new radio node integrated in the network X together with the confirmation of its registration in the network, additional information is sent to the radio node X allow the location and extent of the restricted area S1 to be determined at least in two-dimensional, alternatively in three-dimensional space with reference to a reference coordinate system. As an alternative to defining the restricted area in absolute coordinates relative to the reference coordinate system, the radio node could X the location of the restricted area S1 also based on information about the absolute positions of the surrounding radio nodes A . B . C and D as well as their radiation sectors A1 . B1 . C1 and D1 determine, as exemplified in 6 is pictured. Because of the recessed sectors in which the individual radio nodes A . B . C and D The radio node can send radio signals X the location of the restricted area by forming the boundary lines of the sectors of the individual radio nodes S1 _approx to investigate. To the location of the restricted area S1 _approx to determine required radio nodes X at least the absolute position of two radio nodes in the reference coordinate system and the radiation sectors of these two radio nodes. The overlap area of the respective sectors into which the respective radio nodes do not send any radio signals (these can be determined from the respective radiation sectors) defines an area that can be defined as a restricted area. Depending on the location of these sectors, no radio signals are sent to the respective radio nodes Reference coordinate system, this estimate of the location of the restricted area is more or less accurate based on the overlap area of the sectors. Obviously, the location of the restricted area can be determined more precisely, the more information about the surrounding radio nodes and their radiation sectors the radio nodes X be available.

In principle, both the restricted area and the radiation sectors can be defined two-dimensionally, it being possible for these two-dimensional areas to be mapped to the three-dimensional space of the reference coordinate system by (geometric) extrusion. However, it is also possible to define the restricted area and the radiation sectors of the individual radio nodes in three-dimensional space. This can be achieved, for example, by defining two radiation sectors for a radio node, that is to say defining two radiation sectors with respect to different levels in the reference coordinate system. The restricted area in three-dimensional space can be defined, for example, by means of common data formats for defining three-dimensional structures in topological data. The card information that the new radio node X For example, be sent together with the confirmation of its registration in the network, but may alternatively or additionally also be in a raster data format.

7 shows an example of the definition of a restricted area S1 using Cartesian coordinates in three-dimensional space (ie geospatial information and / or geodata), whereby individual corner points of the three-dimensional restricted area, which are connected with lines by corresponding coordinate pairs (xs1_1, ys1_1, zs1_1), (xs1_2, ys1_2, zs1_2), (xs2_1) , ys2_1, zs2_1), (xs2_2, ys2_2, zs2_2), (xs3_1, ys3_1, zs3_1), (xs3_2, ys3_2, zs3_2), (xs4_1, ys4_1, zs4_2), (xs4_2), (xs4_1), (xs4_1), (xs4_2) , zs5_1), (xs5_2, ys5_2, zs5_2) can be defined. The three-dimensional restricted area S1 is obtained by linearly connecting the coordinates (xsi_1, ysi_1, zsi_1) and (xsi_2, ysi_2, zsi_2), (xsi_1, ysi_1, zsi_1) and (xs (i + 1) _1, ys (i + 1) _1, zs (i +1) _1) and), (xsi_2, ysi_2, zsi_2) and (xs (i + 1) _2, ys (i + 1) _2, zs (i + 1) _2), where the index i is the individual coordinate pairs designated.

8th shows an example of the structure of a radio node, such as the radio node A , B, C, D or X in 1 , A radio node 800 comprises a sensor unit 801 , a computing unit 802 , a transceiver 803 (also referred to as a transceiver or transceiver) and optionally other application-specific components. Furthermore, the radio node 800 also an energy source 804 , for example in the form of a battery. The battery can either be the sole energy source of the radio node (pure battery operation) or be used as a backup against power failure. Alternatively, the radio node could also be connected to a power network instead of a battery, via a bus system or via the interface 806 be powered. The sensor unit 801 one or more different parameters in the vicinity of the radio nodes 800 to eat. The measured parameters can, for example, at regular intervals from the radio node 800 be sent to a central unit inside or outside the meshed network. Alternatively, the measured parameters can also be sent for control to actuators of the system, which can also be part of the meshed network or are located outside of it.

The computing unit 802 is used to control the radio node 800 and can be implemented using a microcontroller, for example. The computing unit typically unites 802 a processor / microprocessor, and the associated memory (also cache) on a chip. Alternatively, the computing unit 802 can also be implemented as SoC from several chips. The computing unit can use as little power as possible 802 their functionality compared to conventional processors, which are used, for example, in commercially available computers or mobile phones, be severely restricted. It is also advantageous if the computing unit 802 Energy-saving modes are supported, as is the case in modern processor architectures. Main task of the computing unit 802 is the control of the radio node 800 , the acquisition and, if necessary, intermediate storage of sensor data from the sensor unit 801 , as well as the implementation of the protocol stack for the organization of the meshed network and data transmission via the transceiver 803 , unless a separate chip is provided for this.

The transceiver 803 provides the radio communication between the radio node 800 and other nodes in the network. The transceiver also advantageously supports 803 an energy-saving operating mode to keep energy consumption as low as possible when no data has to be transmitted or received.

In one embodiment, the transceiver 803 based on the LoRa PHY standard, which is extended by a beamforming function. However, there are also other so-called Low Power Wide Area Network (LPWAN) standards that support beamforming or have been expanded by appropriate functionality for communication via the radio interface. Basically, the transceiver could 803 also support cellular standards, beamforming support, such as 3GPP LTE, LTE Advanced, or a 5G standard of 3GPP.

The transceiver 803 is to one or more antennas / antenna arrays of the radio node 800 connected via which the transceiver 803 Receives and sends radio signals. The transceiver 803 can implement a so-called beamforming in order to control the radiation characteristics of the respective antennas / antenna arrays in such a way that a large part of the transmission power is transmitted in a certain direction, i.e. in the direction of another radio node of the meshed network, so that it is brought into a restricted area Power density can be minimized and / or kept below a certain threshold. The transceiver 803 can comprise, for example, a so-called beamforming network (BFN), that is to say a circuit which adjusts a radiation profile to an antenna (narrays) of a desired geometric contour. The BFN feeds the transmission signal weighted (in relation to phase position and / or amplification) to the different antenna elements and thereby influences the radiation characteristics of the antenna. This allows the radiation profile of the antenna (narray) to be adjusted so that the power of the radio signal is emitted in a certain direction.

Beamforming is supported by a large number of radio technologies, in particular also by cellular standards. If the transceiver 803 a chipset is implemented that implements a specific radio or cellular standard, it should advantageously have an interface with which beamforming can be configured. In such a case, the processor unit 802 or the transceiver 803 Configure beamforming via this interface so that the radio signals from the radio node 800 only in the one or more radiation sectors of the radio node 800 or only broadcast in a certain direction. This can be the beamforming function of the transceiver 803 functional with the protocol stack of the computing unit 802 be coupled, which provides the beamforming function with the necessary information for beamforming for the directed transmission of the radio signals. Furthermore, the transceiver 803 be set up so that - as in relation to the 4 and 5 described - based on the beacon signals from the transceiver 803 are received, the relative direction of the radio node transmitting the respective beacon signal is determined. The transceiver 803 can this information together with other information extracted from the beacon signal (for example signal strength, identifier of the radio node, etc.) via an interface to the computing unit 802 forward to process them there.

The protocol layers above that of the transceiver 803 implemented protocol stack can, for example, by the computing unit 802 will be realized. The protocols, ie their functionality, can be part of the firmware / software of the radio node, for example 800 be in a non-volatile memory of the computing unit 802 or another memory module of the radio node 800 is stored, and by the processor of the computing unit 802 is performed. The firmware / software can implement, for example, those protocols that are necessary for the construction and management of the meshed network and / or routing, for example the corresponding routing protocols and management protocols for the meshed network. As mentioned, these protocols can be functional with the transceiver 803 be coupled via one or more interfaces to exchange information.

Protocols can be used as the routing protocol, which are based, for example, on the distance vector algorithm (also known as distance vector routing) and which are optionally optimized for use in low power wide area networks (LPWAN). One example is the Routing Protocol for Low power and Lossy Networks (RPL) (German: Routing protocol for low-power and lossy networks), which is specified in the IETF standard RFC 6550. This requires the use of non IPv6 protocol in the network layer 3 ). The RPL protocol can also be used, for example, in an IPv6 over Low power Wireless Personal Area Network (6LoWPAN - German: IPv6 for WPAN with low energy consumption). Alternatively, angle-based dynamic source routing (ADSR) -based routing protocols or the low-energy adaptive clustering hierarchy (LEACH) protocol could also be used. The network layer of the protocol stack can, for example, use the IPv4 or IPv6 protocol for addressing the network nodes and also from the computing unit 802 be implemented.

As already mentioned, the beamforming influences the neighborhood detection of the individual radio nodes, so that certain routes that would not be possible if the restricted areas were not taken into account are not included in the routing due to the changed neighborhood detection and are therefore left out when the radio signals are transmitted. Formulated in the context of the RPL, the beamforming of the radio signals means that all “children” can only see and address those “parents” who are not “behind” restricted zones. The use of Destination Oriented Directed Acyclic Graph (DODAG) Information Objects (DIOs) and Destination Advertisement Objects (DAOs) remains unaffected. The reception of the Neighborhood Advertisement (NA) and Neighbor Solicitations (NS) messages, or router advertisement (RA) and router solicitation (RS) messages and thus the network structure of the meshed network is influenced by the beamforming of the radio signals. As in 1 visible, reach the radio node X due to the radiation sectors A1 . B1 . C1 , and D1 the other radio node A . B . C and D , only radio signals from the radio nodes A . C and D , Because of this, the neighborhood algorithm can be used at the network layer (network layer) level 3 of the OSI model) only recognize those radio nodes as neighbors from which it also received radio signals. Accordingly, it becomes a radio node B not recognized as a “neighbor”, even if theoretically a direct radio connection between the radio nodes X and B it is possible. Accordingly, in the routing table of the radio node, as in 9 shown, only the routes to radio nodes A (Route R _XA ), to radio nodes C (Route R _XC ) and to radio node D ( R _XD ). The route R _XB would not be formed at all. Furthermore, the radio node could X learn that radio node B again via the radio node A or radio node C is achievable. This could also be stored in the routing table so that the routing protocol stores the data for the radio node B either via the route R _XA or alternatively via the route R _XC sends. The knots A and C the data would then be sent to node B via route RAB or route R _CB hand off.

Management protocols can, for example, be self-configuration protocols, such as the well-known Dynamic Host Configuration Protocol (DHCP) or IPv6 Stateless address autoconfiguration (SLAAC). The latter can advantageously be used together with the Neighbor Discovery Protocol (NDP) - see IETF RFC 4861. Alternatively, protocols specially adapted for use in mesh networks, such as the Ad Hoc Configuration Protocol (AHCP), the Proactive Autoconfiguration Protocol, or the Dynamic WMN Configuration Protocol (DWCP) could be used for network management.

The one in the arithmetic unit 802 implemented protocols can be set up, for example, following the individual steps of the flow diagrams 4 or 5 to realize that from the radio node X and / or one of the other radio nodes A . B . C or D be carried out. Alternatively, these steps can also be done by combining functionality in the computing unit 802 and the transceiver 803 will be realized. For example, the network management protocol that that of the computing unit 802 is implemented by the transceiver 803 in response to the receipt 402 . 404 a beacon signal or a registration message, the identifier of the radio node that sent the beacon signal or the registration message and information about its relative direction with respect to the radio node, which are used by the network management protocol to update the routing table accordingly.

Furthermore, the network management protocol can be set up, the transceiver 803 to cause the beacon signals to be sent out according to the respective radiation sector using beamforming, so that the restricted area S1 remains omitted. The transceiver 803 For this purpose, the radio beacon signal in the radiation sector of the respective radio node can radiate altogether, or alternatively, several radio beacon signals can be emitted by beamforming in different directions within the radiation sector of the radio node, in order to "scan" the radiation sector. Optionally, it is also possible for the transceiver 803 sends a signal (eg a beacon signal) several times in succession in a transmission burst, so as to enable the radio node receiving the signal burst to determine the relative direction from which the signal is received or the relative position of the receiving radio node more precisely.

The computing unit 803 can also be further adapted to process additional information contained in a confirmation message and at least temporarily in the radio node 800 , eg in memory 805 , save. Furthermore, the computing unit 803 further process this information, for example to determine the absolute position of the respective radio node 800 in the reference coordinate system and / or the position of the one or more restricted areas S1 to determine and the radiation sector (s) of the radio node 800 to determine accordingly to the beamforming by the transceiver 803 to control.

The functionality of the radio nodes A . B . C . D . X and 800 how in terms of 4 . 5 and 8th can be implemented in software as well as in hardware or a combination of software and hardware. The individual components of the radio nodes 800 that regarding 8th has been described, for example, can be implemented as one on a SoC. Alternatively, it is also possible to implement individual functionalities and / or components using multiple chips. For example, the transceiver 803 be implemented on its own chip or chipset, while the functionality of the processor unit 802 For example, is implemented on a SoC or forms its own subsystem from several chips that with the transceiver 803 is coupled. The same applies to the sensor unit 801 that, for example, with the processor unit 802 could be implemented integrated in a subsystem, or can also be formed separately from it.

the interface 806 is an optional and can be another interface of the radio node 800 represent. interface 806 can be designed as a wired interface, for example as a USB interface. Alternatively, the interface 806 also be a wireless interface, and in particular (but not limited to) near-field communication (NFC) or the transmission of radio signals in the vicinity (for example in the range of less than several hundred meters, for example under 100 m) enable. In one embodiment, the interface is 806 designed as a Bluetooth interface. The interface can be used, for example, to transfer data from an external device or storage medium 807 , like a USB stick, to the radio node 800 be used. This data can contain, for example, configuration data for the radio node, such as the settings for using the meshed network, network settings (for example IP address, addresses of gateways and / or central server units, etc.), data of a topological map in which the meshed network is operated, the absolute position of the radio node in the reference coordinate system of the topological map, and / or firmware.

The configuration data can be stored in a memory 805 of the radio node 800 get saved. That memory 805 can also from the processor unit 802 , the sensor unit 801 and / or the transceiver 803 be used to store data.

Other aspects of the radio node can also be implemented in software. For example, it is customary to implement the protocol stack (or at least parts thereof) in software, which is then implemented by the computing unit 802 , or a corresponding processor component of the transceiver 803 is realized. The individual steps of 4 and 5 can, for example, by means of one or more computer programs by a computing unit 802 is / are executed and are stored on one or more computer-readable storage media. A radio node can be adapted in relation to 4 or 5 described functionality of the new radio node X and the radio node already integrated in the network A . B . C and D to realize because as soon as a new radio node X integrated in the network, it is possible according to one embodiment that the radio node itself integrates other radio nodes into the network by carrying out the corresponding steps of the radio nodes already integrated into the network.

Claims (30)

Method for integrating a new radio node in a meshed network which is in the area of at least one restricted area, into which the radio signal or radio signals may only be transmitted with an energy density less than a predetermined threshold value, comprising: Emitting radio beacon signals from a plurality of radio nodes already integrated in the meshed network, each of the integrated radio nodes emitting the radio beacon signal in all directions relative to its position and in each case leaving out only the area of the at least one restricted area; before the new radio node transmits for the first time, the new radio node receives at least one radio beacon signal of the radio beacon signals transmitted by the integrated radio node; for each radio beacon signal transmitted by the integrated radio node and received by the new radio node, determining the relative direction of the radio node which is transmitting the received radio beacon signal and is already integrated in the meshed network, based on the respective received radio beacon signal; and directed sending of a registration message from the new radio node to a radio node already integrated in the meshed network, from which a radio beacon signal was received, the new radio node directing the radio signal containing the registration message by means of beam shaping in the determined relative direction of the already integrated one Radio node emits so that the radio signal is not radiated into the at least one restricted area or only with an energy density less than the predetermined threshold value. The procedure after Claim 1 , further comprising receiving the registration message by the one integrated radio node and confirming the integration of the new radio node in the meshed network by the one integrated radio node. The procedure after Claim 1 or 2 , further comprising selecting the one integrated radio node to which the registration message is sent from the integrated radio nodes from which a beacon signal was received. Procedure according to one of the Claims 1 to 3 , wherein the new radio node after its activation is initially operated for a predetermined period of time in a listening mode in which the new radio node does not transmit itself and tries to receive beacon signals from radio nodes integrated in the meshed network and the relative direction of those in the meshed Network of integrated radio nodes based on the respective received beacon signal. Procedure according to Claim 4 , wherein after the predetermined period of time the new radio node selects the one integrated radio node to which the registration message is sent. Procedure according to Claim 4 , wherein the new radio node sends the registration message to the radio node already integrated in the meshed network, from which it first receives a radio beacon signal. Procedure according to Claim 4 , wherein the new radio node sends the registration message to the radio node already integrated in the meshed network, from which it receives the strongest radio beacon signal. Procedure according to one of the Claims 1 to 7 , further comprising determining the relative position of the new radio node by triangulation based on a plurality of received radio beacon signals and / or other radio signals that were received by the radio nodes already integrated in the meshed network. Procedure according to Claim 8 , wherein the at least four integrated radio nodes are configured manually with configuration information, the configuration information comprising at least the following information: position information that identifies the position of the respective radio node in a reference coordinate system; Restricted area information identifying the at least one restricted area in the reference coordinate system; and optionally, map information of a topological map of the environment of the radio node. Procedure according to Claim 8 or 9 , the meshed network initially comprising at least four integrated radio nodes that span a non-convex space, so that the new radio node can determine its relative position by triangulation. Procedure according to one of the Claims 1 to 8th , wherein the radio beacon signal is transmitted from each of the integrated radio nodes in a rasterized manner, the at least one restricted area being left out. Procedure according to one of the Claims 1 to 11 , further comprising: determining the relative direction of the new radio node based on a radio signal received from the new radio node that contains the registration message; the one integrated radio node emits a radio signal containing the confirmation of the integration of the new radio node into the meshed network by means of beam shaping in the determined relative direction of the new radio node, so that the radio signal does not or only with an energy density less than the predetermined threshold value in the at least one Restricted area is emitted. Procedure according to one of the Claims 1 to 11 , wherein confirming the integration of the new radio node in the meshed network by the one integrated radio node comprises: sending position information identifying the absolute position of the one integrated radio node in a reference coordinate system; and sending restricted area information identifying the at least one restricted area in the reference coordinate system. Procedure according to Claim 12 , the position information also identifying the absolute position of other radio nodes already integrated in the meshed network in the reference coordinate system, which are known to the one integrated radio node. Procedure according to Claim 13 or 14 , wherein the new radio node determines its own absolute position in the reference coordinate system based on its own relative position determined by triangulation and the position information from at least one integrated radio node in the reference coordinate system; and the determined absolute position of the new radio node in the reference coordinate system communicates at least to the one integrated radio node by means of a message, the radio signal containing the message being directed in the determined relative direction of the one integrated radio node by means of beam shaping, so that the radio signal is not or only with one Energy density less than the predetermined threshold into which at least one restricted area is emitted. Procedure according to Claim 15 , wherein the new radio node communicates the determined absolute position of the new radio node in the reference coordinate system to the one integrated radio node by means of the registration message. Procedure according to one of the Claims 1 to 16 , wherein the new radio node selects another radio node already integrated in the meshed network, from which a beacon signal has been received, if the new radio node does not confirm its integration into the meshed network by the within a predetermined period of time after sending out the registration message receives an integrated radio node, and the new radio node sends a second registration message directed to the other integrated radio node, the new radio node directing the radio signal containing the second registration message by means of beam shaping in a determined relative direction of the other selected integrated radio node, so that the radio signal does not enter the at least one restricted area is emitted. Radio nodes for use in a meshed network, which is in the area of at least one restricted area, into which only radio signals with an energy density less than a predetermined threshold value may be sent, the radio node comprising: a transceiver for receiving beacon signals from several other radio nodes already integrated in the meshed network, the transceiver being adapted not to transmit itself before a beacon signal has been received; a processor unit for determining for each radio beacon signal received by the transceiver, based on the respective received radio beacon signal, a relative direction of the other radio node transmitting the respective received radio beacon signal with respect to the radio node; wherein the transceiver is further configured to send a registration message to another radio node already integrated in the meshed network, from which a beacon signal was received, and wherein the transceiver emits the radio signal containing the registration message by means of beam shaping in the determined relative direction of the other radio node already integrated in the meshed network, so that the radio signal does not or only with an energy density less than the predetermined threshold value in the at least one restricted area is emitted. Radio node after Claim 18 , wherein the transceiver is also set up to receive a confirmation message from one of the other radio nodes already integrated in the meshed network, the confirmation message confirming the integration of the new radio node into the meshed network by the one integrated radio node. Radio node after Claim 18 or 19 , wherein the processor unit is configured to select the one other integrated radio node to which the registration message is sent from the integrated radio nodes from which a beacon signal was received. Radio node according to one of the Claims 18 to 20 , wherein the radio node after its activation is initially operated for a predetermined period of time in a listening mode in which the transceiver is set up not to transmit itself and tries to receive beacon signals from other radio nodes integrated in the meshed network and the determine the relative direction of the other radio nodes integrated in the meshed network based on the respective received radio beacon signal. Radio node after Claim 21 , wherein the transceiver selects the one integrated radio node to which the registration message is sent after the predetermined time period. Radio node after Claim 21 , wherein the transceiver is set up to send the registration message to the other radio node already integrated in the meshed network, from which it first receives a radio beacon signal. Radio node according to one of the Claims 18 to 23 , wherein the processor unit is set up to determine the relative position of the radio node by triangulation based on a plurality of received radio beacon signals and / or other radio signals received by the other radio nodes already integrated in the meshed network. Radio node according to one of the Claims 18 to 24 , wherein the transceiver is configured to: receive position information that identifies the absolute position of the one other integrated radio node in a reference coordinate system; and receiving restricted area information identifying the at least one restricted area in the reference coordinate system. Radio node after Claim 25 , wherein the position information further identifies the respective absolute position of other radio nodes already integrated in the meshed network in the reference coordinate system, which are known to the one integrated other radio node. Radio node after Claim 25 or 26 , wherein the processor unit is set up to determine its own absolute position in the reference coordinate system based on its own relative position determined by triangulation and the position information of at least one integrated radio node in the reference coordinate system, and a notification of the determined absolute position of the radio node in the reference coordinate system at least one to initiate an integrated other radio node by means of a message, the transceiver also being set up to direct the radio signal containing the message by means of beam shaping in the determined relative direction of the one integrated radio node radiate so that the radio signal is not radiated into the at least one restricted area or only with an energy density less than the predetermined threshold value. Radio node after Claim 27 , wherein the transceiver is set up to send the determined absolute position of the new radio node in the reference coordinate system to the one integrated radio node by means of the registration message. Radio node according to one of the Claims 18 to 28 , wherein the processor unit is further configured to select another radio node already integrated in the meshed network, from which a radio beacon signal has been received, if the radio node fails to confirm its integration into the meshed network within a predetermined period of time after the registration message has been sent which receives an integrated radio node, and wherein the transceiver is further configured to send a second registration message directed to the other integrated radio node, and the radio signal containing the second registration message is directed in a determined relative direction of the other selected by means of beam shaping to emit integrated radio nodes so that the radio signal is not emitted into the at least one restricted area. Radio nodes for use in a meshed network that is in the area of at least one restricted area, into which only radio signals with an energy density less than a predetermined threshold may be sent, the radio node already being integrated in the meshed network and the radio node comprising: a transceiver for transmitting a beacon signal, the transceiver being set up to transmit the beacon signal in a rasterized manner, the at least one restricted area being left out; the transceiver further receiving a radio signal containing a registration message from another radio node not integrated in the meshed network; a processor unit for determining the relative direction of the other radio node based on the radio signal received from the other radio node; wherein the transceiver is further configured to send a confirmation message to the other radio node, the confirmation message confirming the integration of the new radio node into the meshed network by the one integrated radio node, and wherein the transceiver directs the radio signal containing the confirmation message by means of beam shaping radiates in the determined relative direction of the other radio node, so that the radio signal is not radiated into the at least one restricted area or only with an energy density lower than the predetermined threshold value.

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