A method, device and medium for determining a transmission path of a facility agriculture network

Abstract

The application discloses a transmission path determination method and device of a facility agriculture network and a medium, and relates to the technical field of facility agriculture. According to the scheme, the geographic coordinates of each wireless transmission node are converted into plane coordinates, and a node map is constructed based on the plane coordinates; a transmission starting point set and a target point set are obtained, a transmission corresponding relationship between the sets is determined, a path planning task is generated; when each path planning task is executed, a corresponding transmission starting point is taken as a root node, a random point is generated in the node map, a wireless transmission node closest to the random point and not existing communication obstruction is selected from the transmission range of the root node as a neighbor node, the neighbor node is taken as a new root node and is added to the transmission path until the corresponding target point is reached; a path set is generated based on each transmission path, and is issued to the corresponding wireless transmission node through a wireless master gateway, which can effectively reduce the static routing failure risk and improve the availability and reliability of the transmission path.

Description

Technical Field

[0001] This application relates to the field of facility agriculture technology, and in particular to a method, device and medium for determining the transmission path of a facility agriculture network. Background Technology

[0002] Facility agriculture networks typically deploy environmental sensors, actuators, and wireless transmission nodes to collect environmental data and issue control commands. Currently, static routing planning is mostly based on pre-determined node locations and link relationships, ensuring data transmission along fixed paths.

[0003] However, crop growth, personnel movement, equipment relocation, and node failures or additions / removals can change the effective transmission range of nodes and network topology, making it difficult for the fixed location and constant link assumptions on which static routing is based to hold true; and when the discrete distribution of nodes and transmission distance constraints are not fully considered, unreachable paths may also be generated.

[0004] Therefore, how to solve the problem that static routing in facility agriculture networks is unable to adapt to dynamic changes in nodes and links, leading to decreased transmission performance or network paralysis, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a method, device, and medium for determining the transmission path in a facility agriculture network, so as to solve the problem that static routing in facility agriculture networks is difficult to adapt to dynamic changes in nodes and links, resulting in decreased transmission performance or network paralysis.

[0006] To address the aforementioned technical problems, this application provides a method for determining the transmission path in a facility agriculture network, applied to edge computing nodes in a heterogeneous facility agriculture network. The edge computing nodes are connected to multiple wireless transmission nodes via a wireless master gateway. The method includes: The geographic coordinates of each wireless transmission node are converted into corresponding planar coordinates, and a node map is constructed based on each planar coordinate. Obtain a set of transmission start points and a set of target points, and determine the transmission correspondence between the sets to generate at least one path planning task; wherein, the path planning task is used to determine the transmission path between the transmission start point and the corresponding target point; For each path planning task, the corresponding transmission starting point is taken as the root node. Random points are generated in the node map. Neighboring nodes are selected from the transmission range of the root node and added to the transmission path as new root nodes. The process returns to the step of generating random points in the node map until the corresponding target point is reached. Among them, the neighboring node is the wireless transmission node that is closest to the random point in the transmission range and has no communication obstacles with the root node. A path set is generated based on each transmission path, and the path set is distributed to the corresponding wireless transmission nodes through the wireless master gateway.

[0007] On the one hand, the geographical coordinates of each wireless transmission node are converted into corresponding planar coordinates, and a node map is constructed based on each planar coordinate, including: Obtain the origin geographic coordinates of the preset planar coordinate system, as well as the scaling parameters between the geographic coordinates and the planar coordinates; The initial planar coordinates of each wireless transmission node are determined based on the geographic coordinates of each wireless transmission node, the geographic coordinates of the origin, and the scaling parameters. The system acquires multiple sets of position coordinates collected when the mobile positioning device moves from the origin along the preset coordinate axes of the preset plane coordinate system. It determines the direction angle deviation based on each set of position coordinates and determines the rotation calibration angle based on each direction angle deviation. The initial plane coordinates are calibrated according to the rotation calibration angle to obtain the plane coordinates corresponding to each wireless transmission node. Associate the node identifier of each wireless transmission node with its corresponding planar coordinates, and mark the obstacles in the node map according to their location coordinates.

[0008] On the other hand, when a path planning task is used to determine a transmission path between a single transmission origin and a single destination, the execution process of the path planning task includes: The transmission start point is determined as the current root node, and a random point is generated in the node map; Determine the set of neighboring nodes of the current root node based on the planar coordinates of the current root node and the preset signal transmission range; Based on the distance between each wireless transmission node in the neighbor node set and the random point, the wireless transmission node closest to the random point is determined as the candidate branch node. Determine if there is any communication barrier between the candidate branch node and the current root node; If it does not exist, add the candidate branch node to the transmission path and update the candidate branch node to the current root node; if it exists, discard the candidate branch node. Return to the step of generating random points in the node map until the current root node reaches the target point or the preset maximum number of iterations is reached.

[0009] On the other hand, when a path planning task is used to determine a transmission path between multiple transmission origin points and a single destination point, the execution process of the path planning task includes: Each transmission starting point is determined as the current root node of the corresponding transmission path, and a corresponding random point is generated in the node map for each current root node. Based on the planar coordinates of each current root node and the preset signal transmission range, determine the set of neighboring nodes of the corresponding current root node; Based on the distance between each wireless transmission node in each neighbor node set and the corresponding random point, the wireless transmission node closest to the corresponding random point is determined as the candidate branch node of the current root node. Determine whether there is a communication barrier between each candidate branch node and its corresponding current root node; If it exists, discard the candidate branch node; If it does not exist, the candidate branch node is added to the corresponding transmission path; Determine whether the candidate nodes added in different transmission paths are the same wireless transmission node; If at least two candidate nodes added in the transmission path are the same wireless transmission node, then the wireless transmission node is determined as the merging node, the corresponding transmission paths are merged, and the merging node is the current root node. For transmission paths that have not merged but have been added to the candidate node list, update the corresponding candidate node to the current root node; Return to the step of generating corresponding random points in the node map for each current root node, until the current root node of each transmission path reaches the target point or the preset maximum number of iterations is reached.

[0010] On the other hand, when a path planning task is used to determine a transmission path between a single transmission origin and multiple destinations, the execution process of the path planning task includes: Obtain the number of wireless transmission nodes in the node map, and determine the threshold for the number of branch nodes based on the number of wireless transmission nodes; The transmission start point is determined as the current root node, and a random point is generated in the node map; Determine the set of neighboring nodes of the current root node based on the planar coordinates of the current root node and the preset signal transmission range; Based on the distance between each wireless transmission node in the neighbor node set and the random point, the wireless transmission node closest to the random point is determined as a candidate branch node of the current root node. Determine if there is any communication barrier between the candidate branch node and the current root node; If it exists, discard the candidate branch node; If it does not exist, the candidate branch node will be added to the shared transmission path as the new current root node; Return to the step of generating random points in the node map until the number of wireless transmission nodes in the shared transmission path is greater than the branch node number threshold. The common transmission path is defined as the common part of the transmission path corresponding to each target point. The current root node is defined as the branch node, and the branch node is defined as the current root node of the transmission path corresponding to each target point. For each current root node, a corresponding random point is generated, and the set of neighboring nodes of the corresponding current root node is determined according to the planar coordinates of each current root node and the preset signal transmission range. Based on the distance between each wireless transmission node in each neighbor node set and the corresponding random point, the wireless transmission node closest to the corresponding random point is determined as the candidate branch node of the current root node. Determine whether there is a communication barrier between each candidate branch node and its corresponding current root node; If it exists, discard the candidate branch node; If it does not exist, add the candidate branch node to the corresponding transmission path and update the candidate branch node to the current root node of the corresponding transmission path; Return to the step of generating corresponding random points for each current root node, until the current root node of each transmission path reaches the corresponding target point or the preset maximum number of iterations is reached.

[0011] On the other hand, when a path planning task is used to determine the transmission path between multiple transmission origin points and multiple destination points, the execution process of the path planning task includes: Based on the transmission correspondence, the path planning task is decomposed into multiple path planning sub-tasks; Based on the transmission start point and target point included in each path planning subtask, each path planning subtask is divided into three categories: the first category of subtasks corresponding to a single transmission start point and a single target point, the second category of subtasks corresponding to multiple transmission start points and a single target point, and the third category of subtasks corresponding to a single transmission start point and multiple target points. When the path planning subtask is a first-class subtask, the first-class subtask is executed according to the path planning process between a single transmission start point and a single destination point. When the path planning subtask is a type II subtask, the type II subtask is executed according to the path planning process between multiple transmission start points and a single target point. When the path planning subtask is a third type of subtask, the third type of subtask is executed according to the path planning process between a single transmission start point and multiple target points. Based on the execution results of each path planning subtask, the initial transmission path corresponding to each path planning subtask is obtained; Based on the wireless transmission nodes included in each initial transmission path, determine the overlapping nodes between different initial transmission paths; If at least two initial transmission paths with the same target point contain the same overlapping node, the overlapping node is determined as the merging node, the corresponding initial transmission paths are merged, and the path from the merging node to the corresponding target point is determined as the shared transmission path. Based on the merged processing results of each initial transmission path, the transmission path corresponding to each path planning subtask is obtained.

[0012] On the other hand, determining whether there is a communication barrier between the candidate branch node and the current root node includes: Obtain the planar coordinates of the current root node, candidate branch nodes, and obstacles; where the planar coordinates of the obstacles include the coordinates of the two endpoints of the line segment corresponding to the obstacle; Based on the positions of the current root node and candidate branch node relative to the corresponding line segment of the obstacle, and the positions of the two endpoints relative to the line connecting the current root node and the candidate branch node, determine whether the line intersects with the corresponding line segment of the obstacle. If they do not intersect, it is determined that there is no communication barrier between the candidate branch node and the current root node; If they intersect, the transmission distance and transmission height of the wireless transmission node in open conditions are obtained, as well as the material, thickness, and height of the obstacle; The effective transmission distance between the candidate branch node and the current root node is determined based on the transmission distance and height under open conditions, as well as the material, thickness, and height of obstacles. Get the node distance between the candidate branch node and the current root node; If the distance between nodes is not greater than the effective transmission distance, then it is determined that there is no communication barrier between the candidate branch node and the current root node; If the distance between nodes is greater than the effective transmission distance, then it is determined that there is a communication barrier between the candidate branch node and the current root node.

[0013] On the other hand, it also includes: The wireless gateway receives data transmission frames sent by each wireless transmission node according to the path set. Determine whether any data transmission frame from any wireless transmission node is missing within a preset duration; If not, continue to receive data transmission frames sent by each wireless transmission node; If so, the wireless transmission node corresponding to the missing data transmission frame is identified as the faulty node, and the node map is updated based on the faulty node. The path planning task is re-executed based on the updated node map to obtain a new set of paths, which is then distributed to the corresponding wireless transmission nodes through the wireless master gateway.

[0014] To address the aforementioned technical problems, this application also provides a transmission path determination device for facility agriculture networks, comprising: Memory, used to store computer programs; A processor is used to execute computer programs to implement the steps of the above-described method for determining the transmission path of a facility agriculture network.

[0015] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described method for determining the transmission path of a facility agriculture network.

[0016] The method for determining transmission paths in a facility agriculture network provided in this application converts the geographical coordinates of each wireless transmission node into planar coordinates and constructs a node map accordingly, enabling discretely distributed wireless transmission nodes to participate in path planning within a unified coordinate system. By acquiring a set of transmission start points and a set of target points, the transmission correspondence between them is determined, and a path planning task is generated, allowing for the determination of transmission paths tailored to different data transmission needs. During the path planning task, the transmission start point is used as the root node. Within its transmission range, the wireless transmission node closest to a random point and without communication obstacles is selected as a neighbor node. These neighbor nodes are then added to the transmission path level by level, ensuring that the resulting path consists of actually existing wireless transmission nodes capable of communication with each other. This reduces the likelihood of paths obtained through continuous spatial planning not passing through discrete nodes or where adjacent nodes cannot communicate. Finally, each transmission path generates a path set and distributes it to the corresponding wireless transmission nodes, enabling each node to transmit data according to the determined path. This reduces reliance on pre-configured static routes and effectively improves the availability and reliability of transmission paths in the facility agriculture network.

[0017] In addition, this application also provides a transmission path determination device and medium for facility agriculture networks, with the same effect as above. Attached Figure Description

[0018] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a heterogeneous network structure for facility agriculture provided in an embodiment of this application; Figure 2 A schematic diagram of the internal structure of a wireless node provided in an embodiment of this application; Figure 3 This is a schematic diagram of the internal structure of the wireless master gateway provided in an embodiment of this application; Figure 4 A schematic diagram of the internal structure of the near-end user access module provided in the embodiments of this application; Figure 5 This is a schematic diagram of the internal structure of an edge computing node provided in an embodiment of this application; Figure 6This is a schematic diagram of the electrical structure of the facility greenhouse provided in the embodiments of this application; Figure 7 A schematic diagram of the electrical structure of the control room provided in the embodiments of this application; Figure 8 A schematic diagram illustrating the wireless transmission node path determination and fault tolerance control process provided in the embodiments of this application; Figure 9 A schematic diagram illustrating the relationship between a traditional RRT planning path and discrete wireless transmission nodes, provided for embodiments of this application; Figure 10 A flowchart illustrating a method for determining the transmission path of a facility agriculture network, provided as an embodiment of this application; Figure 11 A schematic diagram illustrating the path planning results for a single transmission start point and a single target point provided in an embodiment of this application; Figure 12 A schematic diagram illustrating the path planning results between multiple transmission start points and a single target point provided in an embodiment of this application; Figure 13 A schematic diagram illustrating the path planning results between a single transmission start point and multiple target points provided in an embodiment of this application; Figure 14 A schematic diagram illustrating the path planning results for multiple transmission start points and multiple target points provided in the embodiments of this application; Figure 15 A schematic diagram of a transmission path determination device for a facility agriculture network provided in an embodiment of this application; Figure 16 This is a structural diagram of a transmission path determination device for a facility agriculture network provided in an embodiment of this application. Detailed Implementation

[0020] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0021] The core of this application is to provide a method, device, and medium for determining the transmission path in a facility agriculture network, in order to solve the problem that static routing in facility agriculture networks is difficult to adapt to dynamic changes in nodes and links, leading to a decline in transmission performance or network paralysis.

[0022] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Figure 1This is a schematic diagram of the heterogeneous network structure for facility agriculture provided in the embodiments of this application, such as... Figure 1 As shown, a heterogeneous network for facility agriculture can include management objects, users, control rooms, cloud servers, and wireless communication equipment. These components are connected through wired or wireless communication links, forming a radial link structure with the control room as the central hub, extending to multiple facility greenhouses and user nodes.

[0024] The managed objects can be multiple greenhouses distributed within the same area, denoted as n. Each greenhouse can be equipped with data acquisition devices such as cameras, temperature sensors, humidity sensors, light sensors, and carbon dioxide sensors, as well as control devices such as solenoid valves, roller shutter motors, temperature control devices, and fans. Each greenhouse can be configured with solar energy and energy storage equipment, which will power the wireless nodes, sensors, and actuators within the greenhouse. In this embodiment, there are no restrictions on the specific type and number of greenhouses, or the combination of sensors and actuators within them; these will be determined based on the specific implementation.

[0025] Users can be categorized into near-end users and remote users. Near-end users are those located within the agricultural production area and connected to the wireless network via a near-end user access module; remote users are those who remotely access the greenhouse through a cloud server or edge computing node. Remote users can exchange data with the cloud server or edge computing node via a mobile application (APP) using the Message Queuing Telemetry Transport (MQTT) protocol. Near-end users can exchange data with the wireless gateway via a mobile APP and a Universal Serial Bus Type-C (USB Type-C) wireless module using the ZigBee wireless communication protocol. Near-end users can view sensor data from the greenhouse and send control data to roller shutter motors, solenoid valves, or temperature control devices.

[0026] The control room can be equipped with a central wireless gateway and edge computing nodes. The central wireless gateway receives data from wireless nodes and near-end user access modules, and exchanges data with each node using ZigBee. The edge computing nodes can run node map building, transmission path determination, network diagnostics, and fault tolerance control programs. The cloud server can deploy databases and MQTT services for data storage, relay, and remote user access.

[0027] The wireless communication equipment may include wireless nodes installed in each facility greenhouse and USB Type-C wireless modules for use by near-end users. The wireless nodes are used to transmit data generated in their respective facility greenhouses and to forward data generated by other wireless nodes. The USB Type-C wireless modules are used to connect near-end user devices to the ZigBee wireless network. For ease of description, this embodiment collectively refers to the wireless nodes in the facility greenhouse, the main wireless gateway, and the near-end user nodes connected to the wireless network as wireless transmission nodes. Any wireless transmission node can serve as a transmission start point, destination point, or intermediate node depending on the source and purpose of the data to be transmitted.

[0028] Figure 2 This is a schematic diagram of the internal structure of a wireless node provided in an embodiment of this application, such as... Figure 2 As shown, the wireless node can include a BeiDou module, a Controller Area Network (CAN) module, and a ZigBee module. The BeiDou module receives BeiDou satellite signals, obtains the longitude and latitude of the wireless node, and transmits the longitude and latitude to the ZigBee module via a serial port. The CAN module receives data collected by sensors inside the enclosure via a CAN communication line and sends control commands to the roller shutter motor, temperature control device, and solenoid valve. The ZigBee module connects the positioning data output from the BeiDou module and the collected data output from the CAN module to the ZigBee wireless network and receives data sent from the control room or user nodes.

[0029] Figure 3 This is a schematic diagram of the internal structure of the wireless master gateway provided in the embodiments of this application, as shown below. Figure 3 As shown, the wireless gateway may include a ZigBee module and a Serial Peripheral Interface (SPI) to Ethernet module. The SPI to Ethernet module receives data output from the ZigBee module via SPI and converts it into Internet Protocol / Transmission Control Protocol (IP / TCP) data before sending it to the edge computing node. In the reverse transmission, the SPI to Ethernet module converts the data sent by the edge computing node and then passes it to the ZigBee module for transmission to the wireless transmission node.

[0030] Figure 4 This is a schematic diagram of the internal structure of the near-end user access module provided in the embodiments of this application, such as... Figure 4As shown, the near-end user access module may include a USB Type-C to serial port module and a ZigBee module. The near-end user's mobile phone connects to the USB Type-C to serial port module via a Universal Serial Bus On-The-Go (USB OTG) interface. The USB Type-C to serial port module converts USB data to serial data, and the ZigBee module converts the serial data to ZigBee data for access to the wireless network. During reverse transmission, the ZigBee module receives data from the wireless network and sends it to the near-end user's mobile phone via the USB Type-C to serial port module.

[0031] Figure 5 This is a schematic diagram of the internal structure of an edge computing node provided in an embodiment of this application, such as... Figure 5 As shown, the edge computing node can be configured with a first wired network port and a second communication interface. The first wired network port uses IP / TCP to receive data sent by the wireless gateway or to send data to the wireless gateway. The second communication interface can be a second wired network port, a Wireless Fidelity (Wi-Fi) interface, or a 5G interface, and uses MQTT to communicate with the cloud server or remote users. The edge computing node runs transmission path determination and fault tolerance control programs and manages the wireless transmission nodes in the heterogeneous network of facility agriculture. In this embodiment, the specific combination of the first wired network port, the second communication interface, and the cloud communication method is not limited and is determined according to the network conditions of the deployment area.

[0032] Figure 6 This is a schematic diagram of the electrical structure of the facility greenhouse provided in the embodiments of this application, such as... Figure 6 As shown; Figure 6 In this diagram, L and N represent the live and neutral wires of the AC power supply, respectively; QF represents an air switch; KM represents a relay; H and L represent CAN communication lines; and V1 and V2 represent DC power supply terminals. The AC power supply can be 220V. Solar panels and energy storage modules can also convert solar energy into electrical energy to power devices within the greenhouse. The wireless node controls the solenoid valve, temperature control device, and roller shutter motor via relay KM, and collects sensor data via communication lines H and L. The CAN communication line is suitable for greenhouse environments with electromagnetic interference, humidity variations, or long-distance wiring.

[0033] Figure 7 A schematic diagram of the electrical structure of the control room provided in the embodiments of this application is shown below. Figure 7As shown; L and N represent the live and neutral wires of AC220V, respectively; QF represents the air switch in the control room; and FU2 represents the fuse. The AC220V is rectified, filtered, and regulated to output DC power, which supplies power to the wireless main gateway and the edge computing nodes. In this embodiment, there are no restrictions on the rectifier circuit, filter circuit, voltage regulator circuit, or output voltage; they are determined based on the rated voltages of the wireless main gateway and the edge computing nodes.

[0034] It is worth noting that the transmission path determination method provided in this application is applied to the edge computing nodes in the above-mentioned heterogeneous network of facility agriculture, and the edge computing nodes are connected to multiple wireless transmission nodes through a wireless master gateway.

[0035] Figure 8 This is a schematic diagram of the wireless transmission node path determination and fault tolerance control process provided in the embodiments of this application, as shown below. Figure 8 As shown, edge computing nodes can sequentially perform BeiDou map construction, rapid-exploring random tree path planning, path distribution, data transmission, and network status assessment. The star-shaped variant of Rapidly-exploring Random Tree (RRT) is the Rapidly-exploring Random Tree Star (RRT) algorithm. When the network is functioning normally, the edge computing nodes continue to receive data; when a missing or newly added node is detected, the edge computing nodes update the node map and re-execute path planning. This embodiment can employ an improved RRT discrete multipath planning algorithm, or other random tree planning algorithms with the same node search logic.

[0036] Figure 9 This is a schematic diagram illustrating the relationship between a traditional RRT planning path and discrete wireless transmission nodes, as provided in an embodiment of this application. Figure 9 As shown, traditional RRT generates a continuous path from the starting position to the target position in a continuous physical space. This continuous path may not pass through any actually deployed wireless transmission nodes. Wireless data transmission needs to be completed hop-by-hop by adjacent wireless transmission nodes. Therefore, this embodiment does not directly use the continuous spatial path as the wireless transmission path, but instead selects the root node, neighboring nodes, and branch nodes step by step from the actual wireless transmission nodes in the node map.

[0037] The input to the improved RRT discrete multipath planning algorithm can include a set of transmitting nodes A and a target node B. The set of transmitting nodes A includes multiple wireless transmitting nodes A1 and B2. i Each wireless transmission node A i Having planar coordinates (x i y i). Target node B can be a wireless master gateway, a facility greenhouse wireless node, or a near-end user node, and has planar coordinates (x, y). B y B The algorithm outputs a path set T, which includes the transmission paths from each transmission start point to the corresponding destination point. i In the algorithm, C represents the current root node, S represents a random point, N represents the set of neighboring nodes within the transmission range of the current root node, Z represents candidate branch nodes, n represents the number of wireless transmission nodes, k represents the iteration number, and K... max This indicates the preset maximum number of iterations. In this embodiment, for K... max The specific value is not limited and can be determined based on the number of nodes, the area, and the allowed planning duration. The following is a detailed explanation of the method for determining the transmission path of the facility agriculture network provided in this application: Figure 10 This is a flowchart illustrating a method for determining the transmission path of a facility agriculture network, as provided in an embodiment of this application. Figure 10 As shown, the method includes: S10: Convert the geographic coordinates of each wireless transmission node into corresponding planar coordinates, and build a node map based on each planar coordinate.

[0038] First, the edge computing nodes convert the geographic coordinates of each wireless transmission node into corresponding planar coordinates and construct a node map based on these coordinates. Wireless transmission nodes can periodically obtain latitude and longitude coordinates via a BeiDou module, or provide them through pre-surveyed mapping or manual input. The node map can record node identifiers, planar coordinates, node type, communication status, and the locations of potential obstacles.

[0039] For example, a wireless transmission node broadcasts a map building and path request frame, which is then forwarded hop by hop by neighboring nodes until the wireless gateway sends the frame to the edge computing node.

[0040] Table 1 Map Construction and Transmission Path Request Table

[0041] Table 1 shows that the map building and path request frame can include message type, self-identifier, longitude, and latitude. The message type occupies 1 byte, and a value of 0x01 indicates a map building and path transmission request; the self-identifier occupies 2 bytes, with a value range of 0-65535; longitude and latitude each occupy 4 bytes and can be represented using floating-point (float) type. The identifier can be called an identifier (ID). In this embodiment, there are no restrictions on the message type value, field length, and data type; they are determined based on the number of nodes and positioning accuracy.

[0042] S11: Obtain the set of transmission start points and the set of transmission destination points, and determine the transmission correspondence between the sets to generate at least one path planning task.

[0043] The path planning task is used to determine the transmission path between the transmission start point and the corresponding target point.

[0044] Furthermore, the edge computing node acquires a set of transmission start points and a set of target points, and determines the transmission correspondence between the two sets based on the source, purpose, and target address of the data to be transmitted, thereby generating one or more path planning tasks. For example, when near-end user U1 needs to view the environmental data of facility greenhouse P2, the wireless node corresponding to facility greenhouse P2 can be determined as the transmission start point, and the near-end user node corresponding to near-end user U1 can be determined as the target point; when near-end user U5 needs to control the roller shutter motor of facility greenhouse P9, the near-end user node corresponding to near-end user U5 can be determined as the transmission start point, and the wireless node corresponding to facility greenhouse P9 can be determined as the target point. The transmission start point and target point can also be interchanged; this embodiment does not restrict the node type of the two, and the determination is based on the data flow direction.

[0045] S12: For each path planning task, take the corresponding transmission starting point as the root node, generate a random point in the node map, select a neighboring node from the transmission range of the root node, and add the neighboring node as a new root node to the transmission path, return to the step of generating a random point in the node map, until the corresponding target point is reached; where, the neighboring node is the wireless transmission node within the transmission range that is closest to the random point and has no communication obstacles with the root node.

[0046] Subsequently, for each path planning task, the edge computing node uses the corresponding transmission starting point as the root node, generates a random point within the node map, selects neighboring nodes from the root node's transmission range, and adds neighboring nodes that are close to the random point and have no communication obstacles with the root node to the transmission path. The edge computing node then uses the newly added neighboring node as the new root node and continues to perform random point generation and neighboring node selection until the corresponding target point is reached. It is important to note that when no neighboring node meets the conditions, the edge computing node regenerates a random point; when the number of iterations reaches K... max When the time is up, end the current path planning task and output the planning status.

[0047] S13: Generate a path set based on each transmission path, and distribute the path set to the corresponding wireless transmission nodes through the wireless master gateway.

[0048] Finally, the edge computing nodes generate a path set based on the transmission paths obtained from each path planning task, and then distribute the path set to the corresponding wireless transmission nodes through the wireless master gateway.

[0049] Table 2 Path-based frame distribution table

[0050] Table 2 shows that the path distribution frame can include a message type, its own ID, the next node ID, the final target ID, and data relating path nodes to their IDs. The message type occupies 1 byte, with a value of 0x02 indicating path distribution. The own ID, the next node ID, and the final target ID each occupy 2 bytes, with values ​​ranging from 0 to 65535. The length of the path node-ID relationship data varies depending on the number of nodes in the path. After receiving the path distribution frame, the wireless transmission node saves the next node ID and the final target ID corresponding to its own ID.

[0051] In this embodiment, by converting the geographical coordinates of each wireless transmission node into planar coordinates and constructing a node map accordingly, discretely distributed wireless transmission nodes can participate in path planning under a unified coordinate system. By obtaining the set of transmission start points and the set of target points, the transmission correspondence between them is determined and a path planning task is generated, enabling the determination of transmission paths for different data transmission needs. When executing the path planning task, the transmission start point is used as the root node, and the wireless transmission node closest to the random point and without communication obstacles within its transmission range is selected as the neighbor node. The neighbor nodes are added to the transmission path level by level, so that the formed path consists of actual wireless transmission nodes that can communicate with each other, reducing the situation where the path obtained by continuous spatial planning does not pass through discrete nodes or adjacent nodes cannot communicate. Finally, each transmission path generates a path set and distributes it to the corresponding wireless transmission nodes, enabling each node to transmit data according to the determined path, reducing the dependence on pre-configured static routes, and effectively improving the availability and reliability of the transmission path of the facility agriculture network.

[0052] Based on the above embodiments, in some embodiments, the geographical coordinates of each wireless transmission node are converted into corresponding planar coordinates, and a node map is constructed based on each planar coordinate, including: S101: Obtain the origin geographic coordinates of the preset planar coordinate system, as well as the scaling parameters between the geographic coordinates and the planar coordinates.

[0053] S102: Determine the initial planar coordinates of each wireless transmission node based on its geographical coordinates, origin geographical coordinates, and scaling parameters.

[0054] S103: Acquire multiple sets of position coordinates collected when the mobile positioning device moves from the origin along the preset coordinate axes of the preset plane coordinate system, determine the direction angle deviation based on each set of position coordinates, and determine the rotation calibration angle based on each direction angle deviation.

[0055] S104: The initial plane coordinates are calibrated according to the rotation calibration angle to obtain the plane coordinates corresponding to each wireless transmission node.

[0056] S105: Associate the node identifier of each wireless transmission node with the corresponding planar coordinates, and mark the obstacle in the node map according to the location coordinates of the obstacle.

[0057] To construct the node map, in this embodiment, the edge computing nodes obtain the origin latitude and longitude (Long0, Lat0) of the preset planar coordinate system, as well as the longitude scaling parameter k. rp1 and latitude scaling parameter k rp2 For scenarios where the area of ​​facility agriculture does not exceed 50 km², local translation and scaling can be used to adjust the latitude and longitude (Long) of the i-th wireless transmission node. i Lat i Convert to initial planar coordinates (x) i ' y i ' The formula is as follows: ; Where Long0 and Lat0 are the longitude and latitude of the origin of the plane coordinate system, respectively, and k rp1 k is the scaling parameter for the longitude difference to the initial plane x-coordinate. rp2 x is the scaling parameter for the latitude difference to the initial plane ordinate. i ' and y i ' These are the x and y coordinates of the i-th wireless transmission node before calibration, respectively. In this embodiment, there are no restrictions on the specific values ​​of the area of ​​the facility agriculture region and the scaling parameters; for larger areas, a partitioned projection method can also be used to transform the coordinates.

[0058] The initial plane coordinate system has its x-axis set to due east and its y-axis set to due north. However, in practice, due to issues such as human direction identification and demarcation, and sensor noise interference, there will be deviations between the latitude and longitude coordinates and the initial plane coordinate system used in the facility agriculture area. Edge computing nodes require further angle calibration. The operator places the portable BeiDou device at the origin of the plane coordinate system and moves multiple line segments along the positive x-axis of the initial plane coordinate system. The portable BeiDou device collects position data at sampling intervals T, where the sampling time can be represented as kT, k = 0, 1, 2…n. For the j-th moving line segment, the coordinates before movement are marked as (…). , ), mark the moved coordinates as ( , The length of the j-th moving segment. for: ; The angular deviation of the j-th moving line segment relative to the x-axis It can be represented as: ; Since the initial direction was manually identified and defined, the direction angle deviation ranges from -90 to 90 degrees. Directions outside this range are considered invalid and require re-identification and redefined manually. The edge calculation nodes determine the rotation calibration angle based on the direction angle deviations of the n moving line segments. : ; Subsequently, the edge computing nodes are calibrated according to the rotation angle. Rotate the initial planar coordinates to obtain the calibrated planar coordinates (x... i y i ): ; It should be noted that the edge computing node associates and saves the node ID, calibrated planar coordinates, node type, and node status. For obstacles such as large-area metal structures, high-voltage lines, and terrain boundaries, the latitude and longitude of the obstacle boundary endpoints can be collected using a BeiDou marker. The endpoint planar coordinates are then obtained using the same coordinate transformation and angle calibration process, and the obstacle's location, material, thickness, and height are marked on the node map.

[0059] In this embodiment, the latitude and longitude of different wireless transmission nodes and obstacles are unified into a plane coordinate system fixed with the facility agriculture area, and the coordinate direction deviation is reduced by multiple segments of mobile data, providing a coordinate basis for subsequent discrete node search and communication obstruction judgment.

[0060] To enable those skilled in the art to more clearly understand the execution process of the transmission path determination method provided in this application, the execution process of different types of path planning tasks is described in detail below: (a) Path planning between a single transmission starting point and a single destination point; Based on the above embodiments, in some embodiments, when the path planning task is used to determine the transmission path between a single transmission start point and a single destination point, the execution process of the path planning task includes: S111: Determine the transmission start point as the current root node and generate a random point in the node map.

[0061] S112: Determine the set of neighboring nodes of the current root node based on the planar coordinates of the current root node and the preset signal transmission range.

[0062] S113: Based on the distance between each wireless transmission node in the neighbor node set and the random point, determine the wireless transmission node closest to the random point as the candidate branch node.

[0063] S114: Determine if there is a communication barrier between the candidate branch node and the current root node; if not, add the candidate branch node to the transmission path and update the candidate branch node to the current root node; if it exists, discard the candidate branch node; return to step S111 until the current root node reaches the target point or reaches the preset maximum number of iterations.

[0064] Figure 11 This is a schematic diagram illustrating the path planning results for a single transmission start point and a single destination point provided in an embodiment of this application. (See diagram below.) Figure 11 As shown, assuming the wireless node corresponding to facility greenhouse P2 is the transmission starting point C0, and the near-end user node corresponding to near-end user U1 is the target point B, the edge computing node first determines C0 as the current root node C, and then uses the random point generation function (Simple) to generate random points S=(x) in the node map. s y s The coordinates of a random point can be represented as: ; Where rand() represents a random function with values ​​in the range [0, 1), and k x and k y These are the boundary parameters of the node map in the horizontal and vertical directions, respectively. s and y s These are the x and y coordinates of the random point S, respectively. In this embodiment, the distribution form of the random function is not limited; random sampling methods other than uniform distribution can also be used.

[0065] Edge computing nodes use a neighbor search function (Search) based on the current root node C=(x c y c The planar coordinates and signal transmission range d under open conditions. s Search for neighboring nodes. For the m-th wireless transmission node P in the node map... m =(x m y m When the conditions are met At that time, P m Add the current root node to the set N of its neighboring nodes. s The parameters can be determined based on the wireless module's transmit power, receive sensitivity, antenna parameters, and on-site test results. This embodiment does not specify d. s The specific values ​​are restricted.

[0066] Edge computing nodes use the nearest node selection function to determine the distance d between each wireless transmission node in the neighbor set N and the random point S. mS The formula is as follows: ; The wireless transmission node with the smallest distance is identified as the candidate branch node Z, that is: ; The edge computing node then calls the communication correction function (Correct) to determine if there is a communication barrier between the candidate branch node Z and the current root node C. If there is no communication barrier, Z is added to the transmission path and updated as the current root node; if there is a communication barrier, Z is discarded and a new random point is generated. In practice, the edge computing node adds the discarded candidate branch nodes to the exclusion set corresponding to the current root node to avoid repeatedly judging the same invalid connections in subsequent searches. The above process continues until the current root node reaches the target point B or the number of iterations reaches K. max .

[0067] In this embodiment, each branch node in the transmission path is selected from the actual wireless transmission nodes within the transmission range of the current root node, and after communication obstruction judgment, an executable transmission path composed of discrete wireless transmission nodes is formed.

[0068] (ii) Path planning between multiple transmission starting points and a single target point; Based on the above embodiments, in some embodiments, when the path planning task is used to determine the transmission path between multiple transmission start points and a single target point, the execution process of the path planning task includes: S121: Determine each transmission starting point as the current root node of the corresponding transmission path, and generate corresponding random points in the node map for each current root node.

[0069] S122: Determine the set of neighboring nodes of the current root node based on the planar coordinates of each current root node and the preset signal transmission range.

[0070] S123: Based on the distance between each wireless transmission node in each neighbor node set and the corresponding random point, determine the wireless transmission node closest to the corresponding random point as the candidate branch node of the current root node.

[0071] S124: Determine whether there is a communication barrier between each candidate branch node and the corresponding current root node; if there is, discard the candidate branch node; if not, add the candidate branch node to the corresponding transmission path.

[0072] S125: Determine whether the candidate nodes added in different transmission paths are the same wireless transmission node; if the candidate nodes added in at least two transmission paths are the same wireless transmission node, then the wireless transmission node is determined as the merging node, the corresponding transmission paths are merged, and the merging node is the current root node; for transmission paths that have not merged but have added candidate nodes, the corresponding candidate nodes are updated to the current root node; return to step S121 until the current root node of each transmission path reaches the target point or reaches the preset maximum number of iterations.

[0073] Figure 12 This is a schematic diagram illustrating the path planning results between multiple transmission start points and a single target point provided in an embodiment of this application. For example... Figure 12 As shown, assuming that the same near-end user U1 needs to receive environmental data from facility greenhouses P2 and P3 simultaneously, the wireless nodes corresponding to P2 and P3 are respectively used as transmission start points C1 and C2, and the near-end user node corresponding to U1 is used as the common target point B.

[0074] The edge computing nodes determine C1 and C2 as the current root nodes of the corresponding transmission paths, and generate random points S1 and S2 respectively. For each current root node, the edge computing node uses the aforementioned Search function to determine the corresponding neighbor set N1 and N2, uses the aforementioned Nearest function to select the candidate branch nodes Z1 and Z2 that are closest to the corresponding random point, and then uses the Correct function to determine whether there is a communication obstacle between Z1 and C1 and between Z2 and C2 respectively.

[0075] For candidate nodes without communication obstacles, the edge computing node adds them to the corresponding transmission path; for candidate nodes with communication obstacles, the edge computing node discards them and keeps the corresponding current root node unchanged. The edge computing node compares the candidate nodes already added in different transmission paths. When at least two transmission paths join the same wireless transmission node, that wireless transmission node is identified as the merging node, and the corresponding transmission paths are merged. After merging, the path continues to extend towards the common target point B using only the merging node as the shared current root node. For transmission paths that have not merged but have already added candidate nodes, the corresponding candidate node is updated as the current root node and the path continues to extend. This process continues until each transmission path reaches B or the number of iterations reaches K. max In this embodiment, there is no limit to the number of transmission start points; it depends on the specific implementation.

[0076] In this embodiment, multiple transmission paths originating from different transmission start points but with the same destination can converge at a common wireless transmission node and share the subsequent path from the convergence node to the destination, effectively reducing duplicate paths and duplicate forwarding in the same destination direction.

[0077] (iii) Path planning between a single transmission origin and multiple destinations; Based on the above embodiments, in some embodiments, when the path planning task is used to determine the transmission path between a single transmission origin and multiple destination points, the execution process of the path planning task includes: S131: Obtain the number of wireless transmission nodes in the node map, and determine the threshold for the number of branch nodes based on the number of wireless transmission nodes.

[0078] S132: Determine the transmission start point as the current root node and generate a random point in the node map.

[0079] S133: Determine the set of neighboring nodes of the current root node based on the planar coordinates of the current root node and the preset signal transmission range.

[0080] S134: Based on the distance between each wireless transmission node in the neighbor node set and the random point, determine the wireless transmission node closest to the random point as the candidate branch node of the current root node.

[0081] S135: Determine whether there is a communication barrier between the candidate branch node and the current root node; if there is, discard the candidate branch node; if there is no barrier, add the candidate branch node as the new current root node to the shared transmission path; return to step S132 until the number of wireless transmission nodes in the shared transmission path is greater than the branch node number threshold.

[0082] S136: The common transmission path is determined as the common part of the transmission path corresponding to each target point, the current root node is determined as the branch node, and the branch node is determined as the current root node of the transmission path corresponding to each target point.

[0083] S137: Generate corresponding random points for each current root node, and determine the set of neighboring nodes of the corresponding current root node based on the planar coordinates of each current root node and the preset signal transmission range.

[0084] S138: Based on the distance between each wireless transmission node in each neighbor node set and the corresponding random point, determine the wireless transmission node closest to the corresponding random point as the candidate branch node of the current root node.

[0085] S139: Determine whether there is a communication barrier between each candidate branch node and the corresponding current root node; if there is, discard the candidate branch node; if not, add the candidate branch node to the corresponding transmission path and update the candidate branch node to the current root node of the corresponding transmission path; return to step S137 until the current root node of each transmission path reaches the corresponding target point or reaches the preset maximum number of iterations.

[0086] Figure 13 This is a schematic diagram illustrating the path planning results between a single transmission start point and multiple target points provided in an embodiment of this application. For example... Figure 13 As shown, assuming that both near-end users U1 and U2 need to receive environmental data from facility greenhouse P2, the wireless node corresponding to P2 is used as the transmission starting point C0, and the near-end user nodes corresponding to U1 and U2 are used as the target points B1 and B2, respectively.

[0087] The edge computing node obtains the number n of wireless transmission nodes in the node map, and generates a branch node number threshold r between 0 and n using a random threshold function (Randn). b : ; In this embodiment, there are no restrictions on the probability distribution used for the Randn function; r can also be configured directly based on network load, path length limit, or number of target points. b The edge computing node designates C0 as the current root node and determines branch nodes level by level according to the aforementioned random point generation, neighbor node search, nearest node selection, and communication obstacle judgment process. Candidate branch nodes without communication obstacles are added to the shared transmission path. The shared transmission path contains more than r wireless transmission nodes. b When the current root node is determined as the branch node Z, b The established shared transmission path is determined as the common part of the transmission path corresponding to each target point.

[0088] Edge computing nodes will respectively Z b The current root node of the transmission path corresponding to B1 and B2 is determined. For each current root node, a random point is generated, a set of neighboring nodes is determined, candidate branch nodes are selected, and communication obstacles are identified. Candidate branch nodes without communication obstacles are added to the corresponding transmission path and updated as the current root node; candidate branch nodes with communication obstacles are discarded. The path to each target point is expanded until each current root node reaches B1 or B2, or the number of iterations reaches K. max In this embodiment, the number of target points is not limited; it depends on the specific implementation.

[0089] In this embodiment, data sent from the same transmission starting point to multiple target points can first be transmitted along a common transmission path, and then transmitted from branch nodes to each target point respectively, thereby forming a multi-target transmission path that includes a common part and a branch part, effectively reducing the duplicate data transmission on the link before the branch.

[0090] (iv) Path planning between multiple transmission origin points and multiple destination points; Based on the above embodiments, in some embodiments, when the path planning task is used to determine the transmission path between multiple transmission start points and multiple destination points, the execution process of the path planning task includes: S141: Based on the transmission correspondence, the path planning task is decomposed into multiple path planning sub-tasks.

[0091] S142: Based on the transmission start point and target point included in each path planning subtask, divide each path planning subtask into three categories: the first category of subtasks corresponding to a single transmission start point and a single target point, the second category of subtasks corresponding to multiple transmission start points and a single target point, and the third category of subtasks corresponding to a single transmission start point and multiple target points.

[0092] S143: When the path planning subtask is a first-class subtask, the first-class subtask is executed according to the path planning process between a single transmission start point and a single target point.

[0093] S144: When the path planning subtask is a second type of subtask, the second type of subtask is executed according to the path planning process between multiple transmission start points and a single target point.

[0094] S145: When the path planning subtask is a third type of subtask, the third type of subtask is executed according to the path planning process between a single transmission start point and multiple target points.

[0095] S146: Based on the execution results of each path planning subtask, obtain the initial transmission path corresponding to each path planning subtask.

[0096] S147: Determine the overlapping nodes between different initial transmission paths based on the wireless transmission nodes included in each initial transmission path.

[0097] S148: If at least two initial transmission paths with the same target point contain the same overlapping node, the overlapping node is determined as the merging node, the corresponding initial transmission paths are merged, and the path from the merging node to the corresponding target point is determined as the shared transmission path.

[0098] S149: Based on the merge processing results of each initial transmission path, obtain the transmission path corresponding to each path planning subtask.

[0099] Figure 14 This is a schematic diagram illustrating the path planning results for multiple transmission start points and multiple target points provided in an embodiment of this application. For example... Figure 14As shown, assuming that facility greenhouses P1, P2, and P3 are the transmission starting points, and near-end users U1, U2, and the wireless gateway G are the target points, the edge computing nodes determine the transmission correspondence between each transmission starting point and each target point based on the data type and target address, and decompose the path planning task into multiple path planning sub-tasks.

[0100] The edge computing nodes categorize path planning subtasks into three types based on the transmission start point and destination point included in each subtask: the first type of subtask corresponds to a single transmission start point and a single destination point, and is arranged according to... Figure 11 The corresponding process determines the path; the second type of subtask corresponds to multiple transmission start points and a single target point, according to... Figure 12 The corresponding process determines and merges the paths; the third type of subtask corresponds to a single transmission start point and multiple target points, according to... Figure 13 The corresponding process determines the shared path and branch paths. This yields the initial transmission path for each path planning subtask.

[0101] Edge computing nodes compare the wireless transmission nodes included in each initial transmission path to determine overlapping nodes between different initial transmission paths. For two or more initial transmission paths with the same destination point and passing through the same overlapping node, the overlapping node is determined as the merging node, and the path from the merging node to the destination point is determined as the shared transmission path. For example, when two data branches with the same final destination address G merge at the wireless transmission node Pm, the data frames of the two branches can be merged and forwarded at Pm. For initial transmission paths that do not merge, the original path remains unchanged. In this embodiment, there are no restrictions on the number of transmission starting points, the number of destination points, the number of path planning subtasks, and the number of merging nodes; these are determined based on the transmission correspondence.

[0102] In this embodiment, the complex multi-starting-point and multi-target-point path planning task is decomposed into three basic sub-tasks, and overlapping paths with the same target point are merged, which effectively reduces the number of repeated responses, receptions and transmissions on the shared link.

[0103] Based on the above embodiments, in some embodiments, determining whether there is a communication barrier between the candidate branch node and the current root node includes: S151: Obtain the planar coordinates of the current root node, candidate branch nodes, and obstacles; where the planar coordinates of the obstacles include the coordinates of the two endpoints of the line segment corresponding to the obstacle.

[0104] S152: Based on the positions of the current root node and candidate branch node relative to the corresponding line segment of the obstacle, and the positions of the two endpoints relative to the line connecting the current root node and the candidate branch node, determine whether the line intersects with the corresponding line segment of the obstacle; if they do not intersect, determine that there is no communication obstruction between the candidate branch node and the current root node; if they intersect, obtain the transmission distance and transmission height of the wireless transmission node under open conditions, and obtain the material, thickness and height of the obstacle.

[0105] S153: Determine the effective transmission distance between the candidate branch node and the current root node based on the transmission distance and height under open conditions, as well as the material, thickness, and height of obstacles.

[0106] S154: Get the node distance between the candidate branch node and the current root node.

[0107] S155: If the node distance is not greater than the effective transmission distance, then it is determined that there is no communication barrier between the candidate branch node and the current root node.

[0108] S156: If the node distance is greater than the effective transmission distance, then it is determined that there is a communication barrier between the candidate branch node and the current root node.

[0109] To determine whether there is a communication barrier between the candidate node and the current root node, in the specific implementation, the edge computing node calls the Correct function to obtain the planar coordinates of the current root node C, the candidate node Z, and the obstacle. The obstacle is approximated as endpoint A = (x... A y A ) and endpoint B=(x B y B The line segment AB between () can be obtained by collecting and converting the endpoint coordinates using a BeiDou marker during the node map construction phase.

[0110] For any point P, the position of point P relative to the directed line segment AB can be determined by the cross product of two-dimensional vectors, as shown in the following formula: ; When Cross(A, B, P) > 0, P is located on the counter-clockwise side of the directed line segment AB; when Cross(A, B, P) < 0, P is located on the clockwise side of the directed line segment AB. Edge calculation nodes are determined as follows: ; ; When u C with u Z If the sign is opposite or at least one is zero, and v A With v B When the signs are opposite or at least one is zero, line segment CZ intersects line segment AB, which can be represented as: ; In practice, the bounding boxes of the two line segments can be used to determine whether the intersection point is within the range of the line segments. If line segment CZ does not intersect with line segment AB, it is determined that there is no communication obstruction between C and Z caused by the obstacle. If they intersect, the edge computing node further obtains the transmission distance d of the wireless transmission node under open conditions. s The actual transmission height h of the wireless transmission node c The attenuation base distance d of obstacles of different materials m The obstacle height h, obstacle thickness z, and signal attenuation coefficient k of the corresponding material are used to determine the effective transmission distance d according to the following empirical formula. y : ; Where, d y d represents the allowed effective transmission distance between the root node and candidate branch nodes when obstacles are present. s d represents the transmission distance under open conditions. m h is the attenuation base distance determined by the material of the obstacle. c d is the actual transmission height of the wireless transmission node; h is the obstacle height; z is the obstacle thickness; k is the signal attenuation coefficient of the corresponding material. In this embodiment, for d m The specific values ​​of k are not restricted and can be pre-calibrated through field communication tests under obstacles of different materials, thicknesses and heights.

[0111] The node distance d between the current root node C and the candidate branch node Z n for: ; When d n ≤d y At that time, it is determined that the wireless signal can penetrate obstacles, and there is no communication obstruction between C and Z; when d n >d y When multiple obstacles exist, the edge computing node can sequentially perform the above judgment on each obstacle. As long as any obstacle causes C and Z to fail to meet the effective transmission distance condition, it is determined that there is a communication obstacle between C and Z.

[0112] In this embodiment, the communication obstruction judgment process considers not only whether there are obstacles between the root node and the candidate branch node, but also the material, thickness, height of the obstacle and the transmission height of the wireless transmission node, which can effectively distinguish the wireless links corresponding to penetrable obstacles and non-penetrable obstacles.

[0113] Based on the above embodiments, in some embodiments, the method further includes: S161: Receive data transmission frames sent by each wireless transmission node according to the path set through the wireless master gateway.

[0114] S162: Determine whether any data transmission frame from any wireless transmission node is missing within a preset duration; if not, continue receiving data transmission frames sent by each wireless transmission node; if so, identify the wireless transmission node corresponding to the missing data transmission frame as a faulty node, and update the node map based on the faulty node.

[0115] S163: Re-execute the path planning task based on the updated node map to obtain a new set of paths, and distribute the new set of paths to the corresponding wireless transmission nodes through the wireless master gateway.

[0116] After receiving the path-downloaded frame, the wireless transmission node constructs a data transmission frame based on its own ID, the ID of the next transmission node, and the final target ID, and sends the data hop by hop according to the path set.

[0117] Table 3 Data Transmission Frame Table

[0118] Table 3 shows that the data transmission frame may include message type, self-ID, next-node ID, final target ID, data length, and data. The message type can occupy 1 byte and use 0x01; the self-ID, next-node ID, and final target ID can each occupy 2 bytes, with a value range of 0-65535; the data length is determined according to the actual payload; the data field can carry sensor data, actuator control data, positioning data, or network status data. In this embodiment, there are no restrictions on message type encoding, field length, and data content; they are determined according to the communication protocol and the number of nodes.

[0119] Edge computing nodes continuously receive data transmission frames through the wireless master gateway and determine the network status based on the IDs of the wireless transmission nodes that should participate in the transmission in the path set. If data corresponding to each wireless transmission node is received within a preset time period, the receiving and processing of data transmission frames continues. If data corresponding to one or more wireless transmission nodes is missing within the preset time period, the wireless transmission node missing data is identified as a faulty node, marked as unavailable, and the node map is updated based on the faulty node. In this embodiment, the preset time period is not limited and can be determined based on the data reporting cycle, link latency, and real-time service requirements.

[0120] After the node map is updated, the edge computing nodes re-execute the path planning task based on the original set of transmission start points, target points, and transmission correspondences. During re-planning, faulty nodes are no longer considered as potential neighbors, and new branch nodes are selected from the updated node map to generate a new path set. The edge computing nodes then distribute the new path set to the corresponding wireless transmission nodes via the wireless gateway according to the path distribution frame format in Table 2, and continue to receive data transmission frames and determine network status. For newly added nodes, the edge computing nodes can also receive map building and path request frames sent by the new nodes, add the new nodes to the node map, and re-execute the path planning task. Thus, when wireless transmission nodes are interrupted, lost, or added, the edge computing nodes can update the node map based on the data transmission frame detection results and redetermine the transmission path based on the updated node map.

[0121] In the above embodiments, the determination of the transmission path of the facility agriculture network has been described in detail. This application also provides embodiments corresponding to the device for determining the transmission path of the facility agriculture network.

[0122] Figure 15 This is a schematic diagram of a transmission path determination device for a facility agriculture network provided in an embodiment of this application. The device is applied to edge computing nodes in a heterogeneous facility agriculture network, where the edge computing nodes are connected to multiple wireless transmission nodes through a wireless master gateway; as shown... Figure 15 As shown, the device includes: The map building module 10 is used to convert the geographic coordinates of each wireless transmission node into corresponding planar coordinates, and to build a node map based on each planar coordinate. The task generation module 11 is used to obtain a set of transmission start points and a set of target points, and determine the transmission correspondence between the sets to generate at least one path planning task; wherein, the path planning task is used to determine the transmission path between the transmission start point and the corresponding target point. The path planning module 12 is used to generate random points in the node map for each path planning task, with the corresponding transmission starting point as the root node, select neighboring nodes from the transmission range of the root node, add the neighboring nodes as new root nodes to the transmission path, and return to the step of generating random points in the node map until the corresponding target point is reached; wherein, the neighboring node is the wireless transmission node within the transmission range that is closest to the random point and has no communication obstacles with the root node. The path distribution module 13 is used to generate a path set based on each transmission path and distribute the path set to the corresponding wireless transmission node through the wireless master gateway.

[0123] In some embodiments, the map building module 10 includes: The coordinate parameter acquisition submodule is used to obtain the origin geographic coordinates of the preset planar coordinate system, as well as the scaling parameters between the geographic coordinates and the planar coordinates; The initial coordinate determination submodule is used to determine the initial planar coordinates of each wireless transmission node based on the geographic coordinates of each wireless transmission node, the geographic coordinates of the origin, and the scaling parameters. The calibration angle determination submodule is used to acquire multiple sets of position coordinates collected when the mobile positioning device moves from the origin along the preset coordinate axes of the preset plane coordinate system, determine the direction angle deviation based on each set of position coordinates, and determine the rotation calibration angle based on each direction angle deviation. The coordinate calibration submodule is used to calibrate the initial plane coordinates according to the rotation calibration angle to obtain the plane coordinates corresponding to each wireless transmission node. The map marking submodule is used to associate the node identifier of each wireless transmission node with the corresponding planar coordinates, and to mark obstacles in the node map according to the location coordinates of the obstacles.

[0124] In some embodiments, when the path planning task is used to determine a transmission path between a single transmission start point and a single destination point, the path planning module 12 includes: The root node initialization submodule is used to determine the transmission start point as the current root node and generate random points in the node map; The neighbor set determination submodule is used to determine the neighbor set of the current root node based on the planar coordinates of the current root node and the preset signal transmission range. The candidate support node determination submodule is used to determine the wireless transmission node closest to the random point as a candidate support node based on the distance between each wireless transmission node in the neighbor node set and the random point. The communication obstruction judgment submodule is used to determine whether there is a communication obstruction between the candidate branch node and the current root node; if there is no obstruction, the node processing submodule is triggered; if there is an obstruction, the candidate branch node is discarded. The node processing submodule is used to add candidate branch nodes to the transmission path and update the candidate branch nodes to the current root node; The first iteration control submodule is used to return to the step of generating random points in the node map until the current root node reaches the target point or reaches the preset maximum number of iterations.

[0125] In some embodiments, when the path planning task is used to determine a transmission path between multiple transmission start points and a single destination point, the path planning module 12 includes: The multi-root node initialization submodule is used to determine each transmission start point as the current root node of the corresponding transmission path, and generate corresponding random points in the node map for each current root node. The multiple neighbor set determination submodule is used to determine the corresponding neighbor set of the current root node based on the planar coordinates of each current root node and the preset signal transmission range. The multi-candidate branch node determination submodule is used to determine the wireless transmission node closest to the corresponding random point as the candidate branch node of the current root node based on the distance between each wireless transmission node in each neighbor node set and the corresponding random point. The multi-path obstruction judgment submodule is used to determine whether there is a communication obstruction between each candidate branch node and the corresponding current root node; if there is, the candidate branch node is discarded; if not, the candidate branch node is added to the corresponding transmission path. The convergence judgment submodule is used to determine whether the candidate branch nodes added in different transmission paths are the same wireless transmission node; The path merging submodule is used to determine the wireless transmission node as the merging node if the candidate branch nodes added in at least two transmission paths are the same wireless transmission node, merge the corresponding transmission paths, and take the merging node as the current root node. The multi-path root node update submodule is used to update the corresponding candidate branch node to the current root node for transmission paths that have not merged and have been added to the candidate branch node. The second iteration control submodule is used to return to the step of generating corresponding random points in the node map for each current root node, until the current root node of each transmission path reaches the target point or the preset maximum number of iterations is reached.

[0126] In some embodiments, when the path planning task is used to determine a transmission path between a single transmission origin and multiple destinations, the path planning module 12 includes: The branch threshold determination submodule is used to obtain the number of wireless transmission nodes in the node map and determine the branch node number threshold based on the number of wireless transmission nodes. The shared path initialization submodule is used to determine the transmission start point as the current root node and generate random points in the node map; The shared path neighbor node determination submodule is used to determine the set of neighbor nodes of the current root node based on the planar coordinates of the current root node and the preset signal transmission range. The shared path candidate node determination submodule is used to determine the wireless transmission node closest to the random point as a candidate branch node of the current root node based on the distance between each wireless transmission node in the neighbor node set and the random point. The shared path obstacle determination submodule is used to determine whether there is a communication obstacle between the candidate branch node and the current root node; if there is, the candidate branch node is discarded; if not, the candidate branch node is added to the shared transmission path as the new current root node. The shared path iteration submodule is used to return to the step of generating random points in the node map until the number of wireless transmission nodes contained in the shared transmission path is greater than the branch node number threshold. The branch node determination submodule is used to determine the common transmission path as the common part of the transmission path corresponding to each target point, determine the current root node as the branch node, and determine the branch node as the current root node of the transmission path corresponding to each target point. The branch neighbor node set determination submodule is used to generate corresponding random points for each current root node, and determine the corresponding neighbor node set of the current root node based on the planar coordinates of each current root node and the preset signal transmission range. The branch candidate node determination submodule is used to determine the wireless transmission node closest to the corresponding random point as the candidate branch node of the current root node based on the distance between each wireless transmission node in each neighbor node set and the corresponding random point. The branch path obstacle judgment submodule is used to determine whether there is a communication obstacle between each candidate branch node and the corresponding current root node. If there is an obstacle, the candidate branch node is discarded. If there is no obstacle, the candidate branch node is added to the corresponding transmission path and the candidate branch node is updated to the current root node of the corresponding transmission path. The branch path iteration submodule is used to return to the step of generating corresponding random points for each current root node, until the current root node of each transmission path reaches the corresponding target point or the preset maximum number of iterations is reached.

[0127] In some embodiments, when the path planning task is used to determine a transmission path between multiple transmission start points and multiple destination points, the path planning module 12 includes: The subtask decomposition module is used to decompose the path planning task into multiple path planning subtasks based on the transmission correspondence. The subtask classification module is used to divide each path planning subtask into three categories based on the transmission start point and target point contained in each path planning subtask: the first category of subtasks corresponding to a single transmission start point and a single target point, the second category of subtasks corresponding to multiple transmission start points and a single target point, and the third category of subtasks corresponding to a single transmission start point and multiple target points. The subtask execution module is used to execute the first type of subtask according to the path planning process between a single transmission start point and a single target point when the path planning subtask is a first type of subtask; to execute the second type of subtask according to the path planning process between multiple transmission start points and a single target point when the path planning subtask is a second type of subtask; and to execute the third type of subtask according to the path planning process between a single transmission start point and multiple target points when the path planning subtask is a third type of subtask. The initial path determination module is used to obtain the initial transmission path corresponding to each path planning subtask based on the execution results of each path planning subtask. The overlapping node determination module is used to determine the overlapping nodes between different initial transmission paths based on the wireless transmission nodes contained in each initial transmission path. The initial path merging module is used to determine the overlapping node as the merging node if at least two initial transmission paths with the same target point contain the same overlapping node, merge the corresponding initial transmission paths, and determine the path from the merging node to the corresponding target point as the shared transmission path. The transmission path determination module is used to obtain the transmission path corresponding to each path planning subtask based on the merge processing results of each initial transmission path.

[0128] In some embodiments, the communication obstruction determination submodule includes: The coordinate acquisition unit is used to acquire the planar coordinates of the current root node, candidate branch nodes, and obstacles; wherein, the planar coordinates of the obstacles include the coordinates of the two endpoints of the line segment corresponding to the obstacle; The line segment intersection judgment unit is used to determine whether the line segment intersects with the line segment corresponding to the obstacle based on the position of the current root node and the candidate branch node relative to the line segment corresponding to the obstacle, and the position of the two endpoints relative to the line connecting the current root node and the candidate branch node. If they do not intersect, the first obstacle determination unit is triggered; if they intersect, the obstacle parameter acquisition unit is triggered. The first obstacle determination unit is used to determine that there is no communication obstacle between the candidate branch node and the current root node; The obstacle parameter acquisition unit is used to acquire the transmission distance and transmission height of the wireless transmission node under open conditions, and to acquire the material, thickness and height of the obstacle; The effective distance determination unit is used to determine the effective transmission distance between the candidate branch node and the current root node based on the transmission distance and transmission height under open conditions, as well as the material, thickness and height of obstacles. The node distance acquisition unit is used to obtain the node distance between the candidate branch node and the current root node; The second obstacle determination unit is used to determine that if the node distance is not greater than the effective transmission distance, there is no communication obstacle between the candidate branch node and the current root node; if the node distance is greater than the effective transmission distance, there is a communication obstacle between the candidate branch node and the current root node.

[0129] In some embodiments, it also includes: The data receiving module is used to receive data transmission frames sent by each wireless transmission node according to the path set through the wireless master gateway; The fault diagnosis module is used to determine whether any data transmission frame from any wireless transmission node is missing within a preset time period; if not, the data receiving module is triggered; if so, the map update module is triggered. The map update module is used to identify the wireless transmission nodes corresponding to missing data transmission frames as faulty nodes and update the node map based on the faulty nodes. The path replanning module is used to re-execute the path planning task based on the updated node map, obtain a new set of paths, and distribute the new set of paths to the corresponding wireless transmission nodes through the wireless master gateway.

[0130] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0131] Figure 16 This is a structural diagram of a transmission path determination device for a facility agriculture network provided in an embodiment of this application. Figure 16 As shown, the transmission path determination equipment for facility agriculture networks includes: Memory 20 is used to store computer programs; The processor 21 is used to execute a computer program to implement the steps of the method for determining the transmission path of the facility agriculture network as mentioned in the above embodiments.

[0132] The transmission path determination device for the facility agriculture network provided in this embodiment may include, but is not limited to, smartphones, tablets, laptops, or desktop computers.

[0133] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 21 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0134] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the processor 21, is capable of implementing the relevant steps of the method for determining the transmission path of a facility agriculture network disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, the data involved in the method for determining the transmission path of a facility agriculture network.

[0135] In some embodiments, the transmission path determination device for facility agriculture networks may further include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0136] Those skilled in the art will understand that Figure 16 The structure shown does not constitute a limitation on the transmission path determination equipment for facility agriculture networks and may include more or fewer components than illustrated.

[0137] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiments.

[0138] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0139] The foregoing has provided a detailed description of the transmission path determination method, equipment, and medium for a facility agriculture network provided in this application. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of this application.

[0140] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for determining the transmission path of a facility agriculture network, characterized in that, An edge computing node applied in a heterogeneous network for facility agriculture, wherein the edge computing node is connected to multiple wireless transmission nodes through a wireless master gateway; the method includes: The geographic coordinates of each wireless transmission node are converted into corresponding planar coordinates, and a node map is constructed based on each planar coordinate. Obtain a set of transmission start points and a set of target points, and determine the transmission correspondence between the sets to generate at least one path planning task; wherein, the path planning task is used to determine the transmission path between the transmission start point and the corresponding target point; For each of the path planning tasks, the corresponding transmission starting point is taken as the root node, a random point is generated in the node map, a neighboring node is selected from the transmission range of the root node, and the neighboring node is added to the transmission path as a new root node. The process returns to the step of generating a random point in the node map until the corresponding target point is reached. The neighboring node is the wireless transmission node within the transmission range that is closest to the random point and has no communication obstruction with the root node. A path set is generated based on each of the transmission paths, and the path set is distributed to the corresponding wireless transmission nodes through the wireless master gateway.

2. The method for determining the transmission path of a facility agriculture network according to claim 1, characterized in that, Converting the geographic coordinates of each wireless transmission node into corresponding planar coordinates, and constructing a node map based on each planar coordinate, includes: Obtain the origin geographic coordinates of the preset planar coordinate system, as well as the scaling parameters between the geographic coordinates and the planar coordinates; The initial planar coordinates of each wireless transmission node are determined based on the geographical coordinates of each wireless transmission node, the geographical coordinates of the origin, and the scaling parameters. Multiple sets of position coordinates are acquired when the mobile positioning device moves from the origin along the preset coordinate axes of the preset plane coordinate system. The direction angle deviation is determined based on each set of position coordinates, and the rotation calibration angle is determined based on each direction angle deviation. The initial plane coordinates of each wireless transmission node are calibrated according to the rotation calibration angle to obtain the plane coordinates corresponding to each wireless transmission node. The node identifier of each wireless transmission node is associated with its corresponding planar coordinates, and the obstacle is marked on the node map according to the location coordinates of the obstacle.

3. The method for determining the transmission path of a facility agriculture network according to claim 1, characterized in that, When the path planning task is used to determine the transmission path between a single transmission origin point and a single destination point, the execution process of the path planning task includes: The transmission start point is determined as the current root node, and a random point is generated in the node map; Determine the set of neighboring nodes of the current root node based on the planar coordinates of the current root node and the preset signal transmission range; Based on the distance between each wireless transmission node in the neighbor node set and the random point, the wireless transmission node closest to the random point is determined as a candidate branch node; Determine whether there is a communication barrier between the candidate branch node and the current root node; If it does not exist, the candidate branch node is added to the transmission path and updated to the current root node; if it exists, the candidate branch node is discarded. Return to the step of generating random points in the node map until the current root node reaches the target point or the preset maximum number of iterations is reached.

4. The method for determining the transmission path of a facility agriculture network according to claim 1, characterized in that, When the path planning task is used to determine the transmission path between multiple transmission start points and a single destination point, the execution process of the path planning task includes: Each of the aforementioned transmission starting points is determined as the current root node of the corresponding transmission path, and a corresponding random point is generated in the node map for each of the aforementioned current root nodes. Based on the planar coordinates of each current root node and the preset signal transmission range, determine the set of neighboring nodes of the corresponding current root node; Based on the distance between each wireless transmission node in each set of neighboring nodes and the corresponding random point, the wireless transmission node closest to the corresponding random point is determined as a candidate branch node of the current root node. Determine whether there is a communication barrier between each candidate branch node and its corresponding current root node; If it exists, then discard the candidate branch node; If it does not exist, the candidate branch node is added to the corresponding transmission path; Determine whether the candidate nodes added in different transmission paths are the same wireless transmission node; If the candidate nodes added in at least two transmission paths are the same wireless transmission node, then the wireless transmission node is determined as the merging node, the corresponding transmission paths are merged, and the merging node is taken as the current root node. For transmission paths that have not merged but have been added to the candidate node list, update the corresponding candidate node to the current root node; Return to the step of generating corresponding random points in the node map for each of the current root nodes, until the current root nodes of each of the transmission paths reach the target point or the preset maximum number of iterations is reached.

5. The method for determining the transmission path of a facility agriculture network according to claim 1, characterized in that, When the path planning task is used to determine the transmission path between a single transmission origin and multiple destinations, the execution process of the path planning task includes: Obtain the number of wireless transmission nodes in the node map, and determine the threshold for the number of branch nodes based on the number of wireless transmission nodes; The transmission start point is determined as the current root node, and a random point is generated in the node map; Determine the set of neighboring nodes of the current root node based on the planar coordinates of the current root node and the preset signal transmission range; Based on the distance between each wireless transmission node in the neighbor node set and the random point, the wireless transmission node closest to the random point is determined as a candidate branch node of the current root node. Determine whether there is a communication barrier between the candidate branch node and the current root node; If it exists, then discard the candidate branch node; If it does not exist, the candidate branch node will be added to the shared transmission path as the new current root node. Return to the step of generating random points in the node map until the number of wireless transmission nodes included in the shared transmission path is greater than the branch node number threshold. The shared transmission path is determined as the common part of the transmission path corresponding to each target point, the current root node is determined as the branch node, and the branch node is determined as the current root node of the transmission path corresponding to each target point. For each current root node, a corresponding random point is generated, and the set of neighboring nodes of the corresponding current root node is determined according to the planar coordinates of each current root node and the preset signal transmission range. Based on the distance between each wireless transmission node in each set of neighboring nodes and the corresponding random point, the wireless transmission node closest to the corresponding random point is determined as a candidate branch node of the current root node. Determine whether there is a communication barrier between each candidate branch node and its corresponding current root node; If it exists, then discard the candidate branch node; If it does not exist, the candidate branch node is added to the corresponding transmission path, and the candidate branch node is updated to the current root node of the corresponding transmission path. Return to the step of generating corresponding random points for each of the current root nodes, until the current root nodes of each of the transmission paths reach the corresponding target point or the preset maximum number of iterations is reached.

6. The method for determining the transmission path of a facility agriculture network according to claim 1, characterized in that, When the path planning task is used to determine the transmission path between multiple transmission start points and multiple destination points, the execution process of the path planning task includes: Based on the transmission correspondence, the path planning task is decomposed into multiple path planning sub-tasks; Based on the transmission start point and target point included in each of the path planning subtasks, each of the path planning subtasks is divided into a first type of subtask corresponding to a single transmission start point and a single target point, a second type of subtask corresponding to multiple transmission start points and a single target point, and a third type of subtask corresponding to a single transmission start point and multiple target points. When the path planning subtask is the first type of subtask, the first type of subtask is executed according to the path planning process between a single transmission start point and a single target point. When the path planning subtask is the second type of subtask, the second type of subtask is executed according to the path planning process between multiple transmission start points and a single target point; When the path planning subtask is the third type of subtask, the third type of subtask is executed according to the path planning process between a single transmission starting point and multiple target points. Based on the execution results of each path planning subtask, the initial transmission path corresponding to each path planning subtask is obtained; Based on the wireless transmission nodes included in each of the initial transmission paths, determine the overlapping nodes between different initial transmission paths; If at least two initial transmission paths with the same target point contain the same overlapping node, then the overlapping node is determined as the merging node, the corresponding initial transmission paths are merged, and the path from the merging node to the corresponding target point is determined as the shared transmission path. Based on the merge processing results of each initial transmission path, the transmission path corresponding to each path planning subtask is obtained.

7. The method for determining the transmission path of a facility agriculture network according to claim 3, characterized in that, Determining whether there is a communication barrier between the candidate branch node and the current root node includes: Obtain the planar coordinates of the current root node, the candidate branch node, and the obstacle; wherein, the planar coordinates of the obstacle include the coordinates of the two endpoints of the line segment corresponding to the obstacle; Based on the positions of the current root node and the candidate branch node relative to the line segment corresponding to the obstacle, and the positions of the two endpoints relative to the line connecting the current root node and the candidate branch node, determine whether the line intersects with the line segment corresponding to the obstacle. If they do not intersect, it is determined that there is no communication barrier between the candidate branch node and the current root node; If they intersect, the transmission distance and transmission height of the wireless transmission node under open conditions are obtained, and the material, thickness and height of the obstacle are also obtained. Based on the transmission distance under open conditions, the transmission height, and the material, thickness, and height of the obstacle, determine the effective transmission distance between the candidate branch node and the current root node; Obtain the node distance between the candidate branch node and the current root node; If the node distance is not greater than the effective transmission distance, then it is determined that there is no communication barrier between the candidate branch node and the current root node; If the distance between nodes is greater than the effective transmission distance, then it is determined that there is a communication barrier between the candidate branch node and the current root node.

8. The method for determining the transmission path of a facility agriculture network according to any one of claims 1 to 7, characterized in that, Also includes: The wireless gateway receives data transmission frames sent by each of the wireless transmission nodes according to the path set. Determine whether any data transmission frame from any wireless transmission node is missing within a preset duration; If not, continue to receive data transmission frames sent by each of the wireless transmission nodes; If so, the wireless transmission node corresponding to the missing data transmission frame is identified as a faulty node, and the node map is updated based on the faulty node. The path planning task is re-executed based on the updated node map to obtain a new set of paths, which is then distributed to the corresponding wireless transmission nodes through the wireless gateway.

9. A transmission path determination device for a facility agriculture network, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of the method for determining the transmission path of a facility agriculture network as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method for determining the transmission path of a facility agriculture network as described in any one of claims 1 to 8.

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