Communication sensing node deployment method, device and equipment

Abstract

The invention provides a communication sensing node deployment method, device and equipment, and the method comprises the steps: receiving map data for a target region, carrying out the rasterization of the map data, and obtaining a raster map; determining a free area without obstacles in the grid map, and obtaining the number of free coordinates in the free area; in response to the fact that the number of the idle coordinates is larger than a preset number threshold, filling the idle area according to a preset size to obtain a target filling rectangle; determining a signal type of the communication sensing node, and determining a target position of the communication sensing node in the filling rectangle according to the signal type; determining the coverage rate of the communication sensing nodes according to the target filling rectangle and the grid map, and determining the signal intensity of each cell in the grid map according to the target position and the grid map; and deploying a communication sensing node according to the target filling rectangle and the target position in response to the fact that the coverage rate is greater than a preset coverage rate threshold value and the signal strength of all the cells is greater than a preset strength threshold value.

Description

Technical Field

[0001] The present disclosure relates to the field of communication technology, and in particular to a communication perception node deployment method, device and equipment. Background Art

[0002] With the rapid development of wireless communication technology, Integrated Sensing and Communication (ISAC) has significantly expanded the application boundaries of traditional communication networks by combining communication and perception functions. Based on spectrum sharing of conventional communication signals such as Ultra Wide Band (UWB), base station (BS) and Wi-Fi signals, ISAC technology can not only provide efficient communication services, but also has the functions of positioning, ranging, speed measurement, imaging, detection, identification and environmental reconstruction by measuring parameters such as signal strength (RSSI), arrival time (ToA) and channel state information (CSI). Traditional sensors such as infrared, camera and microwave radar are limited by line of sight and perception range, and cameras have a greater risk of privacy leakage. In contrast, ISAC can not only ensure the privacy and security of perception results, but also expand the perception range without the need for additional hardware deployment, greatly reducing system costs. Therefore, it shows a wide range of application potential in scenarios such as smart factories, military emergencies and smart transportation.

[0003] However, communication perception performance is highly dependent on the reasonable layout of nodes. At present, research on the deployment of communication perception nodes mainly focuses on single nodes or small-scale static scenes. Single-node systems can only obtain local information about the target environment and it is difficult to fully reconstruct the perceived target. In large-scale scenes such as complex terrain and dynamic environments, single-node systems are difficult to balance the stability of communication signals and the efficient integration of perception functions. Summary of the invention

[0004] In view of this, the purpose of the present disclosure is to propose a communication sensing node deployment method, device and equipment to solve or partially solve the above-mentioned problems.

[0005] Based on the above objectives, a first aspect of the present disclosure provides a communication awareness node deployment method, the method comprising:

[0006] Receiving map data for a target area, and performing rasterization processing on the map data to obtain a raster map;

[0007] Determine an idle area in the grid map where no obstacles exist, and obtain the number of idle coordinates in the idle area;

[0008] In response to the number of the idle coordinates being greater than a preset number threshold, filling the idle area according to a preset size to obtain a target filling rectangle;

[0009] Determine a signal type of a communication sensing node, and determine a target position of the communication sensing node in the filled rectangle according to the signal type;

[0010] Determine the coverage of the communication sensing node according to the target filling rectangle and the grid map, and determine the signal strength of each cell in the grid map according to the target position and the grid map;

[0011] In response to the coverage being greater than a preset coverage threshold and the signal strength of all cells being greater than a preset strength threshold, communication sensing nodes are deployed according to the target filling rectangle and the target position.

[0012] Based on the same inventive concept, the second aspect of the present disclosure proposes a communication sensing node deployment device, including:

[0013] A data receiving module is configured to receive map data for a target area, and perform rasterization processing on the map data to obtain a raster map;

[0014] An idle area determination module is configured to determine an idle area in the grid map where no obstacles exist, and obtain the number of idle coordinates in the idle area;

[0015] A filling module is configured to fill the idle area according to a preset size in response to the number of the idle coordinates being greater than a preset number threshold, to obtain a target filling rectangle;

[0016] a position determination module, configured to determine a signal type of a communication sensing node, and determine a target position of the communication sensing node in the filled rectangle according to the signal type;

[0017] A signal strength determination module is configured to determine the coverage of the communication sensing node according to the target filling rectangle and the grid map, and determine the signal strength of each cell in the grid map according to the target position and the grid map;

[0018] The node deployment module is configured to deploy communication sensing nodes according to the target filling rectangle and the target position in response to the coverage being greater than a preset coverage threshold and the signal strength of all cells being greater than a preset strength threshold.

[0019] Based on the same inventive concept, the third aspect of the present disclosure proposes an electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable by the processor, wherein the processor implements the communication awareness node deployment method as described above when executing the computer program.

[0020] Based on the same inventive concept, the fourth aspect of the present disclosure proposes a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute the communication-aware node deployment method as described above.

[0021] As can be seen from the above, the present disclosure proposes a communication sensing node deployment method, device and equipment, which receives map data for a target area, performs rasterization processing on the map data, and obtains a raster map. Determine an idle area in the raster map where there are no obstacles, obtain the number of idle coordinates in the idle area, and in response to the number of idle coordinates being greater than a preset number threshold, fill the idle area according to a preset size to obtain a target filling rectangle. By setting a planning threshold, that is, a preset number threshold, the adequacy of the exploration area is ensured, resource waste or planning errors caused by incomplete data are avoided, and the rationality and reliability of the planning scheme are improved. Determine the signal type of the communication sensing node, and determine the target position of the communication sensing node in the filling rectangle according to the signal type. Determine the coverage rate of the communication sensing node according to the target filling rectangle and the raster map, and determine the signal strength of each cell in the raster map according to the target position and the raster map. When the coverage rate is greater than the preset coverage rate threshold and the signal strength of all cells is greater than the preset strength threshold, the communication sensing node is deployed according to the target filling rectangle and the target position. The positions of communication sensing nodes are flexibly adjusted through dynamic planning methods, which effectively reduces the redundant consumption of node resources and improves the resource utilization efficiency of the system while ensuring the sensing coverage and communication coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A flowchart of a communication sensing node deployment method according to an embodiment of the present disclosure;

[0024] Figure 2 A flowchart of a communication sensing node deployment method according to another embodiment of the present disclosure;

[0025] Figure 3 This is a schematic diagram of map data in another embodiment of the present disclosure;

[0026] Figure 4 This is a schematic diagram of a fitted straight line in another embodiment of the present disclosure;

[0027] Figure 5 This is a schematic diagram of a filled rectangle in another embodiment of the present disclosure;

[0028] Figure 6 This is a schematic diagram of node reuse in another embodiment of the present disclosure;

[0029] Figure 7 A flowchart of a perception network evaluation optimization algorithm in another embodiment of the present disclosure;

[0030] Figure 8 A flowchart of a communication network evaluation optimization algorithm in another embodiment of the present disclosure;

[0031] Fig. 9 A structural block diagram of a communication sensing node deployment device according to an embodiment of the present disclosure;

[0032] Fig.10 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0033] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0034] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0035] With the rapid development of wireless communication technology, Integrated Sensing and Communication (ISAC) has significantly expanded the application boundaries of traditional communication networks by combining communication and perception functions. Based on spectrum sharing of conventional communication signals such as Ultra Wide Band (UWB), base station (BS) and Wi-Fi signals, ISAC technology can not only provide efficient communication services, but also has the functions of positioning, ranging, speed measurement, imaging, detection, identification and environmental reconstruction by measuring parameters such as signal strength (RSSI), arrival time (ToA) and channel state information (CSI). Traditional sensors such as infrared, camera and microwave radar are limited by line of sight and perception range, and cameras have a greater risk of privacy leakage. In contrast, ISAC can not only ensure the privacy and security of perception results, but also expand the perception range without the need for additional hardware deployment, greatly reducing system costs. Therefore, it shows a wide range of application potential in scenarios such as smart factories, military emergencies and smart transportation.

[0036] However, communication perception performance is highly dependent on the reasonable layout of nodes. At present, research on the deployment of communication perception nodes mainly focuses on single nodes or small-scale static scenes. Single-node systems can only obtain local information about the target environment and it is difficult to fully reconstruct the perceived target. In large-scale scenes such as complex terrain and dynamic environments, single-node systems are difficult to balance the stability of communication signals and the efficient integration of perception functions. The main problems are as follows:

[0037] (1) Insufficient multi-node collaboration: Existing methods mostly plan single-node signal coverage and lack systematic research on multi-node collaborative deployment, resulting in low coverage and collaboration in complex scenarios.

[0038] (2) Lack of optimization model: The relationship between node location and coverage has not yet been optimized, which may easily lead to excessively high deployment costs or coverage blind spots.

[0039] (3) Poor adaptability to dynamic environments: Most existing solutions are statically deployed, which makes it difficult to meet the needs of dynamic adjustment and lacks real-time and adaptability.

[0040] Based on the above description, this embodiment proposes a communication sensing node deployment method, such as Figure 1 As shown, the method includes:

[0041] Step 101, receiving map data for a target area, and performing rasterization processing on the map data to obtain a raster map;

[0042] Step 102, determining an idle area in the grid map where no obstacles exist, and obtaining the number of idle coordinates in the idle area;

[0043] Step 103, in response to the number of free coordinates being greater than a preset number threshold, filling the free area according to a preset size to obtain a target filling rectangle;

[0044] Step 104, determining a signal type of the communication sensing node, and determining a target position of the communication sensing node in the filled rectangle according to the signal type;

[0045] Step 105, determining the coverage of the communication sensing node according to the target filling rectangle and the grid map, and determining the signal strength of each cell in the grid map according to the target position and the grid map;

[0046] Step 106, in response to the coverage being greater than a preset coverage threshold and the signal strength of all cells being greater than a preset strength threshold, deploying communication sensing nodes according to the target filling rectangle and the target position.

[0047] In a specific implementation, map data for a target area is received, and the map data is data of the target area collected, and specifically, the map data is data collected by an intelligent machine, and the intelligent machine includes an intelligent robot, a drone, an intelligent car, etc. During the intelligent machine collection process, the collected area with obstacles is marked as an obstacle area, the area where the intelligent machine passes and no obstacles exist is marked as an idle area, and the area that has not been passed is marked as an unexplored area.

[0048] The map data is rasterized to obtain a grid map, which is the same as the grid matrix of the following embodiment. The grid map uses square cells as the basic construction unit. According to the explored map data, the grid map status includes three types: 0 represents the explored free area, 1 represents the obstacle area, and 100 represents the unexplored area.

[0049] An idle area in the grid map where no obstacles exist is determined, wherein the idle area contains at least one cell, and the number of idle coordinates in the idle area is obtained, that is, the number of cells corresponding to the idle area is obtained.

[0050] A preset number threshold is obtained, and the number of idle coordinates is compared with the preset number threshold. If the number of idle coordinates is greater than the preset number threshold, the idle area is filled according to a preset size to obtain a target filling rectangle, and the area of ​​the target filling rectangle is smaller than the area of ​​the idle area.

[0051] Determine a signal type of the communication sensing node, and determine a target position of the communication sensing node in the filled rectangle according to the signal type, wherein the signal type includes at least one of the following: WIFI, UWB, etc. The target position includes at least one of the following: a border of the filled rectangle, a center position of the filled rectangle, etc.

[0052] The coverage of the communication sensing node is determined according to the target filling rectangle and the grid map, and the coverage is used to evaluate the sensing network. The signal strength of each cell in the grid map is determined according to the target position and the grid map, and the signal strength is used to evaluate the communication network. In this embodiment, the coverage is determined in the following manner:

[0053] Determine a first number of cells corresponding to the target filling rectangle, determine a second number of cells corresponding to the idle area, calculate a ratio of the first number to the second number, and the obtained ratio is the coverage rate.

[0054] In response to the coverage being greater than a preset coverage threshold and the signal strength of all cells being greater than a preset strength threshold, the communication sensing node is deployed according to the target filling rectangle and the target position. The target filling rectangle is a deployment area of ​​the communication sensing node, and the target position is a specific position of the communication sensing node in the deployment area.

[0055] Through the above scheme, map data for the target area is received, and the map data is rasterized to obtain a raster map. An idle area in the raster map where no obstacles exist is determined, the number of idle coordinates in the idle area is obtained, and in response to the number of idle coordinates being greater than a preset number threshold, the idle area is filled according to a preset size to obtain a target filled rectangle. By setting a planning threshold, that is, a preset number threshold, the adequacy of the exploration area is ensured, resource waste or planning errors caused by incomplete data are avoided, and the rationality and reliability of the planning scheme are improved. The signal type of the communication sensing node is determined, and the target position of the communication sensing node in the filled rectangle is determined according to the signal type. The coverage rate of the communication sensing node is determined according to the target filled rectangle and the raster map, and the signal strength of each cell in the raster map is determined according to the target position and the raster map. When the coverage rate is greater than the preset coverage rate threshold and the signal strength of all cells is greater than the preset strength threshold, the communication sensing node is deployed according to the target filled rectangle and the target position. The position of the communication sensing node is flexibly adjusted by a dynamic planning method, while ensuring the perception coverage rate and communication coverage rate, the redundant consumption of node resources is effectively reduced, and the resource utilization efficiency of the system is improved.

[0056] In some embodiments, after obtaining the number of free coordinates in the free area, the number of free coordinates is compared with a first number threshold, wherein the first number threshold is less than a preset number threshold. If the number of free coordinates is less than or equal to the first number threshold, it can be further determined whether the number of free coordinates is greater than the preset number threshold. If the number of free coordinates is greater than the first number threshold, the grid map is segmented, and for each grid sub-map obtained by segmentation, the number of free coordinates corresponding to the grid sub-map is compared, and then the number of free coordinates corresponding to the grid sub-map is compared with the preset number threshold.

[0057] In some embodiments, step 103 specifically includes:

[0058] In response to the number of free coordinates being greater than a preset number threshold, a target filling rectangle is determined through at least one round of iterative operation, and each round of iterative operation is performed as follows:

[0059] Step 1031, taking the idle area as the target area, determining a plurality of preset starting points in the target area, and performing the following operations for each starting point:

[0060] Step 1032, determine to expand the preset sizes around the starting point to obtain multiple initial rectangles, determine the maximum inscribed rectangle corresponding to the multiple initial rectangles according to the adaptive rectangle decomposition algorithm, and use the maximum inscribed rectangle as the first filling rectangle corresponding to the starting point;

[0061] Step 1033, determining the rectangular area corresponding to the first filling rectangle corresponding to each starting point among the multiple starting points, and selecting the first filling rectangle with the largest rectangular area as the second filling rectangle;

[0062] Step 1034, marking the cells corresponding to the second filling rectangle as covered cells, and determining the coverage rate according to the covered cells and the free cells corresponding to the free area;

[0063] Step 1035, in response to the coverage being less than a preset coverage threshold, the area in the idle area except the second filling rectangle is used as a new target area, and the next round of iterative operation is entered;

[0064] Step 1036 , in response to the coverage being greater than or equal to a preset coverage threshold, exit at least one round of iterative operation, and use all second filling rectangles as target filling rectangles.

[0065] In specific implementation, the number of free coordinates is compared with a preset number threshold. If the number of free coordinates is greater than the preset number threshold, at least one round of iterative operation is performed to determine the target filling rectangle, and each round of iterative operation is performed as follows:

[0066] The free area is taken as the target area, and multiple preset starting points are determined in the target area. The number of the starting points is determined by the parallel search parameter r set by the algorithm. This parameter determines the number of random points generated simultaneously in each round of iteration. These random points will be selected from the unfilled area, and the size of r directly affects the efficiency of the calculation and the quality of the filling result. The selection basis of parameter r is the scale of the amount of data to be processed and the limitation of processing time. By adjusting r, the efficiency of the algorithm and the quality of the result can be balanced. Parameter r is preset before the algorithm is executed.

[0067] For each starting point, do the following:

[0068] Determine that the starting point is taken as the center, and the preset sizes are expanded in all directions to obtain multiple initial rectangles. That is, the starting point is taken as the center, and the preset sizes are expanded upward, downward, leftward, and rightward to obtain multiple initial rectangles. Determine the maximum inscribed rectangle corresponding to the multiple initial rectangles according to the adaptive rectangle decomposition algorithm, and use the maximum inscribed rectangle as the first filling rectangle corresponding to the starting point.

[0069] After determining the first filling rectangle corresponding to each starting point, the rectangular area of ​​each first filling rectangle is calculated respectively, and the areas of all rectangles are compared, and the first filling rectangle with the largest rectangular area is selected as the second filling rectangle.

[0070] Mark the cells corresponding to the second filling rectangle as covered cells, and determine the coverage rate based on the covered cells and the free cells corresponding to the free area. Specifically, determine the number of cells corresponding to the covered cells, determine the number of free cells corresponding to the free cells, calculate the ratio of the number of cells to the number of free cells, and the obtained ratio is the coverage rate.

[0071] The coverage rate is compared with the preset coverage rate threshold. If the coverage rate is less than the preset coverage rate threshold, the area in the idle area except the second filled rectangle is used as the new target area, and the next round of iterative operation is entered until the coverage rate is greater than or equal to the preset coverage rate threshold.

[0072] If the coverage is greater than or equal to a preset coverage threshold, at least one round of iteration is exited, and all second filling rectangles are used as target filling rectangles.

[0073] Through the above scheme, using parallel random search and rectangle selection mechanism, the algorithm can efficiently complete the filling of complex areas within a reasonable time range, while taking into account the computational efficiency and the optimization quality of the results.

[0074] In some embodiments, step 1032 specifically includes:

[0075] Step 10321, determining the obstacle area and the unexplored area in the grid map, and stopping the expansion in response to the presence of an obstacle area or an unexplored area in the process of expanding the preset size around the starting point.

[0076] In a specific implementation, the obstacle area and the unexplored area in the grid map are determined. If there is an obstacle area or an unexplored area in the process of expanding the preset size around the starting point, the expansion is stopped.

[0077] In some embodiments, after step 1036, the method further includes:

[0078] Step A, for each target filling rectangle, obtaining the rectangle side length of the target filling rectangle;

[0079] Step B, in response to the side length of the rectangle being greater than a preset maximum side length, segmenting the target filling rectangle according to the preset maximum side length to obtain a plurality of target filling sub-rectangles; or

[0080] Step C: in response to the side length of the rectangle being less than a preset minimum side length, deleting the target filling rectangle and marking the cell corresponding to the target filling rectangle as an uncovered cell.

[0081] In a specific implementation, for each target filling rectangle, the rectangle side length of the target filling rectangle is obtained, and the rectangle side length is compared with a preset maximum side length. If the rectangle side length is greater than the preset maximum side length, the target filling rectangle is segmented according to the preset maximum side length to obtain a plurality of target filling sub-rectangles.

[0082] During the specific segmentation, the target filling rectangle is evenly divided, and the side length of each target filling sub-rectangle after even division is smaller than the preset maximum side length.

[0083] Exemplarily, the side length of the rectangle is 20, and the preset maximum side length is 15. Then the target filling rectangle is segmented according to the preset maximum side length to obtain multiple target filling sub-rectangles, and the side length of each target filling sub-rectangle is 10.

[0084] In another example, the side length of the rectangle is 45 and the preset maximum side length is 18. Then the target filling rectangle is segmented according to the preset maximum side length to obtain multiple target filling sub-rectangles, and the side length of each target filling sub-rectangle is 15.

[0085] If the side length of the rectangle is less than the preset minimum side length, the target filling rectangle is deleted, and the cell corresponding to the target filling rectangle is marked as an uncovered cell.

[0086] Through the above scheme, by determining that the rectangular side length of the target filling rectangle is less than the preset maximum side length, the communication perception performance requirement is met. By determining that the rectangular side length of the target filling rectangle is greater than the preset minimum side length, when the rectangular side length is less than the preset minimum side length, the target filling rectangle is deleted to avoid resource waste or signal interference.

[0087] In some embodiments, after step 102, the method further includes:

[0088] Step 10A, in response to the number of idle coordinates being less than a preset number threshold, marking the state of the idle area as a waiting state;

[0089] Step 10B: receiving new map data for the target area, performing rasterization processing on the new map data, and obtaining a new raster map.

[0090] In specific implementation, it is determined whether the number of idle coordinates is greater than a preset number threshold, and if it is determined that the number of idle coordinates is less than the preset number threshold, the state of the idle area is marked as a waiting state. New map data for the target area is received, and the new map data is rasterized to obtain a new raster map.

[0091] In some embodiments, after step 105, the method further includes:

[0092] Step 10a, in response to the coverage being less than a preset coverage threshold, filling the idle area marked as a waiting state according to a preset size to obtain a new target filling rectangle;

[0093] Step 10b, determining the target position of the communication sensing node in the new target filling rectangle according to the signal type, and determining a new coverage of the communication sensing node according to the filling rectangle, the new target filling rectangle and the grid map.

[0094] In a specific implementation, the coverage of the communication sensing node is determined according to the target filling rectangle and the grid map. If the coverage is less than a preset coverage threshold, the idle area marked as a waiting state is filled according to a preset size to obtain a new target filling rectangle.

[0095] After obtaining a new target filling rectangle, for each new target filling rectangle, obtaining the rectangle side length of the new target filling rectangle;

[0096] In response to the side length of the new target filling rectangle being greater than the new preset maximum side length, the target filling rectangle is segmented according to the new preset maximum side length to obtain a plurality of new target filling sub-rectangles; or

[0097] In response to the side length of the new target filling rectangle being smaller than the new preset minimum side length, the new target filling rectangle is deleted, and the cell corresponding to the target filling rectangle is marked as an uncovered cell.

[0098] In this embodiment, the new preset maximum side length is less than or equal to the preset maximum side length, and the new preset minimum side length is less than or equal to the preset minimum side length.

[0099] Determine the target position of the communication sensing node in the new target filling rectangle according to the signal type, and determine the new coverage of the communication sensing node according to the filling rectangle, the new target filling rectangle and the grid map. Compare the new coverage with the coverage threshold, and if the new coverage threshold is still less than the coverage threshold, continue to fill the idle area marked as waiting state, and calculate the new coverage until the new coverage is greater than the coverage threshold.

[0100] In this embodiment, the side length of the new target filling rectangle obtained each time must be smaller than the side length of the target filling rectangle obtained last time. The specific size relationship can be that the side length of the new target filling rectangle obtained this time is 90% of the side length of the target filling rectangle obtained last time, that is, the side length of the new target filling rectangle obtained each time decreases by 10%.

[0101] In some embodiments, step 105 specifically includes:

[0102] The signal coverage is simulated by ray tracing method to determine whether the communication function can be guaranteed. In the specific modeling process, the environmental parameters are first defined according to the grid state, including reflection coefficient, penetration coefficient and obstacle distribution information. Among them, the reflection coefficient and penetration coefficient are determined according to the characteristics of the obstacle material, thickness, etc., and the grid matrix of the entire target area is classified to distinguish between idle areas, obstacle areas and unexplored areas.

[0103] According to the target position and the grid map, the signal strength of each cell in the grid map is determined using a ray tracing algorithm, wherein the signal strength is expressed using the formula:

[0104]

[0105] Among them, P RX is the signal strength, P TX is the transmission power, G TX is the antenna gain, λ=c / f is the signal wavelength, β=2π / λ is the wave number, Γ i is the reflection coefficient, T i is the penetration coefficient, d n is the path length, R a is the impedance of the antenna.

[0106] In some embodiments, after step 105, the method further includes:

[0107] Signal strength for each cell:

[0108] Step a, in response to the signal strength being less than a preset strength threshold, determining that the cell is a signal blind area;

[0109] Step b: taking the geometric center of the signal blind area as the target position corresponding to the communication sensing node.

[0110] In specific implementation, for the signal strength of each cell, the signal strength is compared with a preset strength threshold. If the signal strength is less than the preset strength threshold, the cell is determined to be a signal blind area, and the geometric center of the signal blind area is used as the target position corresponding to the communication sensing node.

[0111] Through the above scheme, for the detected blind spots, the geometric center of the blind spot is used as the location of the new node to further optimize the deployment. If the blind spot area is large, the number of new nodes can be flexibly adjusted according to the shape and distribution of the area. After adding the node, the ray tracing method is used again for verification to ensure that the blind spot is fully covered.

[0112] In some embodiments, step 101 specifically includes:

[0113] Step 1011, receiving map data, and performing rasterization processing on the map data according to a preset side length to obtain an initial raster map;

[0114] Step 1012, determining a target rotation angle, and performing rotation correction processing on the initial grid map according to the target rotation angle to obtain a grid map.

[0115] In the specific implementation, map data is received, and the map data is rasterized according to the preset side length to obtain an initial raster map. A target rotation angle is determined, and the initial raster map is rotationally corrected according to the target rotation angle, that is, the initial raster map is rotated by the target rotation angle to obtain a raster map.

[0116] Specifically, the process of determining the target rotation angle includes:

[0117] Step 1: extract the outermost obstacle area in the initial grid map as the obstacle boundary;

[0118] Step 2: determine the coordinate point set corresponding to the obstacle boundary, and use the least squares method to fit the coordinate points in the coordinate point set to obtain the best fitting straight line;

[0119] Step 3: determine the slope corresponding to the best fitting straight line, and use the angle value corresponding to the slope as the target rotation angle.

[0120] In a specific implementation, the outermost obstacle area in the initial grid map is extracted as the obstacle boundary, and the obstacle boundary is the outermost area in the grid matrix whose state value is 1 (ie, the obstacle area).

[0121] Determine the coordinate point set corresponding to the obstacle boundary, and use the least squares method to fit the coordinate points in the coordinate point set to obtain the best fitting straight line. The best fitting straight line is expressed by the formula h θ (x) = θ0 + θ1x.

[0122] Determine the slope corresponding to the best fitting line, and use the angle value corresponding to the slope as the target rotation angle. That is, calculate the angle θ between the line and the horizontal axis by the slope of the line, and use the affine transformation matrix Rotate the grid matrix to align the fitted line with the coordinate axis.

[0123] In some embodiments, in the calibration process, in order to avoid blank areas or information loss caused by rotation, the nearest neighbor interpolation is used to fill the blank areas to ensure the integrity of the corrected matrix data. After the calibration is completed, the calibration effect is further evaluated by calculating the mean square distance error from the obstacle boundary grid points to the rotated fitting line.

[0124] Based on the same inventive concept, another embodiment of the present disclosure provides a communication sensing node deployment method, such as Figure 2 As shown, specifically including:

[0125] Step 201, receiving real-time map data.

[0126] Step 202: construct a grid matrix using real-time map data, where the grid states include explored idle areas, unexplored areas, and obstacle areas.

[0127] Step 203: perform correction processing on the constructed grid matrix.

[0128] Step 204 , extracting the coordinates of the free areas marked as “explored” from the grid matrix, and organizing these coordinate data into a standardized free area coordinate file.

[0129] Step 205, statistically analyzing the extracted empty area coordinate files, when the number of empty areas is greater than a preset planning threshold, using these coordinate information to guide the subsequent filling operation of the synaesthesia cell; otherwise, continue to receive data to complete the map exploration.

[0130] Step 206 , reading the empty area coordinate file, filling the synaesthesia cells according to the empty area coordinate data, and generating a preliminary deployment plan of the synaesthesia cells.

[0131] Step 207, check the node reuse status.

[0132] Step 208: determining the preliminary planned location of the communication sensing device (including the transmitting device and the receiving device) according to the filled synaesthesia cell.

[0133] Step 209: Perform simulation analysis on signal coverage, strength and blind spot distribution through a network evaluation optimization method, and iteratively optimize node deployment based on the simulation results.

[0134] Step 210, determine whether there is a communication blind area.

[0135] Step 211: If there is a communication blind spot, adjust the node deployment plan.

[0136] Step 212, optimizing node positions.

[0137] Step 213, generate an optimized node deployment plan, including device type, placement coordinates and signal coverage area, and output the final result.

[0138] Specifically, real-time map data is input, such as Figure 3 As shown, according to the physical size of the actual map, it is divided into square grid cells with a side length of X (such as 1 meter) to construct a grid matrix. The state of each grid cell is determined according to the map data: the grid state of the obstacle cell is set to 1, the grid state of the idle cell is set to 0, and the grid state of the unexplored cell is set to 100. The grid matrix is ​​stored in a text file (such as csv format) in row priority order so that it can be read and processed in subsequent applications such as communication perception cell filling and environmental modeling.

[0139] The shapes of communication-aware cells (referred to as communication-aware cells) are diverse due to differences in communication signal characteristics and specific deployment scenarios, including circular, rectangular or other irregular shapes. Among them, the rectangular shape is widely used in actual scenarios due to its computational simplicity and coverage efficiency in multi-node collaborative deployment. In order to simplify deployment planning and improve practicality, the present invention takes rectangular cells as an example for filling deployment. For circular or other irregularly shaped cells, deployment adjustments can be achieved by incising in rectangular cells or other geometric transformations, thereby ensuring that the present invention has wide applicability and flexibility.

[0140] Extract the outermost area in the grid matrix with a state value of 1 (obstacle area) and obtain the coordinate point set of its boundary grid. Figure 4 As shown, the extracted boundary coordinate points are then fitted using the least squares method to obtain the best fitting straight line h θ (x) = θ0 + θ1x, and calculate the angle between the straight line and the horizontal axis by the slope of the straight line. According to the calculated rotation angle θ, use the affine transformation matrix Rotate the grid matrix to align the fitted line with the coordinate axis.

[0141] During the correction process, in order to avoid blank areas or information loss caused by rotation, the nearest neighbor interpolation is used to fill the blank areas to ensure the integrity of the corrected matrix data. After the correction is completed, the correction effect is further evaluated by calculating the mean square distance error from the obstacle boundary grid points to the rotated fitting line.

[0142] Traverse all cells of the grid matrix and quickly find cells with 0 (free area). For small-scale matrices, logical indexing can be used to locate free cells at one time; for large-scale matrices, block processing is recommended to improve efficiency. The extracted coordinates will be stored in a text file in the format of (x, y). The file can be named according to the timestamp to ensure the real-time generation of the results. This file provides real-time available area input for the subsequent filling of communication sensing cells.

[0143] Read the idle area coordinate text file and count the number of coordinates in it. The preset planning threshold is determined according to the coverage requirements of the communication signal and the complexity of the environment. The statistical result is compared with the preset planning threshold. If the statistical number is greater than the threshold, the next filling operation is performed; if the statistical number is less than the threshold, the current process is terminated and the waiting state is entered until a new idle area coordinate file is received and the judgment is restarted. For invalid files (such as empty or missing content), a warning message is output and a log is recorded for subsequent analysis.

[0144] like Figure 5 As shown, the coordinate text file of the idle area is read, and the communication sensing cell (rectangular area) is filled according to the idle area. First, a number of points are randomly generated according to the distribution of the idle area. The number and distribution of the points are dynamically adjusted according to the size of the idle area and the density requirements of the communication sensing cell. For each generated point, the rectangle is expanded in four directions of up, down, left and right according to a fixed step size. During the expansion, the grid unit status is checked. If an obstacle (status value is 1) or an unexplored area (status value is 100) is encountered, the expansion is stopped immediately to form a preliminary candidate rectangle. In each candidate area, the maximum inscribed rectangle is calculated to ensure that the rectangle is completely in the idle area (status value is 0). The maximum inscribed rectangle is the best filling rectangle for the current area. After the filling is completed, the area covered by the rectangle is marked as a covered area to avoid repeated calculations. The filling process is carried out in an iterative manner. Each time, the rectangle with the largest filling area is selected as the priority location of the communication sensing cell, and the uncovered area continues to iterate until the number of uncovered areas is less than the preset threshold or the maximum number of filling times is reached.

[0145] According to the type of communication signal and the propagation environment, the rectangular range of the communication sensing cell must meet the following restrictions:

[0146] Upper bound: The area or side length of the rectangle must not exceed the upper bound, otherwise the rectangle will be evenly divided into several sub-rectangles to meet the communication perception performance requirements.

[0147] Lower bound: When the side length of a rectangle is less than the lower bound, the rectangle is discarded and the area covered by the rectangle is re-marked as an uncovered area to avoid resource waste or signal interference.

[0148] After the filling is completed, the final communication-aware cell distribution is output and the idle area coordinate file is updated to provide data support for subsequent planning and deployment.

[0149] First, according to the needs of communication and perception integration, nodes are deployed at the vertices or inside the filled synaesthesia cells. Figure 6 As shown in the figure, taking a rectangle as an example, the filled rectangle is reused and the coordinates of the rectangle vertices are used to find the adjacent rectangle. If it is a circular synaesthesia cell, the tangency detection of the circle is performed. After finding the adjacent synaesthesia cell, check whether its nodes can be reused. Figure 6 Taking the case of as an example, two communication sensing cells can reuse a transmitting device and a receiving device, thereby reducing node consumption and reducing costs.

[0150] Traverse all filled rectangles and perform reuse checks in turn. For adjacent cells, give priority to reuse node devices under the premise of meeting the communication signal coverage requirements. If reuse is found to be impossible, retain independent node deployment. Complete the preliminary deployment plan of communication perception nodes through traversal checks.

[0151] Perception network evaluation optimization algorithm: Figure 7 As shown, according to the existing preliminary deployment plan, the coverage rate of the synaesthesia cell is first calculated to determine whether it meets the requirements of the perception function. Specifically, the number of grid cells covered by the synaesthesia cell is counted, and its proportion to the total number of cells in the target area (excluding the obstacle area) is calculated. The coverage rate formula is as follows:

[0152]

[0153] If the coverage rate is lower than the preset threshold, the node deployment needs to be adjusted. The specific method is to refill the rectangular area below the preset planning threshold, and the side length of the rectangle decreases according to a fixed step size (such as 10% each time). In the decreasing process, the filling position of the center of the coverage blind area or the key area is given priority, and the coverage rate is recalculated after each filling until the coverage rate reaches the preset requirement or the side length of the rectangle is reduced to the minimum limit.

[0154] Communication network evaluation optimization algorithm: Figure 8As shown in the figure, the signal coverage is simulated by ray tracing method to determine whether the communication function can be guaranteed. In the specific modeling process, the environmental parameters are first defined according to the grid state, including reflection coefficient, penetration coefficient and obstacle distribution information. Among them, the reflection coefficient and penetration coefficient are determined according to the characteristics of the obstacle material and thickness, and the grid matrix of the entire target area is classified to distinguish between idle areas, obstacle areas and unexplored areas. Based on these environmental parameters, the necessary input can be provided for each signal propagation path.

[0155] Then, the ray tracing algorithm is used to calculate the direct path, reflection path, and penetration path of the signal during propagation, and the propagation loss, phase change, and path length of each path are obtained. The signal strength calculation is based on the following formula:

[0156]

[0157] Among them, P TX is the transmission power, G TX is the antenna gain, λ=c / f is the signal wavelength, β=2π / λ is the wave number, Γ i Pair and T i Denote the reflection coefficient and the transmission coefficient respectively, d n is the path length, R a is the impedance of the antenna. By comprehensively calculating the signal contributions of all paths, the received signal strength of each grid unit can be obtained.

[0158] After the received signal strength is calculated, the signal strength of each grid is compared with the minimum strength threshold (such as -80dbm), and the area that does not meet the threshold will be marked as a blind spot. The minimum strength threshold can be set according to the actual communication needs to ensure that the signal coverage can meet the functional requirements. For the detected blind spots, the geometric center of the blind spot is used as the location of the new node to further optimize the deployment. If the blind spot area is large, the number of new nodes can be flexibly adjusted according to the shape and distribution of the area. After adding the node, the ray tracing method is reused for verification to ensure that the blind spot is fully covered.

[0159] In the actual deployment process, in order to improve the efficiency of the ray tracing algorithm, the regional blocking or parallel computing method is combined to focus the calculation range on blind spots or areas with poor signal coverage to avoid repeated calculations in areas that have already met the requirements.

[0160] Based on the preliminary planning and deployment and network evaluation optimization results, the final equipment deployment plan is output, including the equipment type (transmitting equipment, receiving equipment or other communication sensing nodes), the equipment placement coordinates (two-dimensional or three-dimensional coordinate position) and the corresponding signal coverage area (coverage radius or grid range).

[0161] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0162] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0163] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a communication perception node deployment device.

[0164] refer to Fig. 9 , Fig. 9 The communication sensing node deployment device of the embodiment includes:

[0165] The data receiving module 801 is configured to receive map data for a target area, and perform rasterization processing on the map data to obtain a raster map;

[0166] The idle area determination module 802 is configured to determine an idle area in the grid map where no obstacles exist, and obtain the number of idle coordinates in the idle area;

[0167] A filling module 803 is configured to fill the idle area according to a preset size to obtain a target filling rectangle in response to the number of idle coordinates being greater than a preset number threshold;

[0168] A position determination module 804 is configured to determine a signal type of a communication sensing node, and determine a target position of the communication sensing node in the filled rectangle according to the signal type;

[0169] The signal strength determination module 805 is configured to determine the coverage of the communication sensing node according to the target filling rectangle and the grid map, and determine the signal strength of each cell in the grid map according to the target position and the grid map;

[0170] The node deployment module 806 is configured to deploy communication sensing nodes according to the target filling rectangle and the target position in response to the coverage being greater than a preset coverage threshold and the signal strength of all cells being greater than a preset strength threshold.

[0171] In some embodiments, the filling module 803 is specifically configured to:

[0172] In response to the number of free coordinates being greater than a preset number threshold, a target filling rectangle is determined through at least one round of iterative operation, and each round of iterative operation is performed as follows:

[0173] The idle area is used as the target area, multiple preset starting points are determined in the target area, and the following operations are performed for each starting point:

[0174] Determine that the starting point is taken as the center, and the preset sizes are expanded in all directions to obtain multiple initial rectangles, determine the maximum inscribed rectangle corresponding to the multiple initial rectangles according to the adaptive rectangle decomposition algorithm, and use the maximum inscribed rectangle as the first filling rectangle corresponding to the starting point;

[0175] Determine the rectangular area corresponding to the first filling rectangle corresponding to each starting point among the multiple starting points, and select the first filling rectangle with the largest rectangular area as the second filling rectangle;

[0176] Mark the cells corresponding to the second filling rectangle as covered cells, and determine the coverage rate according to the covered cells and the free cells corresponding to the free area;

[0177] In response to the coverage being less than a preset coverage threshold, taking the area in the idle area except the second filling rectangle as a new target area, and entering the next round of iterative operation;

[0178] In response to the coverage being greater than or equal to a preset coverage threshold, at least one round of iterative operation is exited, and all second filling rectangles are used as target filling rectangles.

[0179] In some embodiments, the determining is to expand the preset sizes around the starting point as the center to obtain multiple initial rectangles, including:

[0180] Determine the obstacle area and the unexplored area in the grid map, and stop expanding in response to the presence of the obstacle area or the unexplored area in the process of expanding the grid map to the preset sizes around the starting point;

[0181] After taking the entire second fill rectangle as the target fill rectangle, the method further includes:

[0182] For each target filling rectangle, obtain the rectangle side length of the target filling rectangle;

[0183] In response to the side length of the rectangle being greater than a preset maximum side length, segmenting the target filling rectangle according to the preset maximum side length to obtain a plurality of target filling sub-rectangles; or

[0184] In response to the side length of the rectangle being less than a preset minimum side length, the target filling rectangle is deleted, and the cell corresponding to the target filling rectangle is marked as an uncovered cell.

[0185] After obtaining the number of free coordinates in the free area, it also includes:

[0186] In response to the number of idle coordinates being less than a preset number threshold, marking the state of the idle area as a waiting state;

[0187] Receiving new map data for a target area, performing rasterization processing on the new map data, and obtaining a new raster map;

[0188] After determining the coverage of the communication sensing node according to the target filling rectangle and the grid map, the method further includes:

[0189] In response to the coverage being less than a preset coverage threshold, filling the idle area marked as a waiting state according to a preset size to obtain a new target filling rectangle;

[0190] The target position of the communication sensing node in the new target filling rectangle is determined according to the signal type, and the new coverage of the communication sensing node is determined according to the filling rectangle, the new target filling rectangle and the grid map.

[0191] In some embodiments, the signal strength determination module 805 is configured to:

[0192] According to the target position and the grid map, the signal strength of each cell in the grid map is determined using a ray tracing algorithm, wherein the signal strength is expressed using the formula:

[0193]

[0194] Among them, P RX is the signal strength, P TX is the transmission power, G TX is the antenna gain, λ=c / f is the signal wavelength, β=2π / λ is the wave number, Γ i is the reflection coefficient, T i is the penetration coefficient, d n is the path length, R a is the impedance of the antenna.

[0195] In some embodiments, the device further includes a blind spot detection module, and the blind spot detection module is specifically configured to:

[0196] Signal strength for each cell:

[0197] In response to the signal strength being less than a preset strength threshold, determining that the cell is a signal blind area;

[0198] The geometric center of the signal blind area is used as the target position corresponding to the communication sensing node.

[0199] In some embodiments, the data receiving module 801 is specifically configured to:

[0200] Receive map data, and perform rasterization processing on the map data according to a preset side length to obtain an initial raster map;

[0201] The target rotation angle is determined, and the initial grid map is subjected to rotation correction processing according to the target rotation angle to obtain a grid map.

[0202] In some embodiments, the data receiving module 801 is further configured to:

[0203] Extract the outermost obstacle area in the initial grid map as the obstacle boundary;

[0204] Determine the coordinate point set corresponding to the obstacle boundary, and use the least squares method to fit the coordinate points in the coordinate point set to obtain the best fitting straight line;

[0205] The slope corresponding to the best fitting straight line is determined, and the angle value corresponding to the slope is used as the target rotation angle.

[0206] For the convenience of description, the above device is described by dividing it into various modules according to its functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0207] The device of the above embodiment is used to implement the corresponding communication perception node deployment method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0208] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the communication perception node deployment method described in any of the above embodiments is implemented.

[0209] Fig.10A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0210] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0211] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0212] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0213] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0214] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0215] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0216] The electronic device of the above-mentioned embodiment is used to implement the corresponding communication perception node deployment method in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0217] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the communication awareness node deployment method described in any of the above embodiments.

[0218] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0219] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the communication awareness node deployment method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0220] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0221] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0222] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0223] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0224] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Based on the concept of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0225] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present disclosure difficult to understand, the known power / ground connections to the integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present disclosure difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure will be implemented (that is, these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it is apparent to those skilled in the art that the embodiments of the present disclosure can be implemented without these specific details or with changes in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0226] Although the present disclosure has been described in conjunction with specific embodiments of the present disclosure, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0227] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A communication sensing node deployment method, characterized in that: include: Receiving map data for a target area, and performing rasterization processing on the map data to obtain a raster map; Determine an idle area in the grid map where no obstacles exist, and obtain the number of idle coordinates in the idle area; In response to the number of the idle coordinates being greater than a preset number threshold, filling the idle area according to a preset size to obtain a target filling rectangle; Determine a signal type of a communication sensing node, and determine a target position of the communication sensing node in the filled rectangle according to the signal type; Determine the coverage of the communication sensing node according to the target filling rectangle and the grid map, and determine the signal strength of each cell in the grid map according to the target position and the grid map; In response to the coverage being greater than a preset coverage threshold and the signal strength of all cells being greater than a preset strength threshold, communication sensing nodes are deployed according to the target filling rectangle and the target position.

2. The method according to claim 1, characterized in that In response to the number of the idle coordinates being greater than a preset number threshold, filling the idle area according to a preset size to obtain a target filling rectangle includes: In response to the number of free coordinates being greater than a preset number threshold, a target filling rectangle is determined through at least one round of iterative operation, and each round of iterative operation is performed as follows: The idle area is used as the target area, multiple preset starting points are determined in the target area, and the following operations are performed for each starting point: Determine that the starting point is taken as the center, and the preset sizes are expanded in all directions to obtain multiple initial rectangles, determine the maximum inscribed rectangle corresponding to the multiple initial rectangles according to the adaptive rectangle decomposition algorithm, and use the maximum inscribed rectangle as the first filling rectangle corresponding to the starting point; Determine the rectangular area corresponding to the first filling rectangle corresponding to each starting point among the multiple starting points, and select the first filling rectangle with the largest rectangular area as the second filling rectangle; Mark the cells corresponding to the second filling rectangle as covered cells, and determine the coverage rate according to the covered cells and the free cells corresponding to the free area; In response to the coverage being less than a preset coverage threshold, taking the area in the idle area except the second filling rectangle as a new target area, and entering the next round of iterative operation; In response to the coverage being greater than or equal to a preset coverage threshold, at least one round of iterative operation is exited, and all second filling rectangles are used as target filling rectangles.

3. The method according to claim 2, characterized in that The determining is to expand the preset sizes around the starting point as the center to obtain multiple initial rectangles, including: Determine the obstacle area and the unexplored area in the grid map, and stop expanding in response to the presence of the obstacle area or the unexplored area in the process of expanding the grid map to the preset sizes around the starting point; After taking the entire second fill rectangle as the target fill rectangle, the method further includes: For each target filling rectangle, obtain the rectangle side length of the target filling rectangle; In response to the side length of the rectangle being greater than a preset maximum side length, segmenting the target filling rectangle according to the preset maximum side length to obtain a plurality of target filling sub-rectangles; or In response to the side length of the rectangle being less than a preset minimum side length, the target filling rectangle is deleted, and the cell corresponding to the target filling rectangle is marked as an uncovered cell.

4. The method according to claim 1, characterized in that: After obtaining the number of free coordinates in the free area, it also includes: In response to the number of idle coordinates being less than a preset number threshold, marking the state of the idle area as a waiting state; Receiving new map data for a target area, performing rasterization processing on the new map data, and obtaining a new raster map; After determining the coverage of the communication sensing node according to the target filling rectangle and the grid map, the method further includes: In response to the coverage being less than a preset coverage threshold, filling the idle area marked as a waiting state according to a preset size to obtain a new target filling rectangle; The target position of the communication sensing node in the new target filling rectangle is determined according to the signal type, and the new coverage of the communication sensing node is determined according to the filling rectangle, the new target filling rectangle and the grid map.

5. The method according to claim 1, characterized in that The determining the signal strength of each cell in the grid map according to the target position and the grid map includes: According to the target position and the grid map, the signal strength of each cell in the grid map is determined using a ray tracing algorithm, wherein the signal strength is expressed using the formula: Among them, P RX is the signal strength, P TX is the transmission power, G TX is the antenna gain, λ=c / f is the signal wavelength, β=2π / λ is the wave number, Γ i is the reflection coefficient, T i is the penetration coefficient, d n is the path length, R a is the impedance of the antenna.

6. The method according to claim 1, characterized in that After determining the signal strength of each cell in the grid map according to the target position and the grid map, the method further includes: Signal strength for each cell: In response to the signal strength being less than a preset strength threshold, determining that the cell is a signal blind area; The geometric center of the signal blind area is used as the target position corresponding to the communication sensing node.

7. The method according to claim 1, characterized in that The receiving of map data and rasterizing the map data to obtain a raster map includes: Receive map data, and perform rasterization processing on the map data according to a preset side length to obtain an initial raster map; The target rotation angle is determined, and the initial grid map is subjected to rotation correction processing according to the target rotation angle to obtain a grid map.

8. The method according to claim 7, characterized in that Determining the target rotation angle includes: Extract the outermost obstacle area in the initial grid map as the obstacle boundary; Determine the coordinate point set corresponding to the obstacle boundary, and use the least squares method to fit the coordinate points in the coordinate point set to obtain the best fitting straight line; The slope corresponding to the best fitting straight line is determined, and the angle value corresponding to the slope is used as the target rotation angle.

9. A communication sensing node deployment device, characterized in that: include: A data receiving module is configured to receive map data for a target area, and perform rasterization processing on the map data to obtain a raster map; An idle area determination module is configured to determine an idle area in the grid map where no obstacles exist, and obtain the number of idle coordinates in the idle area; A filling module is configured to fill the idle area according to a preset size in response to the number of the idle coordinates being greater than a preset number threshold, to obtain a target filling rectangle; a position determination module, configured to determine a signal type of a communication sensing node, and determine a target position of the communication sensing node in the filled rectangle according to the signal type; A signal strength determination module is configured to determine the coverage of the communication sensing node according to the target filling rectangle and the grid map, and determine the signal strength of each cell in the grid map according to the target position and the grid map; The node deployment module is configured to deploy communication sensing nodes according to the target filling rectangle and the target position in response to the coverage being greater than a preset coverage threshold and the signal strength of all cells being greater than a preset strength threshold.

10. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

Images