Methods, devices and equipment for deploying communication sensing nodes

Abstract

This disclosure provides a method, apparatus, and device for deploying communication sensing nodes. The method includes receiving map data for a target area, rasterizing the map data to obtain a raster map; determining unobstructed areas in the raster map and obtaining the number of unobstructed coordinates in these areas; filling the unobstructed areas with a preset size to obtain a target filled rectangle in response to the number of unobstructed coordinates exceeding a preset threshold; determining the signal type of the communication sensing node and its target location within the filled rectangle based on the signal type; determining the coverage rate of the communication sensing node based on the target filled rectangle and the raster map; determining the signal strength of each cell in the raster map based on the target location and the raster map; and deploying the communication sensing node based on the target filled rectangle and the target location in response to the coverage rate exceeding a preset coverage threshold and the signal strength of all cells exceeding a preset strength threshold.

Description

Technical Field

[0001] This disclosure relates to the field of communication technology, and in particular to a method, apparatus and device for deploying communication sensing nodes. Background Technology

[0002] With the rapid development of wireless communication technology, Integrated Sensing and Communication (ISAC) significantly expands the application boundaries of traditional communication networks by combining communication and sensing functions. Based on spectrum sharing of conventional communication signals such as Ultra Wide Band (UWB), base stations (BS), and Wi-Fi signals, ISAC technology not only provides efficient communication services but also performs functions such as positioning, ranging, velocity measurement, imaging, detection, identification, and environmental reconstruction by measuring parameters such as signal strength index (RSSI), time of arrival (ToA), and channel state information (CSI). Traditional sensors such as infrared, cameras, and microwave radar are limited by line-of-sight and sensing range, and cameras pose a significant risk of privacy breaches. In contrast, ISAC not only ensures the privacy and security of sensing results but also expands the sensing range without requiring additional hardware deployment, significantly reducing system costs. Therefore, it demonstrates broad application potential in scenarios such as smart factories, military emergency response, and intelligent transportation.

[0003] However, the performance of communication sensing is highly dependent on the rational layout of nodes. Current research on the deployment of communication sensing nodes mainly focuses on single nodes or small-scale static scenarios. Single-node systems can only acquire local information about the target environment, making it difficult to fully reconstruct the sensing target. In large-scale scenarios such as complex terrain and dynamic environments, single-node systems struggle to balance the stability of communication signals with the efficient integration of sensing functions. Summary of the Invention

[0004] In view of this, the purpose of this disclosure is to provide a method, apparatus and equipment for deploying communication sensing nodes to solve or partially solve the above problems.

[0005] To achieve the above objectives, a first aspect of this disclosure provides a method for deploying communication-aware nodes, the method comprising:

[0006] Receive map data for the target area, perform rasterization on the map data, and obtain a raster map;

[0007] Identify the free areas without obstacles in the grid map and obtain the number of free coordinates in the free areas;

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

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

[0010] The coverage rate of the communication sensing node is determined based on the target filling rectangle and the grid map, and the signal strength of each cell in the grid map is determined based on the target location and the grid map.

[0011] In response to the coverage rate 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 location.

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

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

[0014] The free area determination module is configured to determine free areas in the grid map where there are no obstacles, and to obtain the number of free coordinates in the free areas;

[0015] The filling module is configured to fill the empty area according to a preset size in response to the number of free coordinates being greater than a preset number threshold, thereby obtaining a target filled rectangle;

[0016] The location determination module is configured to determine the signal type of the communication sensing node and determine the target location of the communication sensing node in the filled rectangle based on the signal type.

[0017] The signal strength determination module is configured to determine the coverage of the communication sensing node based on the target filling rectangle and the grid map, and to determine the signal strength of each cell in the grid map based on the target location 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 location in response to the coverage rate 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, a third aspect of this disclosure proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor, when executing the computer program, implements the communication sensing node deployment method as described above.

[0020] Based on the same inventive concept, a fourth aspect of this disclosure provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the communication sensing node deployment method described above.

[0021] As can be seen from the above, this disclosure proposes a method, apparatus, and device for deploying communication sensing nodes. It receives map data for a target area, performs rasterization processing on the map data to obtain a raster map. It determines unobstructed areas in the raster map, obtains the number of unobstructed coordinates in these areas, and, in response to the number of unobstructed coordinates exceeding a preset threshold, fills the unobstructed areas according to a preset size to obtain a target filled rectangle. By setting a planning threshold, i.e., a preset threshold, it ensures the sufficiency of the exploration area, avoids resource waste or planning errors caused by incomplete data, and improves the rationality and reliability of the planning scheme. It determines the signal type of the communication sensing node and, based on the signal type, determines the target position of the communication sensing node within the filled rectangle. It determines the coverage rate of the communication sensing node based on the target filled rectangle and the raster map, and determines the signal strength of each cell in the raster map based on the target position and the raster map. When the coverage rate exceeds a preset coverage threshold and the signal strength of all cells exceeds a preset strength threshold, the communication sensing node is deployed according to the target filled rectangle and the target position. By flexibly adjusting the location of communication sensing nodes using dynamic programming, the system can effectively reduce redundant consumption of node resources and improve resource utilization efficiency while ensuring sensing and communication coverage. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in this disclosure or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0024] Figure 2 This is 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 this 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 multiplexing in another embodiment of this disclosure;

[0029] Figure 7 This is a flowchart of a perceptual network evaluation and optimization algorithm in another embodiment of this disclosure;

[0030] Figure 8 This is a flowchart of a communication network evaluation and optimization algorithm in another embodiment of this disclosure;

[0031] Figure 9 This is a structural block diagram of a communication sensing node deployment device according to an embodiment of the present disclosure;

[0032] Figure 10 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0034] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure should have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar terms used in the embodiments of this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only 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) significantly expands the application boundaries of traditional communication networks by combining communication and sensing functions. Based on spectrum sharing of conventional communication signals such as Ultra Wide Band (UWB), base stations (BS), and Wi-Fi signals, ISAC technology not only provides efficient communication services but also performs functions such as positioning, ranging, velocity measurement, imaging, detection, identification, and environmental reconstruction by measuring parameters such as signal strength index (RSSI), time of arrival (ToA), and channel state information (CSI). Traditional sensors such as infrared, cameras, and microwave radar are limited by line-of-sight and sensing range, and cameras pose a significant risk of privacy breaches. In contrast, ISAC not only ensures the privacy and security of sensing results but also expands the sensing range without requiring additional hardware deployment, significantly reducing system costs. Therefore, it demonstrates broad application potential in scenarios such as smart factories, military emergency response, and intelligent transportation.

[0036] However, the performance of communication sensing is highly dependent on the rational layout of nodes. Current research on the deployment of communication sensing nodes mainly focuses on single nodes or small-scale static scenarios. Single-node systems can only acquire local information about the target environment, making it difficult to comprehensively reconstruct the sensing target. In large-scale scenarios such as complex terrain and dynamic environments, single-node systems struggle to balance the stability of communication signals with the efficient integration of sensing functions, mainly exhibiting the following problems:

[0037] (1) Insufficient multi-node collaborative work: Existing methods are mostly designed for 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 lead to excessive deployment costs or coverage blind spots.

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

[0040] Based on the above description, this embodiment proposes a method for deploying communication-aware nodes, such as... Figure 1 As shown, the method includes:

[0041] Step 101: Receive map data for the target area, perform rasterization on the map data, and obtain a raster map;

[0042] Step 102: Determine the free areas in the grid map that do not contain obstacles, and obtain the number of free coordinates in the free areas;

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

[0044] Step 104: Determine the signal type of the communication sensing node, and determine the target position of the communication sensing node in the filled rectangle based on the signal type;

[0045] Step 105: Determine the coverage of the communication sensing node based on the target filling rectangle and the grid map, and determine the signal strength of each cell in the grid map based on the target location and the grid map;

[0046] Step 106: In response to the coverage rate being greater than a preset coverage threshold and the signal strength of all cells being greater than a preset strength threshold, deploy communication sensing nodes according to the target filling rectangle and the target location.

[0047] In practice, map data for the target area is received. This map data is collected from the target area; specifically, it is data collected by intelligent machines, including intelligent robots, drones, and intelligent vehicles. During the data collection process, areas with obstacles are marked as obstacle areas, areas traversed by the intelligent machine without obstacles are marked as free areas, and areas not traversed are marked as unexplored areas.

[0048] The map data is rasterized to obtain a raster map, which is the same as the raster matrix in the following embodiment. The raster map uses square cells as the basic building unit. Based on the explored map data, the raster map status includes three types: 0 represents explored free areas, 1 represents obstacle areas, and 100 represents unexplored areas.

[0049] Identify free areas in the grid map that do not contain obstacles. Each free area contains at least one cell. Obtain the number of free coordinates in the free area, that is, obtain the number of cells corresponding to the free area.

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

[0051] The signal type of the communication sensing node is determined, and the target position of the communication sensing node within the filled rectangle is determined based on the signal type. The signal type includes at least one of the following: WIFI, UWB, etc. The target position includes at least one of the following: the border of the filled rectangle, the center position of the filled rectangle, etc.

[0052] The coverage rate of the communication sensing nodes is determined based on the target filled rectangle and the grid map, and this coverage rate is used to evaluate the sensing network. The signal strength of each cell in the grid map is determined based on the target location and the grid map, and this signal strength is used to evaluate the communication network. In this embodiment, the coverage rate is determined specifically as follows:

[0053] Determine the first number of cells corresponding to the target filled rectangle, determine the second number of cells corresponding to the free area, and calculate the ratio between the first number and the second number. The resulting ratio is the coverage rate.

[0054] In response to the coverage rate exceeding a preset coverage threshold and the signal strength of all cells exceeding a preset strength threshold, communication sensing nodes are deployed based on the target filling rectangle and the target location. The target filling rectangle is the deployment area of ​​the communication sensing nodes, and the target location is the specific location of the communication sensing nodes within the deployment area.

[0055] The above scheme receives map data for the target area, rasterizes the map data to obtain a raster map. Unobstructed areas within the raster map are identified, and the number of unobstructed coordinates within these areas is obtained. If the number of unobstructed coordinates exceeds a preset threshold, the unobstructed areas are filled according to a preset size to obtain a target filled rectangle. By setting a planning threshold, i.e., a preset quantity threshold, the sufficiency of the exploration area is ensured, avoiding resource waste or planning errors caused by incomplete data, and improving the rationality and reliability of the planning scheme. The signal type of the communication sensing node is determined, and the target position of the communication sensing node within the filled rectangle is determined based on the signal type. The coverage rate of the communication sensing node is determined based on the target filled rectangle and the raster map, and the signal strength of each cell in the raster map is determined based on the target position and the raster map. When the coverage rate exceeds a preset coverage threshold and the signal strength of all cells exceeds a 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 through dynamic planning, effectively reducing redundant consumption of node resources and improving the system's resource utilization efficiency while ensuring sensing and communication coverage.

[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 quantity threshold, where the first quantity threshold is less than a preset quantity threshold. If the number of free coordinates is less than or equal to the first quantity threshold, it can be further determined whether the number of free coordinates is greater than the preset quantity threshold. If the number of free coordinates is greater than the first quantity threshold, the raster map is segmented, and for each segmented raster sub-map, the number of free coordinates corresponding to the raster sub-map is compared, and then the number of free coordinates corresponding to the raster sub-map is compared with the preset quantity threshold.

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

[0058] In response to the number of idle coordinates exceeding a preset threshold, the target filling rectangle is determined through at least one round of iteration. Each round of iteration is performed as follows:

[0059] Step 1031: The free area is designated as the target area. Multiple preset starting points are determined within the target area, and the following operations are performed for each starting point:

[0060] Step 1032: Determine that a preset size is expanded outward from 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: Determine the area of ​​the first filling rectangle corresponding to each of the multiple starting points, and select the first filling rectangle with the largest area as the second filling rectangle;

[0062] Step 1034: Mark the cells corresponding to the second filled rectangle as covered cells, and determine the coverage rate based on the covered cells and the free cells corresponding to the free area;

[0063] Step 1035: In response to the coverage rate being less than a preset coverage threshold, the area outside the second filled rectangle in the free area is designated as the new target area, and the next iteration operation is initiated.

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

[0065] In practice, the number of free coordinates is compared with a preset threshold. If the number of free coordinates is greater than the preset threshold, at least one round of iteration is performed to determine the target filling rectangle. Each round of iteration is performed as follows:

[0066] The free area is used as the target area, and multiple preset starting points are determined within this target area. The number of 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 iteration. These random points are selected from unfilled areas, and the value of *r* directly affects the computational efficiency and the quality of the filling results. The selection of parameter *r* is based on the scale of the data to be processed and the processing time constraints. Adjusting *r* can balance the efficiency of the algorithm with the quality of the results. Parameter *r* is preset before the algorithm is executed.

[0067] Perform the following operations for each starting point:

[0068] Multiple initial rectangles are obtained by expanding the starting point outwards by a preset size in all directions. Specifically, the starting point is used as the center, and the rectangles are expanded upwards, downwards, leftwards, and rightwards by a preset size. An adaptive rectangle decomposition algorithm is used to determine the largest inscribed rectangle corresponding to each of the initial rectangles, and this largest inscribed rectangle is used as the first filling rectangle corresponding to the starting point.

[0069] After determining the first filling rectangle corresponding to each starting point, calculate the area of ​​each first filling rectangle. Compare the areas of all rectangles, and select the first filling rectangle with the largest area as the second filling rectangle.

[0070] The cells corresponding to the second filled rectangle are marked as covered cells. The coverage rate is determined based on the covered cells and the free cells corresponding to the free area. Specifically, the number of cells corresponding to the covered cells is determined, the number of free cells corresponding to the free cells is determined, and the ratio of the number of cells to the number of free cells is calculated. The ratio obtained 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 outside the second filling rectangle in the free area is taken as the new target area and the next round of iteration is started until the coverage rate is greater than or equal to the preset coverage rate threshold.

[0072] If the coverage rate is greater than or equal to the preset coverage rate threshold, exit at least one round of iteration and use all second-fill rectangles as target fill rectangles.

[0073] By employing the above scheme and a parallelized random search and rectangle selection mechanism, the algorithm can efficiently fill complex regions within a reasonable time frame, while simultaneously balancing computational efficiency and optimized result quality.

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

[0075] Step 10321: Determine the obstacle area and unexplored area in the grid map. If there is an obstacle area or unexplored area during the process of expanding the map by a preset size from the starting point, the expansion is stopped.

[0076] In practice, obstacle areas and unexplored areas in the grid map are identified. If obstacle areas or unexplored areas exist during the process of expanding outwards by a preset size from 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, obtain the rectangle side length;

[0079] Step B: In response to the rectangle's side length being greater than a preset maximum side length, the target filling rectangle is divided according to the preset maximum side length to obtain multiple target filling sub-rectangles; or,

[0080] Step C: In response to the rectangle's side length being less than a preset minimum side length, delete the target filling rectangle and mark the cell corresponding to the target filling rectangle as an uncovered cell.

[0081] In practice, for each target filling rectangle, the side length of the rectangle is obtained. This side length is then compared to a preset maximum side length. If the side length is greater than the preset maximum side length, the target filling rectangle is divided into multiple target filling sub-rectangles based on the preset maximum side length.

[0082] During the specific segmentation, the target filling rectangle is divided into equal parts, and the side length of each target filling sub-rectangle after equal division is less than the preset maximum side length.

[0083] For example, if the side length of the rectangle is 20 and the preset maximum side length is 15, then the target filling rectangle is divided 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, if the side length of the rectangle is 45 and the preset maximum side length is 18, then the target filling rectangle is divided 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, delete the target filling rectangle and mark the cell corresponding to the target filling rectangle as an uncovered cell.

[0086] The above scheme ensures that the side length of the target filling rectangle is less than a preset maximum side length to meet communication sensing performance requirements. Conversely, if the side length of the target filling rectangle is greater than a preset minimum side length, the target filling rectangle is deleted if its side length is less than the preset minimum side length, thus avoiding 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 threshold, the state of the idle area is marked as a waiting state;

[0089] Step 10B: Receive new map data for the target area, perform rasterization on the new map data, and obtain a new raster map.

[0090] In practice, it is determined whether the number of idle coordinates is greater than a preset threshold. If the number of idle coordinates is less than the preset threshold, the idle area is marked as waiting. 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 rate being less than a preset coverage rate threshold, the idle area marked as waiting is filled according to a preset size to obtain a new target filling rectangle;

[0093] Step 10b: 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.

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

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

[0096] In response to the new target filling rectangle having a side length greater than a new preset maximum side length, the target filling rectangle is divided according to the new preset maximum side length to obtain multiple new target filling sub-rectangles; or...

[0097] In response to the new target filling rectangle having a side length less than a 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. The new preset minimum side length is less than or equal to the preset minimum side length.

[0099] The target position of the communication sensing node in the new target filling rectangle is determined according to the signal type. A new coverage rate of the communication sensing node is determined based on the filling rectangle, the new target filling rectangle, and the grid map. The new coverage rate is compared with a coverage threshold. If the new coverage threshold is still less than the coverage threshold, the idle areas marked as waiting are filled, and the new coverage rate is calculated until the new coverage rate is greater than the coverage threshold.

[0100] In this embodiment, the side length of each new target filling rectangle must be less than the side length of the previous target filling rectangle. Specifically, the side length of the new target filling rectangle obtained this time is 90% of the side length of the previous target filling rectangle, that is, the side length of each new target filling rectangle decreases by 10%.

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

[0102] Ray tracing is used to simulate signal coverage, thereby determining whether communication functionality can be guaranteed. In the specific modeling process, environmental parameters are first defined based on the grid state, including reflection coefficient, penetration coefficient, and obstacle distribution information. The reflection coefficient and penetration coefficient are determined based on the material and thickness of the obstacles. The entire target area's gridded matrix is ​​then classified, distinguishing between free areas, obstacle areas, and unexplored areas.

[0103] Based on the target location and the grid map, a ray tracing algorithm is used to determine the signal strength of each cell in the grid map, wherein the signal strength is expressed by the formula:

[0104]

[0105] in, For signal strength, For transmission power, For antenna gain, It is the signal wavelength. For wave number, The reflection coefficient, The penetration coefficient, For path length, The impedance is the antenna impedance.

[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, the cell is determined to be a signal dead zone;

[0109] Step b: The geometric center of the signal blind zone is taken as the target location corresponding to the communication sensing node.

[0110] In practice, the signal strength of each cell 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 dead zone, and the geometric center of the signal dead zone is taken as the target location corresponding to the communication sensing node.

[0111] Using the above approach, for detected blind spots, the geometric center of the blind spot is used as the location for new nodes, further optimizing 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 nodes, ray tracing is used again for verification to ensure complete coverage of the blind spot.

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

[0113] Step 1011: Receive map data, and perform rasterization processing on the map data according to the preset side length to obtain an initial raster map;

[0114] Step 1012: Determine the target rotation angle, and perform rotation correction processing on the initial raster map according to the target rotation angle to obtain the raster map.

[0115] In practice, map data is received and rasterized according to preset side lengths to obtain an initial raster map. The target rotation angle is determined, and the initial raster map is rotated and corrected according to the target rotation angle to obtain the final raster map.

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

[0117] Step 1: Extract the outermost obstacle region from the initial raster map as the obstacle boundary;

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

[0119] Step 3: Determine the slope corresponding to the best-fit line, and use the angle value corresponding to the slope as the target rotation angle.

[0120] In practice, the outermost obstacle region of the initial grid map is extracted as the obstacle boundary, which is the outermost region in the grid matrix with a state value of 1 (i.e., the obstacle region).

[0121] A set of coordinate points corresponding to the obstacle boundary is determined. The least squares method is used to fit the coordinate points in this set to obtain the best-fit line, which is expressed by the formula: .

[0122] Determine the slope of the best-fit line, and use the angle value corresponding to the slope as the target rotation angle. That is, calculate the angle between the line and the horizontal axis using the slope of the line. Using affine transformation matrix Rotate and correct the grid matrix to align the fitted line with the coordinate axes.

[0123] In some embodiments, during the correction process, to avoid blank areas or information loss due to rotation, nearest neighbor interpolation is used to fill the blank areas, ensuring the integrity of the corrected matrix data. After correction is completed, the correction effect is further evaluated by calculating the mean square distance error from the obstacle boundary grid points to the fitted line after rotation.

[0124] Based on the same inventive concept, another embodiment of this disclosure provides a method for deploying communication sensing nodes, such as... Figure 2 As shown, it specifically includes:

[0125] Step 201: Receive real-time map data.

[0126] Step 202: Construct a grid matrix using real-time map data. The grid status includes explored free areas, unexplored areas, and obstacle areas.

[0127] Step 203: Perform correction processing on the constructed raster matrix.

[0128] Step 204: Extract the coordinates of the free areas marked "explored" from the raster matrix and organize these coordinate data into a standardized free area coordinate file.

[0129] Step 205: Perform statistical analysis on the extracted empty area coordinate files. When the number of empty areas exceeds the preset planning threshold, use this coordinate information to guide the subsequent filling operation of the sensor cell; otherwise, continue to receive data to complete the map exploration.

[0130] Step 206: Read the empty area coordinate file, fill in the sensor cell according to the empty area coordinate data, and generate a preliminary deployment plan for the sensor cell.

[0131] Step 207: Check node reuse status.

[0132] Step 208: Determine the preliminary planned locations of communication sensing equipment (including transmitting and receiving equipment) based on the filling of the sensing cell.

[0133] Step 209: Using network evaluation and optimization methods, simulate and analyze the signal coverage, strength, and blind zone distribution, and iteratively optimize node deployment based on the simulation results.

[0134] Step 210: Determine if there is a communication blind spot.

[0135] Step 211: If there are communication blind spots, adjust the node deployment plan.

[0136] Step 212, optimize 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, input real-time map data, such as Figure 3 As shown, based on the physical dimensions of the actual map, it is divided into square grid cells with a side length of X (e.g., 1 meter), constructing a grid matrix. The state of each grid cell is determined based on the map data: obstacle grid cells are set to state 1, idle grid cells to state 0, and unexplored grid cells to state 100. The grid matrix is ​​stored in row-major order as a text file (e.g., CSV format) for subsequent reading and processing in applications such as communication-aware cell filling and environmental modeling.

[0139] The shape of a communication-aware cell (referred to as a sensing cell) varies depending on the characteristics of the communication signal and the specific deployment scenario, including circular, rectangular, or other irregular shapes. Among them, the rectangular shape is widely used in practical scenarios due to its computational simplicity and coverage efficiency in multi-node collaborative deployment. To simplify deployment planning and improve practicality, this invention uses a rectangular cell as an example for infill deployment. For circular or other irregularly shaped cells, deployment adjustments can be achieved through inlay within the rectangular cell or other geometric transformations, thereby ensuring the broad applicability and flexibility of this invention.

[0140] Extract the outermost region of the raster matrix with a state value of 1 (obstacle region), and obtain the coordinate point set of its boundary raster. For example... Figure 4 As shown, the extracted boundary coordinates are then fitted using the least squares method to obtain the best-fit line. The angle between the straight line and the horizontal axis is calculated using the slope of the straight line. The calculated rotation angle is then used as the basis for this calculation. Using affine transformation matrix Rotate and correct the grid matrix to align the fitted line with the coordinate axes.

[0141] During the calibration process, to avoid blank areas or information loss caused by rotation, nearest neighbor interpolation is used to fill blank areas, ensuring the integrity of the calibrated matrix data. After calibration, the calibration effect is further evaluated by calculating the mean square distance error from the obstacle boundary grid points to the fitted line after rotation.

[0142] Traverse all cells in the raster matrix to quickly find cells with a value of 0 (empty area). For small matrices, logical indexes can be used to locate empty cells in one go; for large matrices, it is recommended to use block processing to improve efficiency. The extracted coordinates will be... The generated results are stored in a format that can be named according to timestamps to ensure real-time accuracy. This file provides real-time input of available areas for subsequent cell filling in for communication sensing.

[0143] Read the text file containing the coordinates of the free area and count the number of coordinates. A preset planning threshold is determined based on communication signal coverage requirements and environmental complexity. The count is compared to the preset planning threshold. If the count is greater than the threshold, proceed to the next filling operation; if the count is less than the threshold, terminate the current process and enter a waiting state until a new free area coordinate file is received and the process restarts. For invalid files (e.g., empty or missing content), output a warning message and log it for later analysis.

[0144] like Figure 5 As shown, the text file containing the coordinates of the idle area is read, and the communication sensing cell (rectangular area) is filled based on the idle area. First, several points are randomly generated according to the distribution of the idle area. The number and distribution of 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 (up, down, left, and right) with a fixed step size. During expansion, the grid cell status is checked. If an obstacle is encountered (status value 1) or an unexplored area is encountered (status value 100), expansion is immediately stopped, forming a preliminary candidate rectangle. In each candidate area, the maximum inscribed rectangle is calculated, ensuring that the rectangle is completely within the idle area (status value 0). This maximum inscribed rectangle is the optimal filling rectangle for the current area. After filling, the area covered by this rectangle is marked as a covered area to avoid redundant calculations. The filling process is iterative. Each time, the rectangle with the largest filling area is selected as the priority location for the communication sensing cell. Uncovered areas continue to be iterated until the number of uncovered areas is less than a preset threshold or the maximum number of filling attempts is reached.

[0145] The rectangular area of ​​the communication sensing cell must meet the following restrictions based on the type of communication signal and the propagation environment:

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

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

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

[0149] First, based on the requirements of integrated communication and sensing, nodes are deployed at the vertices or within the filled sensing cells. For example... Figure 6 As shown, taking a rectangle as an example, a reuse check is performed on the filled rectangle, using the coordinates of its vertices to find adjacent rectangles. If it is a circular sensory cell, tangency detection of the circle is performed. After finding adjacent sensory cells, it is checked whether their nodes can be reused. Figure 6 In the case of two communication sensing cells, a single transmitting and receiving device can be reused, thereby reducing node consumption and lowering costs.

[0150] Traverse all filled rectangles and perform reuse checks sequentially. For adjacent cells, prioritize reusing node devices while ensuring communication signal coverage. If reuse is not possible, retain independent node deployment. The initial deployment plan for communication sensing nodes is completed through this traversal and check process.

[0151] Perceptron evaluation and optimization algorithms: such as Figure 7 As shown, based on the existing preliminary deployment plan, the coverage rate of the sensing cells is first calculated to determine whether it meets the requirements of the sensing function. Specifically, the number of grid cells covered by the sensing cells is counted, and the proportion of these cells to the total number of cells in the target area (excluding areas with obstacles) 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 areas that are below the preset planning threshold, with the side length of the rectangle decreasing by a fixed step (e.g., decreasing by 10% each time). During the decreasing process, priority is given to filling the center of the coverage blind spot or key areas. After each filling, the coverage rate is recalculated 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 and optimization algorithms: such as Figure 8 As shown, ray tracing is used to simulate signal coverage to determine whether communication functionality can be guaranteed. In the specific modeling process, environmental parameters are first defined based on the grid state, including reflection coefficient, penetration coefficient, and obstacle distribution information. The reflection coefficient and penetration coefficient are determined based on the material and thickness of the obstacles, and the entire target area's gridded matrix is ​​classified to distinguish between free areas, obstacle areas, and unexplored areas. Based on these environmental parameters, the necessary inputs can be provided for each signal propagation path.

[0155] Subsequently, using a ray tracing algorithm, the direct path, reflected path, and penetration path of the signal during propagation are calculated, and the propagation loss, phase change, and path length for each path are obtained. Signal strength is calculated based on the following formula:

[0156]

[0157] in, For transmission power, For antenna gain, It is the signal wavelength. It is the wave number. and These represent the reflection coefficient and the transmission coefficient, respectively. For path length, Let be the impedance of the antenna. By comprehensively calculating the signal contributions of all paths, the received signal strength of each grid cell can be obtained.

[0158] After the received signal strength is calculated, the signal strength of each grid is compared with a minimum strength threshold (e.g., -80 dBm). Areas that do not meet the threshold are marked as blind spots. The minimum strength threshold can be set according to actual communication needs to ensure that signal coverage meets functional requirements. For detected blind spots, new nodes are added based on the geometric center of the blind spot to further optimize 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 nodes, ray tracing is used again for verification to ensure complete coverage of the blind spot.

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

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

[0161] It should be noted that the method of this disclosure embodiment can be executed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method of this disclosure embodiment, and the multiple devices will interact with each other to complete the method described.

[0162] It should be noted that the above description describes some embodiments of this 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 a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. 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 embodiments, this disclosure also provides a communication sensing node deployment device.

[0164] refer to Figure 9 , Figure 9 The communication sensing node deployment apparatus of the embodiment includes:

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

[0166] The free area determination module 802 is configured to determine the free areas in the grid map where there are no obstacles, and to obtain the number of free coordinates in the free areas;

[0167] The filling module 803 is configured to fill the empty area according to a preset size in response to the number of free coordinates being greater than a preset number threshold, thereby obtaining a target filling rectangle;

[0168] The location determination module 804 is configured to determine the signal type of the communication sensing node and determine the target location of the communication sensing node in the filled rectangle based on the signal type.

[0169] The signal strength determination module 805 is configured to determine the coverage of the communication sensing node based on the target filling rectangle and the grid map, and to determine the signal strength of each cell in the grid map based on the target location 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 location in response to the coverage rate 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 as follows:

[0172] In response to the number of idle coordinates exceeding a preset threshold, the target filling rectangle is determined through at least one round of iteration. Each round of iteration is performed as follows:

[0173] The free area is taken as the target area, and multiple preset starting points are determined in the target area. For each starting point, the following operations are performed:

[0174] Starting from the initial point, expand the preset size 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 area of ​​the first filling rectangle corresponding to each of the multiple starting points, and select the first filling rectangle with the largest area as the second filling rectangle.

[0176] The cells corresponding to the second filled rectangle are marked as covered cells, and the coverage rate is determined based on the covered cells and the free cells corresponding to the free area.

[0177] In response to the coverage rate being less than a preset coverage threshold, the area in the free area excluding the second filled rectangle is taken as the new target area, and the next round of iteration operation is initiated.

[0178] In response to the coverage rate being greater than or equal to a preset coverage rate threshold, exit at least one round of iteration and use all second filling rectangles as target filling rectangles.

[0179] In some embodiments, determining to expand a plurality of initial rectangles outwards from the starting point by a preset size includes:

[0180] The obstacle areas and unexplored areas in the grid map are identified. In response to the fact that there are obstacle areas or unexplored areas when expanding by a preset size from the starting point, the expansion is stopped.

[0181] After setting all second-fill rectangles as the target fill rectangles, the following is also included:

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

[0183] In response to the rectangle's side length being greater than a preset maximum side length, the target filling rectangle is divided according to the preset maximum side length to obtain multiple target filling sub-rectangles; or...

[0184] In response to the rectangle's side length 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, the following is also included:

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

[0187] Receive new map data for the target area, perform rasterization on the new map data, and obtain a new raster map;

[0188] After determining the coverage of the communication sensing nodes based on the target filled rectangle and the grid map, the method further includes:

[0189] In response to the coverage rate being less than a preset coverage rate threshold, the idle areas marked as waiting are filled 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] Based on the target location and the grid map, a ray tracing algorithm is used to determine the signal strength of each cell in the grid map, wherein the signal strength is expressed by the formula:

[0193]

[0194] in, For signal strength, For transmission power, For antenna gain, It is the signal wavelength. For wave number, The reflection coefficient, The penetration coefficient, For path length, The impedance is the antenna impedance.

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

[0196] Signal strength for each cell:

[0197] In response to the signal strength being less than a preset strength threshold, the cell is determined to be a signal dead zone;

[0198] The geometric center of the signal blind zone is taken as the target location corresponding to the communication sensing node.

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

[0200] Receive map data, and rasterize the map data according to the preset side length to obtain an initial raster map;

[0201] Determine the target rotation angle, and perform rotation correction processing on the initial raster map based on the target rotation angle to obtain the raster map.

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

[0203] Extract the outermost obstacle region from the initial raster map and use it as the obstacle boundary;

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

[0205] Determine the slope corresponding to the best-fit line, and use the angle value corresponding to the slope as the target rotation angle.

[0206] For ease of description, the above apparatus is described in terms of its functions, divided into various modules. Of course, in implementing this disclosure, the functions of each module can be implemented in one or more software and / or hardware.

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

[0208] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this 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 the processor executes the program to implement the communication sensing node deployment method described in any of the above embodiments.

[0209] Figure 10This embodiment illustrates a more specific hardware structure of an electronic device. 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, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0210] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, 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 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0212] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0213] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0214] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0215] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0216] The electronic devices described above are used to implement the corresponding communication sensing node deployment method in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0217] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the communication sensing node deployment method as 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, program modules, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0219] The computer instructions stored in the storage medium of the above embodiments are used to cause the computer to execute the communication sensing node deployment method as 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 understood that before using the technical solutions of the various embodiments in this disclosure, users will be informed of the type, scope of use, and usage scenarios of the personal information involved in an appropriate manner, and user authorization will be obtained.

[0221] For example, upon receiving a user's active request, a prompt message is sent to the user to explicitly inform them that the requested operation will require the acquisition and use of the user's personal information. This allows the user to independently choose, based on the prompt message, whether to provide personal information to the software or hardware such as electronic devices, applications, servers, or storage media performing the operations of this disclosed technical solution.

[0222] As an optional but not limited implementation, in response to a user's active request, sending a prompt message to the user can be done via a pop-up window, where the prompt message can be presented in text format. Furthermore, the pop-up window can also include a selection control allowing the user to choose "agree" or "disagree" to provide personal information to the electronic device.

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

[0224] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this disclosure (including the claims) is limited to these examples; within the framework of this disclosure, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this disclosure as described above, which are not provided in detail for the sake of brevity.

[0225] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this disclosure, the provided drawings may or may not show well-known power / ground connections to integrated circuit (IC) chips and other components. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this disclosure, and this also takes into account the fact that the details of implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this disclosure will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this disclosure, it will be apparent to those skilled in the art that the embodiments of this disclosure can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0226] Although this disclosure has been described in conjunction with specific embodiments thereof, many substitutions, 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 be used with the embodiments discussed.

[0227] This disclosure is 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 this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A method for deploying communication sensing nodes, characterized in that, include: Receive map data for the target area, perform rasterization on the map data, and obtain a raster map; Identify the free areas without obstacles in the grid map and obtain the number of free coordinates in the free areas; In response to the number of free coordinates being greater than a preset threshold, the free area is filled according to a preset size to obtain a target filled rectangle; Determine the signal type of the communication sensing node, and determine the target position of the communication sensing node in the filled rectangle based on the signal type; The coverage rate of the communication sensing node is determined based on the target filling rectangle and the grid map, and the signal strength of each cell in the grid map is determined based on the target location and the grid map. In response to the coverage rate 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 location.

2. The method according to claim 1, characterized in that, In response to the number of free coordinates exceeding a preset threshold, the free area is filled according to a preset size to obtain a target filled rectangle, including: In response to the number of idle coordinates exceeding a preset threshold, the target filling rectangle is determined through at least one round of iteration. Each round of iteration is performed as follows: The free area is taken as the target area, and multiple preset starting points are determined in the target area. For each starting point, the following operations are performed: Starting from the initial point, expand the preset size 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 area of ​​the first filling rectangle corresponding to each of the multiple starting points, and select the first filling rectangle with the largest area as the second filling rectangle. The cells corresponding to the second filled rectangle are marked as covered cells, and the coverage rate is determined based on the covered cells and the free cells corresponding to the free area. In response to the coverage rate being less than a preset coverage threshold, the area in the free area excluding the second filled rectangle is taken as the new target area, and the next round of iteration operation is initiated. In response to the coverage rate being greater than or equal to a preset coverage rate threshold, exit at least one round of iteration and use all second filling rectangles as target filling rectangles.

3. The method according to claim 2, characterized in that, The determination involves expanding a predetermined size outwards from the starting point to obtain multiple initial rectangles, including: The obstacle areas and unexplored areas in the grid map are identified. In response to the fact that there are obstacle areas or unexplored areas when expanding by a preset size from the starting point, the expansion is stopped. After setting all second-fill rectangles as the target fill rectangles, the following is also included: For each target filling rectangle, obtain the rectangle's side length; In response to the rectangle's side length being greater than a preset maximum side length, the target filling rectangle is divided according to the preset maximum side length to obtain multiple target filling sub-rectangles; or... In response to the rectangle's side length 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, the following is also included: In response to the number of free coordinates being less than a preset threshold, the state of the free area is marked as a waiting state; Receive new map data for the target area, perform rasterization on the new map data, and obtain a new raster map; After determining the coverage of the communication sensing nodes based on the target filled rectangle and the grid map, the method further includes: In response to the coverage rate being less than a preset coverage rate threshold, the idle areas marked as waiting are filled 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, Determining the signal strength of each cell in the grid map based on the target location and the grid map includes: Based on the target location and the grid map, a ray tracing algorithm is used to determine the signal strength of each cell in the grid map, wherein the signal strength is expressed by the formula: in, For signal strength, For transmission power, For antenna gain, It is the signal wavelength. For wave number, The reflection coefficient, The penetration coefficient, For path length, The impedance is the antenna impedance.

6. The method according to claim 1, characterized in that, After determining the signal strength of each cell in the grid map based on the target location 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, the cell is determined to be a signal dead zone; The geometric center of the signal blind zone is taken as the target location corresponding to the communication sensing node.

7. The method according to claim 1, characterized in that, The process of receiving map data and rasterizing it to obtain a raster map includes: Receive map data, and rasterize the map data according to the preset side length to obtain an initial raster map; Determine the target rotation angle, and perform rotation correction processing on the initial raster map based on the target rotation angle to obtain the raster map.

8. The method according to claim 7, characterized in that, Determining the target rotation angle includes: Extract the outermost obstacle region from the initial raster map and use it as the obstacle boundary; Determine the set of coordinate points corresponding to the obstacle boundary, and use the least squares method to fit the coordinate points in the set to obtain the best-fit line; Determine the slope corresponding to the best-fit line, and use the angle value corresponding to the slope as the target rotation angle.

9. A communication sensing node deployment device, characterized in that, include: The data receiving module is configured to receive map data for a target area, perform rasterization on the map data, and obtain a raster map. The free area determination module is configured to determine free areas in the grid map where there are no obstacles, and to obtain the number of free coordinates in the free areas; The filling module is configured to fill the empty area according to a preset size in response to the number of free coordinates being greater than a preset number threshold, thereby obtaining a target filled rectangle; The location determination module is configured to determine the signal type of the communication sensing node and determine the target location of the communication sensing node in the filled rectangle based on the signal type. The signal strength determination module is configured to determine the coverage of the communication sensing node based on the target filling rectangle and the grid map, and to determine the signal strength of each cell in the grid map based on the target location and the grid map. The node deployment module is configured to deploy communication sensing nodes according to the target filling rectangle and the target location in response to the coverage rate 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, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, implements the method as described in any one of claims 1 to 8.

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