TWI651015B - Wireless signal transmission system and control method thereof - Google Patents
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/18—Network planning tools
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/24—Cell structures
- H04W16/26—Cell enhancers or enhancement, e.g. for tunnels, building shadow
Abstract
一種無線訊號傳輸系統及其控制方法。無線訊號傳輸系統包括一第一訊號傳輸裝置、至少一第二訊號傳輸裝置及一訊號中繼裝置。第一訊號傳輸裝置與第二訊號傳輸裝置之間透過訊號中繼裝置轉傳一無線訊號。訊號中繼裝置設置於一移動裝置上。控制方法包括以下步驟。提供一二維網格地圖。第一訊號傳輸裝置之一第一傳輸位置及第二訊號傳輸裝置之一第二傳輸位置位於二維網格地圖內。依據二維網格地圖，最佳化第一傳輸位置、訊號中繼裝置之一中繼位置及第二傳輸位置之間的一傳輸路徑。控制移動裝置移動至中繼位置。 A wireless signal transmission system and a control method thereof. The wireless signal transmission system includes a first signal transmission device, at least one second signal transmission device, and a signal relay device. A wireless signal is transmitted between the first signal transmission device and the second signal transmission device through a signal relay device. The signal relay device is disposed on a mobile device. The control method includes the following steps. Provide a two-dimensional grid map. A first transmission position of a first signal transmission device and a second transmission position of a second signal transmission device are located in a two-dimensional grid map. According to the two-dimensional grid map, a transmission path between the first transmission position, a relay position of the signal relay device, and the second transmission position is optimized. Control the mobile device to move to the relay position.
Description
本發明是有關於一種訊號傳輸系統及其控制方法，且特別是有關於一種無線訊號傳輸系統及其控制方法。 The invention relates to a signal transmission system and a control method thereof, and in particular to a wireless signal transmission system and a control method thereof.
隨著網路技術的進步，發展出一種無線網路技術。無線網路技術能夠讓電腦與手機等電子裝置無須插入網路線即可順利連接網路，相當的方便。 With the development of network technology, a wireless network technology has been developed. Wireless network technology allows computers and mobile phones and other electronic devices to connect to the network smoothly without plugging in a network cable, which is quite convenient.
然而，牆面、家具等障礙物可能會減低無線網路的強度，而造成電子裝置的無線網路訊號微弱。一般來說，只能靠增強無線網路的功率來解決，但長時間曝露在高功率的無線網路訊號下，對身體可能造成一定的影響。 However, obstacles such as walls and furniture may reduce the strength of the wireless network, resulting in weak wireless network signals for electronic devices. Generally speaking, it can only be solved by increasing the power of the wireless network, but long-term exposure to high-power wireless network signals may cause certain effects on the body.
即使採用了訊號中繼裝置，來傳轉無線訊號，仍然可能因訊號中繼裝置之設置位置不佳，而影響傳輸效率。 Even if a signal relay device is used to transfer wireless signals, the transmission efficiency may still be affected due to the poor location of the signal relay device.
本發明係有關於一種無線訊號傳輸系統及其控制方法，其利用分析與計算程序來決定訊號中繼裝置之中繼位置，以最佳化第一傳輸裝置、訊號中繼裝置及第二訊號傳輸裝置之一傳輸路徑。 The invention relates to a wireless signal transmission system and a control method thereof, which use analysis and calculation procedures to determine the relay position of a signal relay device to optimize the first transmission device, the signal relay device, and the second signal transmission One of the transmission paths of the device.
根據本發明之第一方面，提出一種無線訊號傳輸系統之控制方法。無線訊號傳輸系統包括一第一訊號傳輸裝置、至少一第二訊號傳輸裝置及一訊號中繼裝置。第一訊號傳輸裝置與第二訊號傳輸裝置之間透過訊號中繼裝置轉傳一無線訊號。訊號中繼裝置設置於一移動裝置上。控制方法包括以下步驟。提供一二維網格地圖。第一訊號傳輸裝置之一第一傳輸位置及第二訊號傳輸裝置之一第二傳輸位置位於二維網格地圖內。依據二維網格地圖，最佳化第一傳輸位置、訊號中繼裝置之一中繼位置及第二傳輸位置之間的一傳輸路徑。控制移動裝置移動至中繼位置。 According to a first aspect of the present invention, a control method for a wireless signal transmission system is provided. The wireless signal transmission system includes a first signal transmission device, at least one second signal transmission device, and a signal relay device. A wireless signal is transmitted between the first signal transmission device and the second signal transmission device through a signal relay device. The signal relay device is disposed on a mobile device. The control method includes the following steps. Provide a two-dimensional grid map. A first transmission position of a first signal transmission device and a second transmission position of a second signal transmission device are located in a two-dimensional grid map. According to the two-dimensional grid map, a transmission path between the first transmission position, a relay position of the signal relay device, and the second transmission position is optimized. Control the mobile device to move to the relay position.
根據本發明之第二方面，提出一種無線訊號傳輸系統。無線訊號傳輸系統包括一第一訊號傳輸裝置、至少一第二訊號傳輸裝置、一訊號中繼裝置、一移動裝置、一地圖提供裝置及一處理裝置。第一訊號傳輸裝置位於一第一傳輸位置。第二訊號傳輸裝置位於一第二傳輸位置。訊號中繼裝置位於一中繼位置。第一訊號傳輸裝置與第二訊號傳輸裝置之間透過訊號中繼裝置轉傳一無線訊號。訊號中繼裝置設置於移動裝置上。地圖提供裝置用以提供一二維網格地圖。第一傳輸位置及第二傳輸位置位於二維網格地圖內。處理裝置用以依據二維網格地圖最佳化第一傳 輸位置、中繼位置及第二傳輸位置之間的一傳輸路徑，並控制移動裝置移動至中繼位置。 According to a second aspect of the present invention, a wireless signal transmission system is proposed. The wireless signal transmission system includes a first signal transmission device, at least one second signal transmission device, a signal relay device, a mobile device, a map providing device, and a processing device. The first signal transmission device is located at a first transmission position. The second signal transmission device is located at a second transmission position. The signal relay device is located at a relay position. A wireless signal is transmitted between the first signal transmission device and the second signal transmission device through a signal relay device. The signal relay device is disposed on the mobile device. The map providing device is used for providing a two-dimensional grid map. The first transmission position and the second transmission position are located in a two-dimensional grid map. The processing device is used to optimize the first pass according to the two-dimensional grid map A transmission path between the transmission position, the relay position, and the second transmission position, and controls the mobile device to move to the relay position.
為了對本發明之上述及其他方面有更佳的瞭解，下文特舉較佳實施例，並配合所附圖式，作詳細說明如下： In order to have a better understanding of the above and other aspects of the present invention, preferred embodiments are described below in detail with the accompanying drawings, as follows:
100、200‧‧‧無線訊號傳輸系統 100, 200‧‧‧ wireless signal transmission system
110‧‧‧第一訊號傳輸裝置 110‧‧‧The first signal transmission device
120、121、122‧‧‧第二訊號傳輸裝置 120, 121, 122‧‧‧Second signal transmission device
130‧‧‧訊號中繼裝置 130‧‧‧Signal Repeater
140‧‧‧移動裝置 140‧‧‧mobile device
150‧‧‧地圖提供裝置 150‧‧‧Map providing device
160‧‧‧處理裝置 160‧‧‧Processing device
161‧‧‧成本建立單元 161‧‧‧cost establishment unit
162‧‧‧計算單元 162‧‧‧ Computing Unit
163‧‧‧控制單元 163‧‧‧Control unit
170‧‧‧影像擷取裝置 170‧‧‧Image capture device
M1、M2‧‧‧二維網格地圖 M1, M2‧‧‧ two-dimensional grid map
P1‧‧‧第一傳輸位置 P1‧‧‧First transmission position
P2、P21、P22‧‧‧第二傳輸位置 P2, P21, P22‧‧‧Second transmission position
P3‧‧‧中繼位置 P3‧‧‧ relay location
S0、S1、S2‧‧‧無線訊號 S0, S1, S2 ‧‧‧ wireless signal
S310、S320、S321、S322、S340‧‧‧流程步驟 S310, S320, S321, S322, S340‧‧‧Process steps
第1圖繪示根據一實施例之一第一訊號傳輸裝置、一第二訊號傳輸裝置及一訊號中繼裝置之示意圖。 FIG. 1 is a schematic diagram of a first signal transmission device, a second signal transmission device, and a signal relay device according to an embodiment.
第2圖繪示根據一實施例之無線訊號傳輸系統的方塊圖。 FIG. 2 is a block diagram of a wireless signal transmission system according to an embodiment.
第3圖繪示無線訊號傳輸系統之控制方法的流程圖。 FIG. 3 is a flowchart of a control method of a wireless signal transmission system.
第4圖繪示第1圖之二維網格地圖之示意圖。 Figure 4 shows a schematic diagram of the two-dimensional grid map of Figure 1.
第5圖繪示另一實施例之一第一訊號傳輸裝置、二第二訊號傳輸裝置及一訊號中繼裝置之示意圖。 FIG. 5 is a schematic diagram of a first signal transmission device, two second signal transmission devices, and a signal relay device according to another embodiment.
第6圖繪示根據另一實施例之無線訊號傳輸系統的方塊圖。 FIG. 6 is a block diagram of a wireless signal transmission system according to another embodiment.
第7圖繪示第5圖之二維網格地圖之示意圖。 FIG. 7 is a schematic diagram of the two-dimensional grid map of FIG. 5.
請參照第1圖，其繪示根據一實施例之一第一訊號傳輸裝置110、一第二訊號傳輸裝置120及一訊號中繼裝置130之示意圖。第一訊號傳輸裝置110與第二訊號傳輸裝置120之間透過訊號中繼裝置130轉傳一無線訊號S0。第一訊號傳輸裝置110例如是連接於一網路線之一無線網路分享器、一無線網路基地 台、或一無線網路路由器。訊號中繼裝置130例如是具有中繼功能之一無線網路分享器、一無線網路基地台、一無線網路路由器、或一無線網路橋接器。第二訊號傳輸裝置120例如是一智慧型手機、一電腦、或一智慧型家具。 Please refer to FIG. 1, which illustrates a schematic diagram of a first signal transmission device 110, a second signal transmission device 120, and a signal relay device 130 according to an embodiment. The first signal transmission device 110 and the second signal transmission device 120 forward a wireless signal S0 through the signal relay device 130. The first signal transmission device 110 is, for example, a wireless network sharer connected to a network line, or a wireless network base. Station, or a wireless network router. The signal relay device 130 is, for example, a wireless network sharer having a relay function, a wireless network base station, a wireless network router, or a wireless network bridge. The second signal transmission device 120 is, for example, a smart phone, a computer, or a smart furniture.
如第1圖所示，第一訊號傳輸裝置110位於一第一傳輸位置P1，第二訊號傳輸裝置120位於一第二傳輸位置P2，訊號中繼裝置130位於一中繼位置P3。訊號中繼裝置130可以幫助第一訊號傳輸裝置110與第二訊號傳輸裝置120之間的訊號傳遞，而無須增強無線網路的功率。然而，訊號中繼裝置130之中繼位置P3將影響到訊號傳輸的品質。本實施例之一無線訊號傳輸系統100(繪示於第2圖)可以透過分析與計算程序來決定中繼位置P3，以最佳化第一傳輸位置P1、中繼位置P3及第二傳輸位置P2之一傳輸路徑。 As shown in FIG. 1, the first signal transmission device 110 is located at a first transmission position P1, the second signal transmission device 120 is located at a second transmission position P2, and the signal relay device 130 is located at a relay position P3. The signal relay device 130 can help the signal transmission between the first signal transmission device 110 and the second signal transmission device 120 without increasing the power of the wireless network. However, the relay position P3 of the signal relay device 130 will affect the quality of the signal transmission. The wireless signal transmission system 100 (shown in FIG. 2) of this embodiment can determine the relay position P3 through analysis and calculation procedures to optimize the first transmission position P1, the relay position P3, and the second transmission position. One of P2 transmission paths.
請參照第2圖，其繪示根據一實施例之無線訊號傳輸系統100的方塊圖。無線訊號傳輸系統100更包括一移動裝置140、一地圖提供裝置150、一處理裝置160及一影像擷取裝置170。移動裝置140用以移動訊號中繼裝置130，例如是一自走車、一軌道、一纜線、或一無人飛行器。地圖提供裝置150用以提供二維網格地圖M1(繪示於第4圖)，例如是預存二維網格地圖M1之一儲存裝置、或是即時對環境進行偵測之一雷射掃瞄器。處理裝置160用以進行各種計算、處理、分析、判斷程序，例如是一電腦、一電路板、一晶片、一電路、或儲存數組程式碼之一 電腦可讀取記錄裝置。影像擷取裝置170用以擷取空間中之二維影像或三維影像，以判斷第二訊號傳輸裝置120之位置，並判斷是否有移動，例如是一立體攝影機、一立體照相機、一二維攝影機、或一二維照相機。 Please refer to FIG. 2, which illustrates a block diagram of a wireless signal transmission system 100 according to an embodiment. The wireless signal transmission system 100 further includes a mobile device 140, a map providing device 150, a processing device 160, and an image capturing device 170. The mobile device 140 is used to move the signal relay device 130, such as an autonomous vehicle, a track, a cable, or an unmanned aerial vehicle. The map providing device 150 is used to provide a two-dimensional grid map M1 (shown in FIG. 4), such as a storage device for pre-stored two-dimensional grid map M1, or a laser scan for real-time detection of the environment. Device. The processing device 160 is used for performing various calculation, processing, analysis, and judgment programs, such as a computer, a circuit board, a chip, a circuit, or one of stored array codes The computer can read the recording device. The image capturing device 170 is used to capture a two-dimensional image or a three-dimensional image in space to determine the position of the second signal transmission device 120 and determine whether there is movement, such as a stereo camera, a stereo camera, a two-dimensional camera , Or a two-dimensional camera.
以下將搭配一流程圖，詳細說明上述無線訊號傳輸系統100之運作。請參照第3圖，其繪示無線訊號傳輸系統100之控制方法的流程圖。在步驟S310中，地圖提供裝置150提供二維網格地圖M1。地圖提供裝置150可以是預存二維網格地圖M1之儲存裝置，無線訊號傳輸系統100可直接取出預存的二維網格地圖M1。或者，地圖提供裝置150可以是一雷射掃瞄器，地圖提供裝置150係以一雷射進行掃瞄，即時地以SLAM技術建立出二維網格地圖M1。 The following will describe in detail the operation of the wireless signal transmission system 100 with a flowchart. Please refer to FIG. 3, which illustrates a flowchart of a control method of the wireless signal transmission system 100. In step S310, the map providing device 150 provides a two-dimensional grid map M1. The map providing device 150 may be a storage device of a pre-stored two-dimensional grid map M1, and the wireless signal transmission system 100 may directly retrieve the pre-stored two-dimensional grid map M1. Alternatively, the map providing device 150 may be a laser scanner, and the map providing device 150 is scanned with a laser, and a two-dimensional grid map M1 is established in real time by SLAM technology.
在一實施例中，地圖提供裝置150可以是由多個雷射掃瞄器所組成。多個雷射掃瞄器設置於環境的各個角落，並將各個雷射掃瞄器所獲取的資訊整合後，得到二維網格地圖M1。 In one embodiment, the map providing device 150 may be composed of multiple laser scanners. A plurality of laser scanners are set in each corner of the environment, and the information obtained by each laser scanner is integrated to obtain a two-dimensional grid map M1.
在步驟S320中，處理裝置160依據二維網格地圖M1最佳化第一傳輸位置P1、中繼位置P3及第二傳輸位置P2之傳輸路徑。處理裝置160可以透過類神經網路演算法、螞蟻演算法、循序搜尋演算法、二分搜尋演算法、二元樹搜尋演算法、或雜湊搜尋演算法分析出最佳的中繼位置P3，以最佳化傳輸路徑。 In step S320, the processing device 160 optimizes the transmission paths of the first transmission position P1, the relay position P3, and the second transmission position P2 according to the two-dimensional grid map M1. The processing device 160 can analyze the optimal relay position P3 through a neural network-like algorithm, an ant algorithm, a sequential search algorithm, a binary search algorithm, a binary tree search algorithm, or a hash search algorithm to analyze Transmission path.
在一實施例中，請參照第4圖，其繪示第1圖之二維網格地圖M1之示意圖。處理裝置160可以透過於二維網格地 圖M1建立一傳輸成本資訊並據以進行分析，以最佳化傳輸路徑。如第2圖所示，處理裝置160包括一成本建立單元161、一計算單元162及一控制單元163。如第3圖所示，步驟S320包括步驟S321及步驟S322。在步驟S321中，成本建立單元161依據二維網格地圖M1，建立傳輸成本資訊。 In an embodiment, please refer to FIG. 4, which illustrates a schematic diagram of the two-dimensional grid map M1 of FIG. 1. The processing device 160 can be transmitted through a two-dimensional grid. Figure M1 establishes a transmission cost information and analyzes it to optimize the transmission path. As shown in FIG. 2, the processing device 160 includes a cost establishing unit 161, a calculation unit 162, and a control unit 163. As shown in FIG. 3, step S320 includes steps S321 and S322. In step S321, the cost establishing unit 161 establishes transmission cost information according to the two-dimensional grid map M1.
詳細來說，成本建立單元161於二維網格地圖M1之數個位置分別記錄一成本值，各個成本值與一傳輸障礙程度正相關。舉例來說，空間中沒有任障礙物者，其成本值記錄為「1」。空間中有牆面、家具等障礙物者，其成本值記錄為「8」。然而，成本值並不侷限於「1」與「8」兩種數值。在一實施例中，成本值可以更細部地規劃成多組數值，甚至是連續數值，以更精確地反應障礙物的情況。 In detail, the cost establishing unit 161 separately records a cost value at several positions of the two-dimensional grid map M1, and each cost value is positively related to a degree of transmission obstacle. For example, if there is no obstacle in the space, its cost value is recorded as "1". If there are obstacles such as walls and furniture in the space, the cost value is recorded as "8". However, the cost value is not limited to two values of "1" and "8". In one embodiment, the cost value can be more detailedly planned into multiple sets of values, or even continuous values, to more accurately reflect the situation of the obstacle.
此外，二維網格地圖M1之位置排列也不侷限於矩陣式排列。在一實施例中，二維網格地圖M1之位置排列可以是輻射狀排列。 In addition, the position arrangement of the two-dimensional grid map M1 is not limited to a matrix arrangement. In an embodiment, the position arrangement of the two-dimensional grid map M1 may be a radial arrangement.
接著，在步驟S322中，計算單元162根據二維網格地圖M1之傳輸成本資訊計算中繼位置P3，以最佳化傳輸路徑。舉例來說，傳輸路徑包含第一傳輸位置P1至中繼位置P3之一第一直線連線及中繼位置P3至第二傳輸位置P2之一第二直線連線。計算單元162可以透過下式(1)進行計算。ΣC(P1,P3)為第一傳輸位置P1至中繼位置P3之第一直線連線的數個成本值的總和，ΣC(P3,P2)為中繼位置P3至第二傳輸位置P2之第二直線連線 的數個成本值的總和。P3*為使ΣC(P1,P2)及ΣC(P2,P3)之和最小化的最佳中繼位置P3。 Next, in step S322, the calculation unit 162 calculates the relay position P3 according to the transmission cost information of the two-dimensional grid map M1 to optimize the transmission path. For example, the transmission path includes a first straight line connecting one of the first transmission position P1 to the relay position P3 and a second straight line connecting one of the relay position P3 to the second transmission position P2. The calculation unit 162 can perform calculation by the following formula (1). ΣC (P1, P3) is the sum of several cost values of the first straight line from the first transmission position P1 to the relay position P3, and ΣC (P3, P2) is the second from the relay position P3 to the second transmission position P2 The sum of several cost values connected by a straight line. P3 * is the optimal relay position P3 that minimizes the sum of ΣC (P1, P2) and ΣC (P2, P3).
P3*=arg min[ΣC(P1,P3)+ΣC(P3,P2)]…………………(1) P3 * = arg min [ΣC (P1, P3) + ΣC (P3, P2)] ... ……………… (1)
第4圖所示之中繼位置P3即為透過上式(1)所計算出之最佳值，粗線所框出之範圍即為傳輸路徑上的成本值。 The relay position P3 shown in FIG. 4 is the optimal value calculated through the above formula (1), and the range framed by the thick line is the cost value on the transmission path.
然後，在步驟S330中，控制單元163控制承載訊號中繼裝置130之移動裝置140移動至中繼位置P3。如此一來，訊號中繼裝置130能夠在最佳的傳輸路徑上發揮最大的效果，使得無線訊號傳輸品質最佳化。 Then, in step S330, the control unit 163 controls the mobile device 140 carrying the signal relay device 130 to move to the relay position P3. In this way, the signal relay device 130 can exert the maximum effect on the optimal transmission path, and optimize the wireless signal transmission quality.
接著，在步驟S340中，影像擷取裝置170擷取立體影像或二維影像，以判斷第二訊號傳輸裝置120之位置，並判斷是否移動。若第二訊號傳輸裝置120有移動，則重新執行步驟S310，以更新二維網格地圖M1中第二訊號傳輸裝置120之第二傳輸位置P2。接著，更重新執行步驟S320、步驟S330，以重新最佳化傳輸路徑，並將訊號中繼裝置130移動至最佳之中繼位置P3。如此一來，即使使用者移動了第二訊號傳輸裝置120，也能夠即時地移動訊號中繼裝置130，使得無線訊號品質保持最佳狀態。 Next, in step S340, the image capturing device 170 captures a stereo image or a two-dimensional image to determine the position of the second signal transmission device 120 and determine whether to move. If the second signal transmission device 120 moves, step S310 is performed again to update the second transmission position P2 of the second signal transmission device 120 in the two-dimensional grid map M1. Then, step S320 and step S330 are performed again to optimize the transmission path again and move the signal relay device 130 to the optimal relay position P3. In this way, even if the user moves the second signal transmission device 120, the signal relay device 130 can be moved in real time, so that the wireless signal quality is maintained in an optimal state.
請參照第5~7圖，第5圖繪示另一實施例之第一訊號傳輸裝置110、兩個第二訊號傳輸裝置121、122及訊號中繼裝置130之示意圖，第6圖繪示根據另一實施例之無線訊號傳輸系統200的方塊圖，第7圖繪示第5圖之二維網格地圖M2之示意 圖。在此實施例中，無線訊號傳輸系統200包括兩個以上第二訊號傳輸裝置(例如是第二訊號傳輸裝置121及第二訊號傳輸裝置122)。第一訊號傳輸裝置110與第二訊號傳輸裝置121之間透過訊號中繼裝置130轉傳一無線訊號S1；第一訊號傳輸裝置110與第二訊號傳輸裝置122之間透過訊號中繼裝置130轉傳一無線訊號S2。 Please refer to FIGS. 5 to 7. FIG. 5 shows a schematic diagram of a first signal transmission device 110, two second signal transmission devices 121 and 122, and a signal relay device 130 according to another embodiment. FIG. 7 is a block diagram of a wireless signal transmission system 200 according to another embodiment. FIG. 7 is a schematic diagram of the two-dimensional grid map M2 of FIG. 5. Illustration. In this embodiment, the wireless signal transmission system 200 includes two or more second signal transmission devices (for example, the second signal transmission device 121 and the second signal transmission device 122). A wireless signal S1 is transmitted between the first signal transmission device 110 and the second signal transmission device 121 through the signal relay device 130; the first signal transmission device 110 and the second signal transmission device 122 are transmitted through the signal relay device 130. Send a wireless signal S2.
在步驟S322中，計算單元162根據二維網格地圖M2之傳輸成本資訊計算中繼位置P3，以最佳化傳輸路徑。舉例來說，傳輸路徑包含第一傳輸位置P1至中繼位置P3之一第一直線連線、及中繼位置P3至第二傳輸位置P21、P22之兩條第二直線連線。計算單元162可以透過下式(2)進行計算。ΣC(P1,P3)為第一傳輸位置P1至中繼位置P3之第一直線連線的數個成本值的總和，ΣC(P3,P21)為中繼位置P3至第二傳輸位置P21之第二直線連線的數個成本值的總和，ΣC(P3,P22)為中繼位置P3至第二傳輸位置P22之第二直線連線的數個成本值的總和。P3*為使ΣC(P1,P2)、ΣC(P3,P21)及ΣC(P3,P22)之和最小化的最佳中繼位置P3。 In step S322, the calculation unit 162 calculates the relay position P3 according to the transmission cost information of the two-dimensional grid map M2 to optimize the transmission path. For example, the transmission path includes a first straight line connecting one of the first transmission position P1 to the relay position P3, and two second straight lines connecting the relay position P3 to the second transmission positions P21 and P22. The calculation unit 162 can perform calculation by the following formula (2). ΣC (P1, P3) is the sum of several cost values of the first straight line from the first transmission position P1 to the relay position P3, and ΣC (P3, P21) is the second from the relay position P3 to the second transmission position P21 The sum of several cost values of the straight line connection, ΣC (P3, P22) is the sum of the cost values of the second straight line connection of the relay position P3 to the second transmission position P22. P3 * is the optimal relay position P3 that minimizes the sum of ΣC (P1, P2), ΣC (P3, P21), and ΣC (P3, P22).
P3*=arg min[ΣC(P1,P3)+ΣC(P3,P21)+ΣC(P3,P22]……(2) P3 * = arg min [ΣC (P1, P3) + ΣC (P3, P21) + ΣC (P3, P22) ... (2)
第7圖所示之中繼位置P3即為透過上式(2)所計算出之最佳值，粗線所框出之範圍即為傳輸路徑上的成本值。 The relay position P3 shown in FIG. 7 is the optimal value calculated through the above formula (2), and the range framed by the thick line is the cost value on the transmission path.
也就是說，第二訊號傳輸裝置之數量並不侷限於一個，在第二訊號傳輸裝置之數量為兩個、三個、甚至四個以上時，可按照上述類似之方程式最佳化傳輸路徑。 That is, the number of the second signal transmission devices is not limited to one, and when the number of the second signal transmission devices is two, three, or even more than four, the transmission paths can be optimized according to the similar equations described above.
上述各項元件之配置方式並不侷限於上述實施例。在一實施例中，處理裝置160可以直接搭載於移動裝置140上，而對移動裝置140直接進行控制。在另一實施例中，處理裝置160可以分離於移動裝置140，並透過無線訊號來控制移動裝置140。在一實施例中，地圖提供裝置150可以直接與移動裝置140整合於同一電子裝置中，以直接與移動裝置140進行溝通。在另一實施例中，地圖提供裝置150可以分離於移動裝置140，並以無線訊號與移動裝置140進行溝通。 The arrangement of the above elements is not limited to the above embodiments. In an embodiment, the processing device 160 may be directly mounted on the mobile device 140 and directly control the mobile device 140. In another embodiment, the processing device 160 may be separated from the mobile device 140 and control the mobile device 140 through a wireless signal. In one embodiment, the map providing device 150 may be directly integrated with the mobile device 140 in the same electronic device to directly communicate with the mobile device 140. In another embodiment, the map providing device 150 may be separated from the mobile device 140 and communicate with the mobile device 140 using a wireless signal.
綜上所述，雖然本發明已以較佳實施例揭露如上，然其並非用以限定本發明。本發明所屬技術領域中具有通常知識者，在不脫離本發明之精神和範圍內，當可作各種之更動與潤飾。因此，本發明之保護範圍當視後附之申請專利範圍所界定者為準。 In summary, although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Those with ordinary knowledge in the technical field to which the present invention pertains can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the scope of the attached patent application.
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| US6259988B1 (en) * | 1998-07-20 | 2001-07-10 | Lockheed Martin Corporation | Real-time mission adaptable route planner |
| US20050190717A1 (en) * | 2004-03-01 | 2005-09-01 | The Charles Stark Draper Laboratory | MANET routing based on best estimate of expected position |
| US20150351116A1 (en) * | 2012-04-22 | 2015-12-03 | Elta Systems Ltd. | Apparatus and methods for moving relay interference mitigation in mobile e.g. cellular communication networks |
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| TWI289999B (en) * | 2001-06-08 | 2007-11-11 | Benq Corp | Transmission method for relay signal of wireless communication system |
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| CN105915273B (en) * | 2015-12-18 | 2018-10-23 | 美的集团股份有限公司 | Repeater, repeater system and the trunking method of automatic adjusting position |
| CN105871446A (en) * | 2016-05-30 | 2016-08-17 | 北京小米移动软件有限公司 | Method and system for adjusting position of relay amplifier and relay robot |
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| US6259988B1 (en) * | 1998-07-20 | 2001-07-10 | Lockheed Martin Corporation | Real-time mission adaptable route planner |
| US20050190717A1 (en) * | 2004-03-01 | 2005-09-01 | The Charles Stark Draper Laboratory | MANET routing based on best estimate of expected position |
| US20150351116A1 (en) * | 2012-04-22 | 2015-12-03 | Elta Systems Ltd. | Apparatus and methods for moving relay interference mitigation in mobile e.g. cellular communication networks |
| CN105354875A (en) * | 2015-09-25 | 2016-02-24 | 厦门大学 | Construction method and system for two-dimensional and three-dimensional joint model of indoor environment |
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