WO2021046714A1

WO2021046714A1 - Line-of-sight distance determination method, apparatus, electronic device, medium, and program product

Info

Publication number: WO2021046714A1
Application number: PCT/CN2019/105148
Authority: WO
Inventors: 马万里; 张洁; 王力; 博芬西彭·丹尼尔
Original assignee: 西门子股份公司; 西门子（中国）有限公司
Priority date: 2019-09-10
Filing date: 2019-09-10
Publication date: 2021-03-18

Abstract

Provided are a line-of-sight distance determination method, apparatus, electronic device, medium, and program product. The method comprises: measuring a first distance between a mobile device at a predetermined point on a pre-planned path in a target site and each of all access points associated with the mobile device; on the basis of location information of the mobile device at the predetermined point and the location information of each access point among all the access points associated with the mobile device, calculating for each access point a second distance between the mobile device and the access point; and for each access point, comparing the first distance obtained by measurement with the second distance obtained by calculation, respectively; if the difference between the first distance and the second distance is greater than a predetermined threshold, then determining that there is no line of sight between the mobile device at the predetermined point and the access point; otherwise, determining that there is a line of sight between the mobile device at the predetermined point and the access point.

Description

Method, device, electronic equipment, medium and program product for determining line-of-sight distance

Technical field

The present disclosure generally relates to the field of wireless communication technologies, and more specifically, to methods, devices, electronic devices, media, and program products for determining the line-of-sight distance.

Background technique

Wireless communication in an indoor environment (such as a factory or office environment) is usually affected by multipath propagation, which can lead to frequency selective fading and, in the case of mobile clients, time-varying fading.

Taking the factory as an example, the wireless signal will be greatly affected by some large equipment or materials, boxes and metal frames inside the factory. This will affect the performance of the wireless system in the following aspects:

· The increased sensitivity of wireless communication systems to noise and interference results in higher packet error rates and/or lower throughput.

· The accuracy of the wireless positioning system decreases, especially when there is no line-of-sight (LOS) between the client and the access point.

Wi-Fi positioning based on the IEEE 802.11-2016 standardized fine timing measurement (Fine Timing Measurement, FTM) provides meter-level accuracy for indoor positioning services. The distance between the two Wi-Fi devices can be determined by measuring the time it takes for the wireless signal to travel from one Wi-Fi device to another Wi-Fi device. By measuring the distance between the client and several access points at known locations, the location of the client can be derived through multipoint positioning technology.

Since the distance measurement is based on the round-trip flight time of the wireless signal, inaccurate results may be produced when there is no LOS propagation path. In this case, the distance of the indirect propagation path is measured.

Summary of the invention

A brief overview of the present invention is given below in order to provide a basic understanding of certain aspects of the present invention. It should be understood that this summary is not an exhaustive summary of the present invention. It is not intended to determine the key or important part of the present invention, nor is it intended to limit the scope of the present invention. Its purpose is simply to present some concepts in a simplified form as a prelude to the more detailed description that will be discussed later.

In view of the above, the present disclosure proposes a mobile device (such as AGV (Automated Guided Vehicle)) and a wireless distance measurement method (such as FTM (Fine Timing Measurement)). Automatically obtain the LOS/NLOS mapping method between the client and the access point.

According to one aspect of the present disclosure, there is provided a method for determining the line-of-sight distance, including: a first distance measurement step: measuring a mobile device at a predetermined point on a pre-planned path in a target site and a mobile device associated with the mobile device The first distance between each of all access points; the second distance calculation step: based on the location information of the mobile device at the predetermined point and all the access points associated with the mobile device For each access point’s location information, the second distance between the mobile device and the access point is calculated for each access point; and the line-of-sight distance determination step: For each access point, the second distance between the mobile device and the access point is calculated separately. The measured first distance is compared with the calculated second distance, and if the difference between the first distance and the second distance is greater than a predetermined threshold, it is determined to be at the predetermined point There is no line-of-sight distance between the mobile device at the predetermined point and the access point, otherwise it is determined that there is a line-of-sight distance between the mobile device at the predetermined point and the access point.

In this way, it can be determined whether there is a line-of-sight distance between the mobile device at a certain point in the target area and its associated access point.

Optionally, in an example of the above aspect, before the first distance measurement step, the method further includes: a map establishment step: controlling a mobile device to scan the target site to create a map of the target site, and Mark the location information of all the access points deployed in the target site on the map.

In this way, a map of the target site can be obtained, and the location information of all access points can be marked in the map. When the environment of the target site changes, by rescanning the target site, the map of the target site can be updated in time. In addition, the target site can also be scanned periodically to obtain a real-time map of the target site.

Optionally, in an example of the above aspect, the method further includes: a movement control step: controlling the mobile device to sequentially move on a pre-planned path in the target site to the next predetermined point, for each The predetermined point repeatedly executes the first distance measurement step, the second distance calculation step, and the line-of-sight distance determination step until the mobile device traverses all the predetermined points.

In this way, all the predetermined points on the pre-planned path in the target site can be traversed, and by adjusting the distance between the predetermined points, the accuracy of the predetermined points in the target site can be adjusted, so that a more refined line of sight can be obtained Distance and non-line-of-sight distance information mapping table.

Optionally, in an example of the above aspect, a mapping table construction step is further included: whether there is a line of sight between each predetermined point on the pre-planned path and all the access points associated with the predetermined point. The distance is stored as a mapping table.

In this way, it is possible to conveniently query the LOS/NLOS mapping relationship between the mobile device at a certain predetermined point and the access point associated with it.

Optionally, in an example of the above aspect, the mobile device is an AGV, and the AGV can perform FTM distance measurement, wherein the first distance is obtained by using FTM measurement.

Optionally, in an example of the above aspect, the AGV has a SLAM (simultaneous positioning and mapping) function, wherein the position information of the mobile device at a predetermined point is determined by using SLAM. SLAM can provide more accurate real-time location information for AGV, and allows other applications to obtain this information.

In this way, the map generated by the AGV scan can provide more accurate positioning, and the total error is generally only at the meter level; the AGV can automatically complete the entire mapping process without human intervention; it can be performed in the target area at the initial stage One mapping is used to obtain the LOS/NLOS mapping of the target area, and this mapping can also be continuously updated during the normal operation of the AGV. Using SLAM technology or other precise positioning mechanisms for accurate self-positioning, using some simple coordinate conversion algorithms and FTM technology, you can easily output the LOS/NLOS between each point and each AP within the wireless range from that point Information to automate the entire mapping process.

According to another aspect of the present disclosure, there is provided an apparatus for determining the line-of-sight distance, including: a first distance measuring unit configured to measure a distance at a predetermined point on a pre-planned path in a target site A first distance between a mobile device and each of all access points associated with the mobile device; a second distance calculation unit configured to be based on the mobile device At the location information of the predetermined point and the location information of each access point among all the access points associated with the mobile device, the distance between the mobile device and the access point is calculated for each access point. A second distance; and a line-of-sight distance determining unit, the line-of-sight distance determining unit is configured to compare the first distance measured for each access point with the second distance calculated for each access point, If the difference between the first distance and the second distance is greater than a predetermined threshold, it is determined that there is no line-of-sight distance between the mobile device at the predetermined point and the access point, otherwise it is determined that the There is a line-of-sight distance between the mobile device and the access point.

Optionally, in an example of the above aspect, the device for determining the line-of-sight distance further includes: a map establishing unit configured to control the mobile device to scan the target site to establish the target site A map, and mark the location information of all the access points deployed in the target site on the map.

Optionally, in an example of the foregoing aspect, the device for determining the line-of-sight distance further includes: a movement control unit, which controls the mobile device to move sequentially on a pre-planned path in the target site Move to the next predetermined point until the mobile device has traversed all the predetermined points.

Optionally, in an example of the above aspect, the device for determining the line-of-sight distance further includes: a mapping table construction unit configured to calculate each predetermined point on the pre-planned path Whether there is a line-of-sight distance between all access points associated with the predetermined point is stored as a mapping table.

Optionally, in an example of the foregoing aspect, the mobile device is an AGV, the AGV can perform FTM distance measurement, and the first distance is measured using FTM.

Optionally, in an example of the foregoing aspect, the AGV has a simultaneous SLAM function, wherein the position information of the mobile device at a predetermined point is determined by using SLAM.

According to another aspect of the present disclosure, there is provided an electronic device, including: at least one processor; and a memory coupled with the at least one processor, the memory is used to store instructions, when the instructions are used by the at least one When the processor is executed, the processor is caused to execute the navigation method as described above.

According to another aspect of the present disclosure, there is provided a non-transitory machine-readable storage medium that stores executable instructions that when executed cause the machine to perform the navigation method as described above.

According to another aspect of the present disclosure, there is provided a computer program including computer-executable instructions that, when executed, cause at least one processor to perform the navigation method as described above.

According to another aspect of the present disclosure, there is provided a computer program product that is tangibly stored on a computer-readable medium and includes computer-executable instructions that, when executed, cause at least A processor executes the navigation method as described above.

Description of the drawings

The above and other objects, features and advantages of the present invention will be more easily understood with reference to the following description of the embodiments of the present invention in conjunction with the accompanying drawings. The components in the drawings are only to illustrate the principle of the present invention. In the drawings, the same or similar technical features or components will be represented by the same or similar reference numerals.

FIG. 1 is a flowchart showing an exemplary process of a method for determining a line-of-sight distance according to an embodiment of the present disclosure;

Figure 2 schematically shows a pre-planned path of the mobile device in the target site;

FIG. 3 is a block diagram showing an exemplary configuration of an apparatus for determining line-of-sight distance according to an embodiment of the present disclosure; and

FIG. 4 shows a block diagram of an electronic device for determining the line-of-sight distance according to an embodiment of the present disclosure. Reference number

100: Method to determine the line-of-sight distance S101, S102, S104, S106, S108

S110: Steps

200: Pre-planned path p1, p2...p6...pn: n predetermined points

202: Mobile equipment 300: Device for determining the line-of-sight distance

302: The first distance measurement unit 304: The second distance measurement unit

306: Sight distance determination unit 301: Map creation unit

308: Mobile control unit 310: Mapping table building unit

400: Electronic equipment 402: Processor

404: memory

detailed description

The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and realize the subject described herein, and is not to limit the scope of protection, applicability, or examples set forth in the claims. The function and arrangement of the discussed elements can be changed without departing from the scope of protection of the present disclosure. Various examples can omit, replace, or add various procedures or components as needed. For example, the described method may be executed in a different order from the described order, and various steps may be added, omitted, or combined. In addition, features described with respect to some examples can also be combined in other examples.

As used herein, the term "including" and its variations mean open terms, meaning "including but not limited to." The term "based on" means "based at least in part on." The terms "one embodiment" and "an embodiment" mean "at least one embodiment." The term "another embodiment" means "at least one other embodiment." The terms "first", "second", etc. may refer to different or the same objects. Other definitions can be included below, whether explicit or implicit. Unless clearly indicated in the context, the definition of a term is consistent throughout the specification.

The present disclosure proposes a method for determining whether the line-of-sight (LOS) or non-line-of-sight (LOS) distance between each possible client location and each access point (Access Point, AP) is Line-of-sight (NLOS) mapping indication method.

It is of great benefit to know in advance whether there is a LOS path between the client and a given access point. For example, such knowledge can be used to:

· By assigning a higher weight to the distance measurement on the LOS link than the distance measurement on the NLOS link, the accuracy of positioning in the FTM-based wireless positioning system or other wireless positioning systems can be increased.

· You can change the communication parameters of the wireless communication link, such as reducing the data rate, changing the redundancy mechanism, or activating/deactivating MIMO.

· You can adjust the switching strategy, for example, change the client's associated AP to an AP that can provide LOS connections (or, conversely, change to an AP without LOS, because the rich scattering channels can make multiple input multiple output , MIMO) communication is particularly effective).

· It can also help improve the accuracy of indoor positioning and/or achieve more effective and reliable wireless communication.

Wireless systems generally do not use any prior information about the LOS/NLOS coverage characteristics of the deployment area. And such information is very important for planning a wireless positioning system that ensures key LOS coverage in most relevant parts of the coverage area.

This disclosure proposes the use of mobile devices (such as AGV (Automated Guided Vehicle)) and wireless distance measurement methods (such as FTM (Fine Timing Measurement)) to automatically obtain the relationship between the client and the access point. The method of LOS/NLOS mapping between.

Make some mobile equipment (AGV, forklift, monorail, etc.) regularly move through the area of interest. Preferably, the equipment incorporates a high-precision navigation system (ie, its accuracy is at least equivalent to the expected accuracy of the FTM measurement, and most It is better than the expected accuracy of FTM measurement). The navigation system can be based on LIDAR (laser scanner), ranging method (wheel sensor), inertial measurement unit (IMU), visual ranging method (camera), or a combination thereof. Mobile devices can use technologies such as SLAM (Simultaneous Location and Mapping) to derive precise positions.

Now, a method and device capable of determining whether the line-of-sight distance is between a mobile terminal and an access point according to embodiments of the present disclosure will be described with reference to the accompanying drawings.

FIG. 1 is a flowchart showing an exemplary process of a method 100 for determining a line-of-sight distance according to an embodiment of the present disclosure.

In FIG. 1, the first distance measurement step is first performed in block S102 to measure the mobile equipment at a predetermined point on the pre-planned path in the target site and all the access points associated with the mobile equipment. The first distance between each access point.

Among them, the target site may be, for example, a factory or an office. A path can be planned in advance in the target site according to the actual situation, so that the path covers the entire target site as much as possible, and multiple predetermined points are set in advance on the pre-planned path. Preferably, these predetermined points are separated by a fixed distance.

Fig. 2 schematically shows a path 200 pre-planned by the mobile device in the target site, where p1, p2...p6...pn are respectively n predetermined points on the path.

The mobile device moves to each predetermined point in turn, and measures the distance between the mobile device at the predetermined point and its associated access point.

In one example, the mobile device may be an AGV, which has a navigation function, and the AGV can perform FTM distance measurement. In the case that the AGV does not have the FTM distance measurement function, a client with the FTM distance measurement function can also be set on the AGV.

The mobile device may receive signals from multiple access points at a predetermined point, and these multiple access points are referred to herein as all access points associated with the mobile device. The mobile device can perform FTM distance measurement to measure the distance between the mobile device and each of the multiple access points associated with it. This distance measured by FTM is called the first distance between the mobile device and the access point.

Those skilled in the art can understand that the present disclosure utilizes the FTM capabilities of WLAN (Wireless Local Area Network) devices that comply with the IEEE 802.11 standard, but other methods for wireless distance measurement may also be used, such as wireless distance measurement based on wireless signal strength. This will not be repeated here.

Next, in block S104, a second distance measurement step is performed, based on the location information of the mobile device at the predetermined point and the location of each access point among all the access points associated with the mobile device Information, for each access point, the second distance between the mobile device and the access point is calculated separately.

The location of a mobile device at a predetermined point can be obtained, for example, through the mobile device’s SLAM (Simultaneous locating and mapping, simultaneous positioning and mapping) function. The SLAM function allows the mobile device to obtain a more accurate real-time location information, and allows other The application can also obtain this location information.

The location information of the access point can be pre-stored in the system, or it can be marked on the map when the map is created by scanning the target site as described below.

According to the location information of the mobile device at the predetermined point and the location information of the access point, the distance between the mobile device and the access point can be calculated. This distance calculated from the position information is called the second distance.

In other words, for a mobile device at a predetermined point, for each access point associated with it, the distance between the mobile device and each access point can be measured, based on the location information of the mobile device and the access point It can also calculate the distance between the mobile device and each access point. Next, the step of determining the line-of-sight distance in block S106 is performed.

In step S106 of determining the line-of-sight distance, for each access point, the first distance measured and the second distance calculated for each access point are respectively compared, and if the first distance is compared with the second distance If the difference between the distances is greater than a predetermined threshold, it is determined that there is no line of sight between the mobile device at the predetermined point and the access point, otherwise it is determined that there is a line of sight between the mobile device at the predetermined point and the access point distance.

Those skilled in the art can understand that when there is a line-of-sight distance, the first distance should be close to the second distance. When the first distance and the second distance are significantly different, it can be explained that the point is different from the access point. There is no line of sight between. Considering that the measured first distance may have an error, an appropriate threshold can be set in advance. In the case where the difference between the first distance and the second distance is greater than the predetermined threshold, the There is no line of sight between the mobile device and the access point. This predetermined threshold can be set by a technician based on experience, and will not be repeated here.

Through the above steps, it can be determined whether the line-of-sight distance or the non-line-of-sight distance between the mobile device at a certain predetermined point and each access point associated therewith.

It can be understood that the measured first distance and the calculated second distance may be stored locally on the mobile device for calculation, or may be sent to a central system (for example, a cloud platform) for further processing.

In an example, before performing the operation of block S102, the method may further include: the map establishment step in block S101: controlling the mobile device to scan the target site to establish a map of the target site, and then The location information of all the access points deployed in the target site is marked on the map.

In this way, a map of the target site can be obtained, and the location information of all access points can be marked on the map, for example, the coordinates of each access point can be marked on the map.

When the environment of the target site changes, by rescanning the target site, the map of the target site can be updated in time.

In addition, the target site can also be scanned periodically to ensure that a real-time map of the target site is obtained.

Those skilled in the art can understand that the map of the target site and the location information of the access point can also be obtained and stored in advance in other ways, so the operation in block S101 is optional.

In an example, the method for determining the line-of-sight distance may further include the movement control step in block S108: controlling the mobile device to sequentially move to the next predetermined point on a pre-planned path in the target site, for each The predetermined point repeatedly executes the first distance measurement step, the second distance calculation step, and the line-of-sight distance determination step until the mobile device traverses all the predetermined points. That is to say, the operations in the above boxes S102 to S106 are repeated for the mobile device at each predetermined point, until the mobile device has traversed all the predetermined points. In this way, it can be obtained whether there is a line-of-sight distance between each predetermined point on the pre-planned path and the access point associated with the point.

Preferably, the method may further include the step of constructing a mapping table in block S110: determining whether there is a line of sight between each predetermined point on the pre-planned path and all the access points associated with the predetermined point. The distance is stored as a mapping table.

By querying this mapping table, it can be determined whether there is a line-of-sight distance between the mobile device at any predetermined point in the target area and each of the multiple access points associated with it.

By appropriately adjusting the interval between the predetermined points, the required mapping accuracy requirements can be obtained.

In this way, there may be areas that are not covered. In this case, place the mobile device in an uncovered area, and then re-execute the steps of the method 100 in the area.

In addition, the environment in the target site may change, for example, a large-scale equipment is removed. In this case, the steps of the method 100 can also be re-executed in the target site.

The steps of the method 100 may be periodically executed in the target site to update the LOS/NLOS mapping relationship between each predetermined point and the associated access point in real time.

FIG. 3 is a block diagram showing an exemplary configuration of an apparatus 300 for determining a line-of-sight distance according to an embodiment of the present disclosure.

The device 300 for determining the line-of-sight distance includes: a first distance measuring unit 302, a second distance measuring unit 304, and a line-of-sight distance determining unit 306.

The first distance measuring unit 302 is configured to measure the distance between a mobile device at a predetermined point on a pre-planned path in the target site and each of all access points associated with the mobile device. The first distance.

The second distance calculation unit 304 is configured to, based on the location information of the mobile device at the predetermined point and the location information of each access point among all the access points associated with the mobile device, for each access point The point calculates the second distance between the mobile device and the access point.

The line-of-sight distance determining unit 306 is configured to compare the first distance measured for each access point with the second distance calculated for each access point. If the first distance is compared with the second distance, If the difference between the distances is greater than a predetermined threshold, it is determined that there is no line of sight between the mobile device at the predetermined point and the access point, otherwise it is determined that there is a line of sight between the mobile device at the predetermined point and the access point distance.

In an example, the device 300 for determining the line-of-sight distance may further include a map establishing unit 301: the map establishing unit 301 is configured to control the mobile device to scan the target site to create a map of the target site, and Mark the location information of all the access points deployed in the target site on the map.

In an example, the device 300 for determining the line-of-sight distance may further include a movement control unit 308, which controls the mobile device to sequentially move to the next predetermined point on a pre-planned path in the target site. Until the mobile device has traversed all predetermined points.

In an example, the device 300 for determining the line-of-sight distance may further include a mapping table construction unit 310 configured to compare each predetermined point on the pre-planned path and all the access points associated with the predetermined point. Whether there is line-of-sight distance between them is stored as a mapping table.

Wherein, the mobile device is an AGV, and the AGV can perform FTM distance measurement, wherein the first distance is measured using FTM.

Wherein, the AGV has a function of simultaneous positioning and mapping, wherein the position information of the mobile device at a predetermined point is determined by simultaneous positioning and mapping.

The details of the operations and functions of the various parts of the device 300 for determining the line-of-sight distance may, for example, be the same as or similar to the relevant parts of the embodiment of the method 100 for determining the line-of-sight distance of the present disclosure described with reference to FIGS. 1-2, and will not be described in detail here. .

In the method and device for determining the line-of-sight distance according to an embodiment of the present disclosure, the use of AGV as a mobile device can bring the following benefits: the map generated by the AGV scan can provide more accurate positioning, and the total error is generally only in meters Level: AGV can automatically complete the entire mapping process, almost without human intervention; it can perform a mapping in the target area at the initial stage to get the LOS/NLOS mapping of the target area, and it can also continuously update this mapping during the normal operation of the AGV.

The method and device for determining the line-of-sight distance according to an embodiment of the present disclosure can be applied to different wireless products and different areas. It can perform accurate self-positioning through SLAM technology or other precise positioning mechanisms, using some simple coordinate conversion algorithms and FTM technology can easily output the LOS/NLOS information between each point and each AP within the wireless range from that point to automatically complete the entire mapping process.

The method and device for determining the line-of-sight distance according to an embodiment of the present disclosure can enhance the accuracy of indoor positioning. In the future, there will be more and more AGVs in factories, which will bear more and more responsibilities. Through enhanced indoor positioning technology, AGV can perform more complex and delicate tasks.

It should be noted that the structure of the device 300 for determining the line-of-sight distance and its constituent units shown in FIG. 3 is only exemplary, and those skilled in the art can modify the structure block diagram shown in FIG. 3 as needed.

As above, referring to FIGS. 1 to 3, the embodiments of the apparatus and method for determining the line-of-sight distance according to the embodiments of the present disclosure are described. The method and device for determining the line-of-sight distance described above can be implemented by hardware, or by software or a combination of hardware and software.

FIG. 4 shows a block diagram of an electronic device 400 for determining the line-of-sight distance according to an embodiment of the present disclosure. According to one embodiment, the electronic device 400 may include at least one processor 402 that executes at least one computer-readable instruction stored or encoded in a computer-readable storage medium (ie, the memory 404) (ie, the above-mentioned software is in the form of software). Implemented elements).

In one embodiment, computer-executable instructions are stored in the memory 404, which when executed cause at least one processor 402 to complete the following actions: measure the mobile device and the mobile device at a predetermined point on a pre-planned path in the target site The first distance between each of all the access points associated with the mobile device; based on the location information of the mobile device at the predetermined point and all the access points associated with the mobile device For each access point’s location information, calculate the second distance between the mobile device and the access point for each access point; and for each access point, calculate the second distance between the mobile device and the access point. The first distance and the calculated second distance are compared, and if the difference between the first distance and the second distance is greater than a predetermined threshold, it is determined that the mobile device at the predetermined point is There is no line-of-sight distance between the access points, otherwise it is determined that there is a line-of-sight distance between the mobile device at the predetermined point and the access point.

It should be understood that the computer-executable instructions stored in the memory 404, when executed, cause the at least one processor 402 to perform various operations and functions described above in conjunction with FIGS. 1-3 in the various embodiments of the present disclosure.

According to one embodiment, a non-transitory machine-readable medium is provided. The non-transitory machine-readable medium may have machine-executable instructions (that is, the above-mentioned elements implemented in the form of software), which when executed by a machine, cause the machine to execute the various embodiments of the present disclosure in conjunction with FIGS. 1-3. Various operations and functions described.

According to one embodiment, a computer program is provided, including computer-executable instructions, which, when executed, cause at least one processor to execute each of the above described in conjunction with FIGS. 1-3 in the various embodiments of the present disclosure. Kinds of operations and functions.

According to one embodiment, there is provided a computer program product, including computer-executable instructions, which when executed, cause at least one processor to execute the above described in conjunction with FIGS. 1-3 in the various embodiments of the present disclosure. Various operations and functions.

The specific implementations set forth above in conjunction with the drawings describe exemplary embodiments, but do not represent all embodiments that can be implemented or fall within the protection scope of the claims. The term "exemplary" used throughout this specification means "serving as an example, instance, or illustration", and does not mean "preferred" or "advantageous" over other embodiments. The detailed description includes specific details for the purpose of providing an understanding of the described technology. However, these techniques can be implemented without these specific details. In some instances, in order to avoid incomprehensibility to the concepts of the described embodiments, well-known structures and devices are shown in the form of block diagrams.

The foregoing description of the present disclosure is provided to enable any person of ordinary skill in the art to implement or use the present disclosure. For those of ordinary skill in the art, various modifications to the present disclosure are obvious, and the general principles defined herein can also be applied to other modifications without departing from the scope of protection of the present disclosure. . Therefore, the present disclosure is not limited to the examples and designs described herein, but is consistent with the broadest scope that conforms to the principles and novel features disclosed herein.

Claims

Methods to determine the line-of-sight distance include:

The first distance measurement step: measuring the first distance between a mobile device at a predetermined point on a pre-planned path in the target site and each of all access points associated with the mobile device ；

The second distance calculation step: based on the location information of the mobile device at the predetermined point and the location information of each access point among all the access points associated with the mobile device, calculate separately for each access point The second distance between the mobile device and the access point; and

Sight distance determination step: For each access point, compare the first distance measured and the second distance calculated for each access point, and the distance is between the first distance and the second distance. If the difference is greater than the predetermined threshold, determine that there is no line-of-sight distance between the mobile device at the predetermined point and the access point, otherwise determine that there is line-of-sight distance between the mobile device at the predetermined point and the access point .
The method of claim 1, wherein, before the first distance measurement step, the method further comprises:

Map establishment step: controlling the mobile device to scan the target site to build a map of the target site, and marking the location information of all access points deployed in the target site on the map.
The method of claim 1, further comprising:

Movement control step: controlling the mobile device to sequentially move to the next predetermined point on a pre-planned path in the target site, and repeating the first distance measurement step and the second distance calculation for each predetermined point And the step of determining the line-of-sight distance until the mobile device has traversed all predetermined points.
The method of claim 4, further comprising:

The mapping table construction step: storing the line-of-sight distance between each predetermined point on the pre-planned path and all the access points associated with the predetermined point as a mapping table.
The method according to any one of claims 1 to 4, wherein the mobile device is an automated guided transport vehicle, and the automated guided transport vehicle can perform fine timing measurements,

Wherein, the first distance is obtained by fine timing measurement.
The method according to claim 5, wherein the automatic guided transport vehicle has the functions of simultaneous positioning and mapping,

Wherein, the position information of the mobile device at a predetermined point is determined by simultaneous positioning and mapping.
The device (300) for determining the line-of-sight distance includes:

A first distance measuring unit (302), the first distance measuring unit (302) is configured to measure a mobile device at a predetermined point on a pre-planned path in the target site and all the mobile devices associated with the mobile device The first distance between each of the access points;

A second distance calculation unit (304) configured to be based on the location information of the mobile device at the predetermined point and each of all access points associated with the mobile device Location information of an access point, calculating the second distance between the mobile device and the access point for each access point; and

A line-of-sight distance determining unit (306), the line-of-sight distance determining unit (306) is configured to compare the first distance measured for each access point with the second distance calculated for each access point If the difference between the first distance and the second distance is greater than a predetermined threshold, it is determined that there is no line-of-sight distance between the mobile device at the predetermined point and the access point, otherwise it is determined to be at the predetermined point There is a line-of-sight distance between the mobile device and the access point.
The device (300) according to claim 7, further comprising:

A map creation unit (301), the map creation unit (301) is configured to control the mobile device to scan the target site to create a map of the target site, and mark the deployed in the target site on the map Location information of all access points.
The device (300) according to claim 7, further comprising:

A mobile control unit (308), the mobile control unit (308) controls the mobile device to sequentially move to the next predetermined point on the pre-planned path in the target site, until the mobile device traverses all Book a point.
The device (300) according to claim 9, further comprising:

A mapping table construction unit (310), the mapping table construction unit (310) is configured to determine whether each predetermined point on the pre-planned path and all the access points associated with the predetermined point are The sight distance is stored as a mapping table.
The device according to any one of claims 7-10, wherein the mobile device is an automated guided transport vehicle, the automated guided transport vehicle can perform fine timing measurement, and the first distance is using fine timing Measured by measurement.
The device according to claim 11, the automatic guided transport vehicle has the functions of positioning and mapping at the same time,

Wherein, the position information of the mobile device at a predetermined point is determined by simultaneous positioning and mapping.
Electronic equipment (500), including:

At least one processor (502); and

A memory (504) coupled with the at least one processor (502), the memory is used to store instructions, and when the instructions are executed by the at least one processor (502), the processor (502) ) Perform an action, the action includes:

The first distance measurement action: measure the first distance between a mobile device at a predetermined point on a pre-planned path in the target site and each of all access points associated with the mobile device ；

The second distance calculation action: based on the location information of the mobile device at the predetermined point and the location information of each access point among all the access points associated with the mobile device, calculate separately for each access point The second distance between the mobile device and the access point; and

Sight distance determination action: For each access point, compare the first distance measured and the second distance calculated for each access point, between the first distance and the second distance If the difference is greater than a predetermined threshold, determine that there is no line of sight between the mobile device at the predetermined point and the access point, otherwise determine that there is a line of sight between the mobile device at the predetermined point and the access point .
The device of claim 13, wherein the action further comprises:

Map creation action: controlling the mobile device to scan the target site to create a map of the target site, and mark the location information of all access points deployed in the target site on the map.
The device of claim 13, wherein the action further comprises:

Movement control action: controlling the mobile device to sequentially move to the next predetermined point on a pre-planned path in the target site, and repeat the first distance measurement step and the second distance calculation for each predetermined point And the step of determining the line-of-sight distance until the mobile device has traversed all predetermined points.
The device of claim 15, wherein the action further comprises:

Mapping table construction action: storing the line-of-sight distance between each predetermined point on the pre-planned path and all access points associated with the predetermined point as a mapping table.
The device according to any one of claims 13-16, wherein:

The mobile device is an automatic guided transport vehicle, and the automatic guided transport vehicle can perform fine timing measurements,

Wherein, the first distance is obtained by fine timing measurement.
The device according to any one of claim 17, wherein the automatic guided transport vehicle has the functions of simultaneous positioning and mapping,

Wherein, the position information of the mobile device at a predetermined point is determined by simultaneous positioning and mapping.
A non-transitory machine-readable storage medium that stores executable instructions that, when executed, cause the machine to execute the method according to any one of claims 1 to 6.
A computer program comprising computer-executable instructions that, when executed, cause at least one processor to execute the method according to any one of claims 1 to 6.
A computer program product that is tangibly stored on a computer-readable medium and includes computer-executable instructions, which when executed, cause at least one processor to execute according to claims 1 to 6 The method described in any one of.