Positioning system and method based on sensing relay

Abstract

The invention relates to the technical field of communication, and discloses a positioning system and method based on a sensing relay, and the system comprises a server which is used for receiving a request command of a user side for a target object, and transmitting a matching strategy corresponding to the request command to a multi-sensor module; the multi-sensor module comprises a plurality of sensing relays; the multi-sensor module is used for acquiring target information of the target object based on the matching strategy and returning the target information to the server; the target information comprises position information of the target object; and the server is also used for sending the target information to the user side. Through the multiple sensor modules, the system can obtain wider and more accurate signal coverage under the condition that a sensing target area is blocked by a large obstacle, and meanwhile, the accuracy and reliability of positioning information can also be improved by obtaining target information containing position information through multiple sensor data.

Description

Technical Field

[0001] The present invention relates to the field of communication technologies, and in particular, to a positioning system and method based on a sensing relay. Background Art

[0002] In modern intelligent warehousing, industrial automation, and Internet of Things (IoT) applications, the ability to accurately locate and track objects or people has become increasingly important. However, in actual application environments, the presence of building structures, machinery, and other large obstacles often seriously affects the propagation of wireless signals, resulting in a decline in the performance of positioning systems.

[0003] Especially when a large obstacle blocks the sensed target area, the signal relay efficiency and accuracy of existing repeaters are relatively low. Therefore, there is a need to explore repeaters that can provide more ideal signal strength and quality. Summary of the Invention

[0004] In view of this, the present invention provides a positioning system and method based on a sensing relay to solve the problem that the signal relay efficiency and accuracy of existing repeaters are relatively low.

[0005] In a first aspect, the present invention provides a positioning system based on a sensing relay, the system comprising:

[0006] A server, configured to receive a request command from a user terminal for a target object and send a matching policy corresponding to the request command to a multi-sensor module;

[0007] The multi-sensor module includes a plurality of sensing relays; the multi-sensor module is configured to obtain target information of the target object based on the matching policy and return the target information to the server; the target information includes the position information of the target object;

[0008] The server is further configured to send the target information to the user terminal.

[0009] The positioning system based on a sensing relay provided by the embodiments of the present invention can obtain a wider and more accurate signal coverage even when there are large obstacles blocking the sensed target area by using a multi-sensor module including a plurality of sensing relays. At the same time, by installing multiple repeaters at key positions, the system has higher fault tolerance and reliability, and the target information including position information obtained from multi-sensor data can also improve the accuracy and reliability of positioning information.

[0010] In an alternative embodiment, the target information is obtained by a fusion algorithm based on a plurality of sensor data acquired by the multi-sensor module.

[0011] The positioning system based on a sensing relay provided by an embodiment of the present invention can, by fusing a number of sensor data from multiple sensor modules, comprehensively consider the sensing results of different sensors, and also take into account the different response characteristics of different sensors to different environmental conditions or obstacles, so as to obtain more accurate and reliable position information of the target object, avoid the problem of inaccurate positioning caused by errors or failures of a single sensor, and improve the overall positioning accuracy.

[0012] In an alternative embodiment, the server is further configured to send a warning message to the client based on the target information.

[0013] For the positioning system based on a sensing relay provided by an embodiment of the present invention, the server sends a warning message to the client based on the target information obtained by the fusion algorithm, enabling the user to learn about the possible abnormal conditions or potential risks of the target object in a timely manner. This warning mechanism helps the user take timely measures to avoid potential safety hazards or losses.

[0014] In an alternative embodiment, the multiple sensor modules are further configured to adjust the operation parameters of the fusion algorithm based on the target information.

[0015] For the positioning system based on a sensing relay provided by an embodiment of the present invention, by allowing the multiple sensor modules to adjust the operation parameters of the fusion algorithm based on the target information, it is possible to perform more refined processing on the positioning data according to the actual situation, or optimize the use of sensors according to the current requirements and environmental conditions, thereby improving the positioning accuracy.

[0016] In a second aspect, the present invention provides a positioning method based on a sensing relay. The method is executed by multiple sensor modules and includes:

[0017] Sending at least one target information acquisition request to the target object based on a matching strategy; the matching strategy is determined by the server based on the received request command from the client; the target information includes the position information of the target object;

[0018] Receiving a number of sensor data returned by the target object and generating target information based on the number of sensor data;

[0019] After sending the target information to the application function through the policy service, returning it to the client.

[0020] The positioning method based on a sensing relay provided by an embodiment of the present invention sends a request to a target object based on a matching strategy to dynamically adjust the positioning strategy according to the specific needs of the user. It sends a target information acquisition request to the target object through a multiple sensor module, accepts the returned several sensor data to generate target information, and feeds it back to the user terminal. The user can easily query the required location information through the user terminal. The multiple sensor fusion technology can also provide more accurate and reliable location information.

[0021] In an alternative embodiment, sending at least one target information acquisition request to a target object based on a matching strategy includes:

[0022] Determining several target sensing relays and target sensing data based on the matching strategy;

[0023] Generating a target information acquisition request based on the target sensing data;

[0024] Sending the target information acquisition request to the target object through each target sensing relay respectively to collect target sensing data.

[0025] The positioning method based on a sensing relay provided by an embodiment of the present invention, through the matching strategy, the system can intelligently select the sensing relay related to the position of the target object and with better signal quality as the target sensing relay. At the same time, it dynamically adjusts the selection of the sensing relay and the data acquisition method according to different query requirements and the position of the target object to adapt to different application scenarios and user needs, improving the practicability of the system.

[0026] In an alternative embodiment, accepting several sensor data returned by the target object and generating the target information based on the several sensor data includes:

[0027] Obtaining the target sensing data received by each target sensing relay;

[0028] Inputting the several target sensing data into a fusion algorithm to generate target information.

[0029] The positioning method based on a sensing relay provided by an embodiment of the present invention, by fusing data from multiple sensing relays, can significantly reduce the problem of inaccurate data caused by the failure or error of a single sensor. Even in the case where some sensors fail or the data is abnormal, the system can still generate accurate target information based on the data of other sensors.

[0030] In an alternative embodiment, when any target sensing relay is in a fault state, another non-target sensing relay in a non-fault state that meets the preset requirements in the multiple sensor module is determined as the target sensing relay.

[0031] The positioning method based on a sensing relay provided by an embodiment of the present invention can automatically switch to a standby sensing relay through hardware redundancy design. The system can ensure continuous operation even when a key component fails, thereby improving the overall reliability and stability.

[0032] In an alternative embodiment, the method further includes:

[0033] Adjusting the operation parameters of the fusion algorithm based on the target information.

[0034] The positioning method based on a sensing relay provided by an embodiment of the present invention adjusts the operation parameters of the fusion algorithm based on the target information to achieve more refined processing of the positioning data according to the actual situation and requirements, thereby improving the positioning accuracy.

[0035] In an alternative embodiment, when the multi-sensor module sends more than one target information acquisition request to the target object, the method further includes:

[0036] Generating corresponding candidate target information based on each target information acquisition request;

[0037] Taking the average value of the candidate target information as the target information.

[0038] The positioning method based on a sensing relay provided by an embodiment of the present invention stores the data measured multiple times through hardware redundancy design or performs multiple measurements at different time points to ensure that even if an error occurs in a single measurement, the correct conclusion can be drawn based on the historical data or the average value of multiple measurements.

[0039] In a third aspect, the present invention provides a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the positioning method based on a sensing relay according to the second aspect or any corresponding embodiment thereof.

[0040] In a fourth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored. The computer instructions are used to cause a computer to execute the positioning method based on a sensing relay according to the second aspect or any corresponding embodiment thereof.

[0041] In a fifth aspect, the present invention provides a computer program product, including computer instructions, which are used to cause a computer to execute the positioning method based on a sensing relay according to the second aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings required for the description of the specific embodiments or the prior art. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0043] Figure 1 is an interaction diagram of a positioning system based on a sensing relay according to an embodiment of the present invention;

[0044] Figure 2 is a schematic application diagram of a positioning system based on a sensing relay according to an embodiment of the present invention;

[0045] Figure 3 is another schematic application diagram of a positioning system based on a sensing relay according to an embodiment of the present invention;

[0046] Figure 4 is still another schematic application diagram of a positioning system based on a sensing relay according to an embodiment of the present invention;

[0047] Figure 5 is a schematic flowchart of a positioning method based on a sensing relay according to an embodiment of the present invention;

[0048] Figure 6 is a schematic diagram of multi-sensor fusion of a positioning method based on a sensing relay according to an embodiment of the present invention;

[0049] Figure 7 is a schematic hardware structure diagram of a computer device according to an embodiment of the present invention. Specific Embodiments

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0051] In modern intelligent warehousing, industrial automation, and Internet of Things (IoT) applications, the ability to accurately locate and track objects or personnel has become increasingly important. However, in the actual application environment, the presence of structures such as buildings, machinery, and other large obstacles often seriously affects the propagation of wireless signals, resulting in a decline in the performance of the positioning system.

[0052] To overcome this challenge, signal relaying can be achieved by selecting an appropriate repeater. Currently, the following considerations are usually taken into account for repeaters based on factors such as signal type, location, and obstacle characteristics. If an RFID tag is used, a repeater that supports the same frequency should be selected, and it is best to propagate the signal on an obstacle-free path. For technologies using UWB (Ultra-Wideband), since UWB signals have good penetration ability, it may not be necessary to specifically select a repeater. However, if there are large metal obstacles, additional repeaters may be required to ensure signal coverage. Regarding the location of the repeater, the repeater should be placed in a position that can maximize signal coverage, and it should be avoided to place the repeater where the signal may be further interfered, such as near strong electronic devices or places with a large number of metal objects. Ideally, the repeater should be located on one side of the obstacle so that it can capture the signal emitted from the target area and forward it to the main receiving point. Regarding obstacle characteristics, for example, metal obstacles may completely block certain types of radio signals, while walls or other non-metal obstacles may only partially block the signal. In some cases, multiple repeaters are required to bypass the obstacle, or a higher-power repeater is required to penetrate the obstacle.

[0053] In application scenarios such as when users query the location information of vehicles, base stations, and monitoring devices, the signal relaying efficiency and positioning accuracy of existing repeaters are relatively low. The inventor found that if a sensing relay is used only as a repeater, the editable advantage of the sensing relay can be demonstrated.

[0054] Therefore, an embodiment of the present invention provides a positioning system and method based on a sensing relay to solve the problem that the signal relaying efficiency and accuracy of existing repeaters are relatively low.

[0055] As the name implies, a sensing relay consists of a sensor and a relay. In this application scenario, the relay serves as the control unit, and the sensor serves as the functional unit. After receiving the matching strategy of the user, the relay can choose whether to enable it and even choose which mode to use for collecting sensing signals. Through the fusion technology of the sensor, sensors such as temperature, humidity, photosensitivity, pressure, and current can be directly integrated without an external detection module. The sensing relay also has an internal analog-to-digital conversion (ADC) and threshold judgment, which can analyze environmental parameters in real time and trigger actions. For example, it can automatically cut off the power when the temperature exceeds the limit.

[0056] According to an embodiment of the present invention, an embodiment of a positioning system based on a sensing relay is provided. The system includes:

[0057] A server, configured to receive a request command from a user terminal for a target object and send a matching strategy corresponding to the request command to a multi-sensor module;

[0058] A multi-sensor module, including several sensing relays; the multi-sensor module is used to obtain target information of a target object based on a matching strategy and return the target information to the server; the target information includes the location information of the target object.

[0059] The server is also used to send the target information to the client.

[0060] Specifically, as the core of the entire positioning system, the server is responsible for receiving request commands from the client and formulating corresponding matching strategies according to the request content. These matching strategies include selecting specific sensing relays, adjusting signal strength or frequency, etc., to adapt to different positioning requirements and obstacle environments. The server is also responsible for sending the target information containing the location information returned by the sensing relays to the client for the user to view and use.

[0061] The multi-sensor module is a key part of the positioning system. It includes several sensing relays, which are arranged around the target area to be sensed to ensure that the signal can cover all target objects to be located. The sensors here are determined according to the detection task and the characteristics of the target object. For example, in high-precision dimensional detection, laser sensors and contact sensors may be the best choices; in the case of identifying surface defects of objects, vision sensors perform better. The sensing relays not only have the function of signal relay but also can intelligently select the best signal path and signal type according to the matching strategy of the server to overcome the blocking of obstacles and achieve stable and reliable positioning.

[0062] The setting of the multi-sensor module is based on the idea of redundant design. Specifically, redundant design is achieved by adding additional hardware, software, or design as a backup of the main system in the system. When the main system or a certain component fails, the backup system can be immediately started and replace it to ensure the normal operation of the system.

[0063] Redundant design isolates each part of the system, so that the failure of a certain part will not affect the normal operation of other parts. This reduces the impact of failures on the entire system, improves the fault tolerance of the system, and achieves the effect of fault isolation. Through redundant design, the load of the system can also be distributed to multiple processors or network nodes to avoid system failures caused by overloading of a single processor or node. In addition, redundant design adds a fault detection and recovery mechanism, which can quickly detect faults and take corresponding measures for recovery, thereby reducing the impact time of faults on the system.

[0064] In an optional example, the interaction diagram of the system is as Figure 1As shown, when users need to query the location information of a certain target object (such as a vehicle, a base station, a monitoring device, etc.) through the positioning system, they can send a request command to the Application Function (AF) through the user terminal (such as a mobile phone, a computer, etc.), make a request through the AF service, find the corresponding instruction according to different request commands, and formulate a matching strategy according to the specific content of the request and the characteristics of the target object and send it down. The matching strategy will be used to guide the sensing relays in the multi-sensor module to efficiently obtain the location information of the target object. After formulating the matching strategy, the server will send these matching strategies to the multi-sensor module. When the sensing relays receive the matching strategies, they will send a request to the positioning server (target object) to inform the current location information. The positioning server will feedback the current location to the multi-sensor module. After obtaining the location information of the target object, these information will be sent back to the server. Finally, the server will send the processed location information of the target object to the user terminal for users to view and use.

[0065] In some alternative embodiments, the target information is obtained through a fusion algorithm based on a number of sensor data acquired by the multi-sensor module.

[0066] The data fusion algorithms include Kalman filtering, particle filtering, weighted averaging, etc. By performing weighted and optimized processing on the sensor data, the final detection result is made more accurate. The system can select a suitable fusion algorithm according to different application scenarios to improve the accuracy of the system.

[0067] In some alternative embodiments, the server is also used to send a warning message to the user terminal based on the target information.

[0068] A reasonable data range of the target information can be preset. When the server obtains the target information based on the fusion algorithm, if the target information value is abnormal, a warning message will be sent to the user terminal, so that users can learn about the possible abnormal situations or potential risks of the target object in a timely manner. This warning mechanism helps users take measures in time to avoid potential safety hazards or losses.

[0069] In some alternative embodiments, the multi-sensor module is also used to adjust the operating parameters of the fusion algorithm based on the target information.

[0070] Letting the multi-sensor module adjust the operating parameters of the fusion algorithm based on the target information can perform more refined processing on the positioning data according to the actual situation, or optimize the use of sensors according to the current requirements and environmental conditions, thereby improving the positioning accuracy.

[0071] In a specific embodiment, such as Figure 2As shown in the figure, the system can be used as a taxi response system. Specifically, in areas with densely populated buildings, when the signal is poor, the vehicle will automatically activate the above-mentioned positioning system based on sensor relays, provide more accurate vehicle location data with an enhanced sensing mechanism, monitor and update the location information in real time, and help the server side to quickly respond to taxi requests. This not only improves the accuracy of passengers' acquisition of vehicle dynamics, but also enhances the user experience.

[0072] The process of this system as a taxi response system is as follows. The target object is a vehicle that uses a sensor relay. When a passenger uses a mobile phone (user end) to initiate a taxi request (request command), the taxi platform center (server) will send two instructions to the corresponding matched vehicle after receiving the user's taxi request, one of which is an order confirmation instruction. When the driver receives the order, the sensor relay signal power amplification instruction will be triggered to ensure that the signal is still stable in areas with dense high-rise buildings, and the current vehicle location will be fed back in real time. The user end will be informed in real time so that the customer can be prepared, bringing a high-quality experience to the user's taxi experience.

[0073] Optionally, the matching strategy can also control the power increase of the sensor relay, such as starting when busy and stopping when idle, to achieve reasonable use and enhance life.

[0074] In a specific embodiment, Figure 3 As shown in the figure, the system can be used as an intelligent parking position assistance system. Specifically, when the vehicle (target object) is parked in an unfamiliar underground parking lot, the owner may forget the exact parking location. At this time, the vehicle's built-in sensor relay can be used to search. The user can send a search request through the mobile application (server), and the vehicle will immediately send back its specific location after receiving the command, thereby simplifying the process of finding the vehicle and improving travel convenience.

[0075] The process of this system as an intelligent parking position assistance system is as follows: when driving a vehicle to an unfamiliar basement, some complicated basements will definitely make the owner forget where the vehicle was parked after parking. At this time, a sensor relay device can be used, equipped with a positioning information reporting function. When our vehicle enters the basement, the sensor relay device obtains and reports the vehicle information, including location information and vehicle license plate information. After parking is completed, the vehicle parking position is uploaded to the parking lot collection system (server) again. When the vehicle collection system obtains the location information given by the sensor relay, the collection system will mark the vehicle number and vehicle information to match the basement parking system geographic map to determine the parking position corresponding to the basement. Subsequent car owners only need to enter the license plate number in the vehicle collection system to know where the current vehicle is parked, which reduces the trouble of car owners looking for vehicles and improves user experience.

[0076] In a specific embodiment,Figure 4 As shown, this system can be used as an intelligent driving and automated warehousing system. It can achieve high-precision ranging and positioning, transmit data to the data center (server) in real time, and interact with the positioning system to ensure the safety and stability of intelligent driving. In warehousing management, this technology also realizes the precision of cargo handling, improving operation efficiency and safety. The application of the sensing relay not only promotes the improvement of work efficiency but also makes significant contributions to safety protection.

[0077] The process of this system as an intelligent driving and automated warehousing system is as follows. In an intelligent factory, there are areas inside and outside the factory area. In an intelligent factory, we can combine the solution of internal and external network interconnection to ensure that the factory uses the Internet and GPS outside the factory to complete instructions intelligently, and uses the internal network and a variety of sensing relays inside the factory area to complete instructions such as cargo transportation and cargo selection to complete the predetermined instructions. The specific implementation steps and processes are as follows:

[0078] The staff issues an instruction to obtain the goods in Area A and deliver them to Area B. When the staff sends the instruction to transport the goods, after the intelligent vehicle obtains the instruction, it starts the work process, calls the sensing relay to obtain the current position and compares it with the map system to confirm the current position, plans the corresponding route to Area A according to the instruction. During this process, the sensing relay will continuously obtain the position information and compare it with the planned route to check whether it is driving on the predetermined route. If there is a deviation, the sensing relay will inform the control center (warning information) to correct the current driving route. When the vehicle arrives at the factory area, the network switches, and the factory area map and position information are verified and matched. Inside the factory area, the goods are transported and assembled to the designated position according to the predetermined plan. After the assembly is completed, a completion instruction is issued, and the next transportation plan will be carried out. From inside the factory area, a suitable route is selected according to the factory area map to leave the factory. After leaving the factory, the relay issues an instruction to change the network, switching to the Internet and combining it with GTS and map software to carry out the operation of the goods. During this process, the sensing relay will correct the route according to emergencies on the route to ensure the safe and smooth delivery of the transportation task. During this process, the sensing relay can realize the automatic control of the equipment without manual intervention, reducing labor costs and usage difficulties. Through intelligent perception and control, the sensing relay can realize the fine management of energy and achieve the purpose of high efficiency and energy saving.

[0079] According to an embodiment of the present invention, an embodiment of a positioning method based on a sensing relay is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0080] In this embodiment, a positioning method based on a sensing relay is provided, which can be used in the above-mentioned mobile terminals, such as mobile phones, tablet computers, etc. The method is executed by a multi-sensor module. Figure 5 It is a flowchart of the positioning method based on a sensing relay according to an embodiment of the present invention, as Figure 5 shown. The process includes the following steps:

[0081] Step S501, send at least one target information acquisition request to the target object based on a matching strategy.

[0082] Specifically, the matching strategy is determined by the server based on the request command received from the user terminal; the target information includes the location information of the target object, and the request command may also include the type of the target object that the user wants to query, the location range, and the time requirement, etc.

[0083] Furthermore, the target information acquisition request may include the identifier of the target object, the type of the request, such as location query, the priority of the request, and other information.

[0084] Furthermore, according to the location of the sensing relay, the signal type, and the characteristics of the obstacle, select one or more communication paths to send the target information acquisition request to the target object. The path selection is divided into single-path and multi-path cases. Specifically, if only one communication path can meet the signal propagation requirements and the signal strength and quality are acceptable, then select this path to send the target information acquisition request to the target object; if there are multiple feasible communication paths, then comprehensively consider factors such as the length of the path, signal loss, and the reliability of the repeater to determine several alternative paths. The length of the alternative path needs to meet the first preset range and the signal loss is not greater than the second preset value. At the same time, score the reliability of the repeater, and determine the target communication path as the alternative communication path with a score higher than the third preset value.

[0085] Optionally, by modeling and simulating each path, calculate the loss and delay of the signal on each path and the reliability score of the repeater.

[0086] In some alternative embodiments, the above step S501 includes:

[0087] Determine a number of target sensing relays and target sensing data based on a matching strategy;

[0088] Generate a target information acquisition request based on the target sensing data;

[0089] Send the target information acquisition request to the target object through each target sensing relay respectively to collect the target sensing data.

[0090] Determine which sensing relays and which target sensing data meet the user's requirements based on a matching strategy. For example, target sensing relays located in different geographical locations or responsible for different sensing tasks; or, for example, target sensing data such as location, speed, and temperature.

[0091] In addition to selecting target sensing relays based on location distance, it can also be determined based on the detection task and the characteristics of the target object. For example, in high-precision dimensional detection, laser sensors and contact sensors should tend to be selected; when identifying surface defects of an object, visual sensors are chosen.

[0092] In the application scenario of querying the vehicle's location, the target sensing data is configured as sensor data related to the vehicle, such as the data of the in-vehicle GPS module; in the logistics tracking application scenario, the target sensing data includes the real-time location data of the goods or the transport vehicle and the weight data to reflect the load state of the transport vehicle, while in environmental monitoring, temperature and humidity data are required from the sensors.

[0093] Through the determined target sensing relays, send the constructed target information acquisition requests to the target objects respectively.

[0094] Optionally, the target information acquisition request may be sent wirelessly or wired, depending on the communication architecture of the system and the configuration of the sensing relay, or a dedicated communication protocol or interface is used to interact with the sensing relay to ensure the accurate sending and receiving of the request.

[0095] Step S502: Receive a number of sensor data returned by the target object, and generate target information based on the number of sensor data.

[0096] Specifically, when the target object receives a request from the sensing relay, it will activate the corresponding sensors and collect the required data. This data may include location information such as GPS coordinates, relative position, etc., environmental parameters such as temperature, humidity, light intensity, etc., and other positioning-related data. The target object sends this data to the sensing relay through the previously established communication link.

[0097] The sensors here are determined according to the detection task and the characteristics of the target object. For example, in high-precision dimensional detection, laser sensors and contact sensors may be the best choices; when identifying surface defects of an object, visual sensors perform better.

[0098] In some alternative embodiments, the above step S502 includes:

[0099] Obtain the target sensing data received by each target sensing relay;

[0100] Input several target sensing data into a fusion algorithm to generate target information.

[0101] Multi - data fusion relies on multi - sensor fusion technology, that is, using data collected by multiple sensors and then performing comprehensive processing to improve the overall performance of the system. Each sensor has its specific advantages and limitations. By fusing data from different sensors, the advantages of each sensor can be combined, and the deficiencies of a single sensor can be overcome.

[0102] Common data fusion algorithms include Kalman filtering, particle filtering, and weighted averaging, etc. These algorithms make the finally generated target information more accurate by performing weighted and optimized processing on sensor data.

[0103] Furthermore, the configuration of these sensors is determined according to the detection task and the characteristics of the target object. For example, in high - precision dimensional detection, laser sensors and contact sensors may be the best choices; when it is necessary to identify surface defects of an object, vision sensors perform better.

[0104] In step S503, after sending the target information to the application function through the policy service, it is returned to the user terminal.

[0105] First, it is necessary to encapsulate and package the target information into a standardized data format. After encapsulation, the system will call the corresponding policy service according to the previously determined matching policy. Under the guidance of the policy service, the system will route the encapsulated target information to the application function (AF) module through an internal network or a cloud service platform.

[0106] After reaching the application function module, the target information will be returned to the user terminal through a user - terminal interface (such as API, web service, mobile application, etc.).

[0107] In some alternative embodiments, when any target sensing relay is in a fault state, another non - target sensing relay in a non - fault state that meets the preset requirements in the multi - sensor module is determined as the target sensing relay.

[0108] As Figure 6 shown, through hardware redundancy design to automatically switch to the standby sensing relay, the system can ensure continuous operation when a key component fails, thereby improving the overall reliability and stability. This redundancy design enables the system to still work properly when a single sensor fails.

[0109] In some alternative embodiments, the method further includes:

[0110] Adjusting the operating parameters of the fusion algorithm based on the target information.

[0111] Common data fusion algorithms include Kalman filtering, particle filtering, and weighted average, etc. Adjusting the fusion algorithm based on target information includes adjusting the algorithm type and operation parameters. Specifically, according to the characteristics of the target information and the type of target sensing data, the fusion algorithm is adjusted. For example, when the target information contains non-linear and non-Gaussian distributed data, particle filtering is used; if the target sensing data has a high degree of temporal correlation, Kalman filtering is selected.

[0112] In addition, by assigning a weight to each target sensing data for weighted average calculation and comparing it with the target information, when the data of a certain sensor is highly consistent with the known part of the target information, the weight of this sensing data is increased; conversely, if the data deviation is large, the weight of this sensing data is decreased.

[0113] The positioning method based on a sensing relay provided by an embodiment of the present invention adjusts the operation parameters of the fusion algorithm based on target information to achieve more refined processing of positioning data according to the actual situation and requirements, thereby improving the positioning accuracy.

[0114] In an optional implementation manner, when the multi-sensor module sends more than one target information acquisition request to the target object, the method further includes:

[0115] Generating corresponding candidate target information based on each target information acquisition request;

[0116] Taking the average value of each candidate target information as the target information.

[0117] Through the design of information redundancy, storing the data measured multiple times, or performing multiple measurements at different time points, to ensure that even if a single measurement is incorrect, the correct conclusion can be drawn based on historical data or the average value of multiple measurements.

[0118] An embodiment of the present invention also provides a computer device. Please refer to Figure 7 , Figure 7 is a schematic structural diagram of a computer device provided by an optional embodiment of the present invention, as shown in Figure 7As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting the components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (such as an array of servers, a set of blade servers, or a multi-processor system). Figure 7 In [the figure], a processor 10 is taken as an example.

[0119] The processor 10 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 10 can further include a hardware chip. The above-mentioned hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above-mentioned programmable logic device can be a complex programmable logic device, a field-programmable gate array, a generic array logic, or any combination thereof.

[0120] Among them, the memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiments.

[0121] The memory 20 can include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the computer device, etc. In addition, the memory 20 can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 can optionally include a memory remotely set relative to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0122] The memory 20 can include a volatile memory, such as a random access memory; the memory can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state drive; the memory 20 can also include a combination of the above types of memories.

[0123] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or communication networks.

[0124] Embodiments of the present invention also provide a computer-readable storage medium. The methods according to the embodiments of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the methods described herein can be stored as such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by the computer, the processor, or the hardware, the methods shown in the above embodiments are implemented.

[0125] A part of the present invention can be applied as a computer program product, for example, computer program instructions. When executed by a computer, through the operation of the computer, the methods and / or technical solutions according to the present invention can be called or provided. Those skilled in the art should be able to understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Herein, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to the computer.

[0126] Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A positioning system based on a sensor relay, characterized in that: The system comprises: The server is used to receive a request command from a user terminal for a target object, and send a matching strategy corresponding to the request command to the multi-sensor module; The multi-sensor module includes a plurality of sensor relays; the multi-sensor module is used to obtain target information of the target object based on the matching strategy, and return the target information to the server; the target information includes location information of the target object; The server is also used to send the target information to the user terminal.

2. The system according to claim 1, characterized in that The target information is obtained through a fusion algorithm based on a number of sensor data acquired by the multi-sensor module.

3. The system according to claim 2, characterized in that The server is also used to send warning information to the user terminal based on the target information.

4. The system according to claim 2, characterized in that The multi-sensor module is further configured to adjust operating parameters of the fusion algorithm based on the target information.

5. A positioning method based on a sensor relay, characterized in that: The method is applied to the positioning system based on the sensor relay according to any one of claims 1 to 4, and the method is performed by a multi-sensor module, and the method comprises: Sending at least one target information acquisition request to the target object based on a matching strategy; the matching strategy is determined by the server based on a request command received from the user end; the target information includes location information of the target object; Accepting a plurality of sensor data returned by the target object, and generating the target information based on the plurality of sensor data; After the target information is sent to the application function through the policy service, it is returned to the user end.

6. The method according to claim 5, characterized in that The sending at least one target information acquisition request to the target object based on the matching strategy includes: Determine a number of target sensor relays and target sensor data based on the matching strategy; generating the target information acquisition request based on the target sensor data; The target information acquisition request is sent to the target object through each of the target sensor relays to collect the target sensor data.

7. The method according to claim 6, characterized in that The receiving the plurality of sensor data returned by the target object and generating the target information based on the plurality of sensor data includes: Acquiring the target sensing data received by each target sensing relay; A plurality of the target sensing data are input into a fusion algorithm to generate the target information.

8. The method according to claim 6 or 7, characterized in that: When any of the target sensor relays is in a fault state, another non-target sensor relay in the multi-sensor module that meets preset requirements and is in a non-fault state is determined as the target sensor relay.

9. The method according to claim 8, characterized in that The method further comprises: Operating parameters of the fusion algorithm are adjusted based on the target information.

10. The method according to claim 8, characterized in that When the multi-sensor module sends the target information acquisition request to the target object more than once, the method further includes: Generate corresponding candidate target information based on each target information acquisition request; The average value of each candidate target information is used as the target information.

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