CN112312412B - Relay method for air enhanced wireless signals - Google Patents
Relay method for air enhanced wireless signals Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention provides a relay method of an air enhanced wireless signal, which comprises the following steps: the central control server receives wireless signals fed back by all AGVs; the central control server obtains an area wireless signal distribution diagram according to the wireless signals fed back by all AGVs; the central control server obtains a wireless signal relay point according to the regional wireless signal distribution diagram; the dispatch flying relay device moves to a wireless signal relay point; the flight relay device moves to the position above the wireless signal relay point and is in communication connection with the AGV. Compared with the prior art, the relay method for the air enhanced wireless signal ensures that the AGV is positioned outside a preset area and still can be in communication connection with the central control server.
Description
Technical Field
The invention relates to the field of AGV devices, in particular to a relay method for enhancing wireless signals in the air.
Background
Along with the wide application of AGV equipment, the quality requirement on the wireless transmission platform of AGV conveying equipment is also higher and higher, the guarantee problem of wireless communication quality is increasingly prominent, current AGV equipment is in the underground of having built wireless transmission platform in advance and is operated, but when the productivity increases and leads to AGV to need to surpass original place and shift the material, AGV just probably enters into signal blind area and can't communicate with central control server, influence normal operation, in order to overcome above-mentioned problem, can consider and put into the relay module and constitute new communication network in the ground of putting into the assigned position through manual method, thereby signal blind area is avoided, but to there is a large amount of high-rise goods that can shelter from radio signal or there is a large amount of metal material that can attenuate radio signal's area, the signal of putting into subaerial relay module still can attenuate by a wide margin, and AGV continues to outwards move in-process and communication intensity between the subaerial relay module also weakens thereupon, still exist and lose and be connected with central control server communication with the AGV that leads to carrying out the production task outside the preset area.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an air-enhanced wireless signal relay method which ensures that an AGV (automatic guided vehicle) is positioned outside a preset area and still can be in communication connection with a central control server.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the relay method of the air enhanced wireless signal comprises the following steps:
(1) The central control server receives wireless signals fed back by all AGVs;
(2) The central control server obtains an area wireless signal distribution diagram according to the wireless signals fed back by all AGVs;
(3) The central control server obtains a wireless signal relay point according to the regional wireless signal distribution diagram;
(4) The dispatch flying relay device moves to a wireless signal relay point;
(5) The flight relay device moves to the position above the wireless signal relay point and is in communication connection with the AGV.
Compared with the prior art, the method for relaying the aerial enhancement wireless signal utilizes the aerial relay equipment capable of moving in the air as a device for enhancing the wireless signal, the aerial relay equipment is dispatched after the wireless signal relay point is set, the aerial relay equipment initiatively enhances the wireless signal in the air to the wireless signal relay point in the signal blind area, the problem of wireless signal attenuation caused by high-rise cargoes which shield the wireless signal or a large amount of metal materials which can attenuate the wireless signal is overcome, the AGV is enabled to obtain the enhancement wireless signal to continue to execute the task when the AGV is about to enter the signal blind area, the problem that the AGV temporarily enters the signal blind area is solved, the situation that the task execution progress is blocked because the AGV is in the signal blind area is avoided, and in addition, the aerial relay equipment has the advantages of small signal shielding, wide coverage and high efficiency and is convenient for large-scale popularization and use because the aerial relay equipment enhances the wireless signal in the air.
Preferably, in the step (1), the wireless signal fed back by the AGV includes position information of the AGV, wireless signal intensity information of the position of the AGV, and wireless communication quality information of the position of the AGV.
Through making AGV feedback place position information, place position wireless signal intensity information and place position wireless communication quality information to the central control server record AGV's of being convenient for coordinates and the wireless signal quality of analysis AGV place.
Preferably, in step (2), the method for preparing the regional wireless signal distribution map comprises:
(a1) Guiding an AGV running path map;
(a2) Marking the position of the AGV on an AGV running path map according to the position information of the AGV to form a signal marking point;
(a3) And matching the wireless signal intensity information of the position of the AGV with the wireless communication quality information of the position of the AGV to the corresponding signal mark point to generate an area wireless signal distribution map.
In the setting mode, based on the AGV running path map, the wireless signal quality fed back by the AGVs at different positions is combined to form the regional wireless signal distribution map, so that the effectiveness and the instantaneity are strong, and the follow-up accurate calculation of the wireless signal relay point by the central control server can be facilitated.
Preferably, in step (3), the selecting method of the wireless signal relay point includes:
according to the regional wireless signal distribution diagram, the wireless signal quality at different positions is classified into a plurality of grades of N1 and N2 … Nn (N is more than or equal to 3) from low to high, wherein N1 represents a signal blind area;
if the area where the wireless signal of the AGV is poor is an I-shaped line, a U-shaped line, an S-shaped line or an L-shaped line, selecting a position with the wireless signal quality of N1 or N2 grade in the line as a wireless signal relay point;
if the area where the wireless signal of the AGV is poor is a T-shaped line or a Y-shaped line, selecting the position with the wireless signal quality of N1 or N2 grade in the three entrances as a wireless signal relay point;
if the area where the wireless signal of the AGV is poor is an X-shaped line, the position with the wireless signal quality of N1 or N2 grade in the four portals is selected as a wireless signal relay point.
The method for selecting the wireless signal relay points is simple and convenient, so that the operation pressure on the central control server is reduced, the operation speed is improved, the production efficiency is improved, the wireless signal relay points are conveniently and rapidly determined, and the wireless signal of the area where the flight relay equipment enhanced AGV is located is conveniently and rapidly sent out.
Preferably, in step (4), the central control server receives the communication interruption early warning signal sent by the AGV, and then sends out the flight relay device to move to the wireless signal relay point.
After the central control server obtains the regional wireless signal distribution diagram, the triggering condition is set according to the actual situation, and after receiving the communication interruption early warning signal sent by the AGV, the central control server sends out the flight relay equipment to execute the wireless signal relay task, so that the production cost is saved.
Preferably, in step (4), the central control server is in communication connection with all the flight relay devices to find available flight relay devices, if the available flight relay devices are found, one of the flight relay devices is dispatched to move to the wireless signal relay point, otherwise, the central control server waits for t minutes (t > 0) and then is in communication connection with all the flight relay devices.
The arrangement mode can ensure that the central control server is in communication connection with the flight relay equipment so as to identify all available flight relay equipment, and the wireless signal relay task can be dispatched and executed at any time according to the production condition.
Preferably, in step (4), the flight relay device sends a connection signal to find an AGV sending a communication interruption early warning signal in the process of moving to the wireless signal relay point, if the flight relay device is in communication connection with the AGV, the AGV feeds back a wireless signal recovery signal, the flight relay device sends the wireless signal recovery signal to the central server and continues to move to the wireless signal relay point, otherwise, the flight relay device determines that the flight relay device cannot be connected with the AGV, and continues to move to the wireless signal relay point.
Because the AGV feeds back the wireless signal to the central server, the flight relay equipment acquires the coordinate position of the AGV sending the communication interruption early warning signal, if the flight relay equipment is in communication connection with the AGV in the process of moving to the wireless signal relay point, the flight relay equipment enters a communication range with the AGV, so that the communication interruption early warning is released, but the communication quality between the flight relay equipment and the AGV is poor, and the flight relay equipment continues to move to the wireless signal relay point, so that the communication quality between the flight relay equipment and the AGV is enhanced; if the flight relay device cannot be connected with the AGV in the process of moving to the wireless signal relay point, the flight relay device cannot enter the communication range with the AGV (or the AGV enters the signal blind area after feeding back the wireless signal to the central control server), and the flight relay device needs to move to the wireless signal relay point and then search the AGV, so that the AGV still operates normally.
Preferably, in the step (5), after the flight relay device moves to the wireless signal relay point, the optimal relay flight height is obtained according to the wireless signal fed back by the AGV in communication connection with the flight relay device;
the method for calculating the optimal relay flying height comprises the following steps:
(b1) The flight relay equipment is in communication connection with the AGV which sends out a communication interruption early warning signal;
(b2) The flying relay device gradually climbs upwards from the wireless signal relay point to the lower contact object by s meters (0 < s);
(b3) The AGV feeds back a relay wireless signal to the flight relay equipment at intervals, and the flight relay equipment sends the flight height data and the relay wireless signal to the central control server;
(b4) And the central control server calculates the optimal relay flight height of the flight relay equipment according to the flight height data and the relay wireless signals.
According to the calculation method of the optimal relay flying height, the relay wireless signals fed back by the AGV are collected in real time, so that the wireless signal quality of the AGV and the flying relay equipment at different flying heights is analyzed, the method is simple, the optimal relay flying height can be obtained rapidly, the communication connection between the AGV and the central control server is restored, and the production operation is guaranteed.
Preferably, in step (b 4), the step of calculating the optimal relay altitude of the flight relay device by the central control server according to the altitude data and the relay wireless signal includes:
(b 4.1) the central control server marks different height positions of the flight relay device as height mark points according to the flight height data;
(b 4.2) grading the quality of the wireless signal according to the relay wireless signal, and sequentially grading the quality of the wireless signal from low to high into a plurality of grades M1 and M2 … Mn (n is more than or equal to 3), wherein M1 represents that the flight relay equipment is in a signal blind area relative to the AGV;
(b 4.3) the central control server matches the wireless signal quality grades corresponding to the plurality of groups of relay wireless signals to the corresponding height mark points to generate a longitudinal wireless signal distribution map;
(b 4.4) the central control server calculating an optimal relay flight level of the flying relay device based on the longitudinal wireless signal profile, and transmitting the optimal relay flight level to the flying relay device.
The calculation method of the optimal relay flying height is simple and convenient, so that the calculation pressure on the central control server is reduced, the calculation speed is increased, and the production efficiency is improved.
Preferably, the method further comprises the step (6);
(6) And (3) the central control server receives the wireless signals fed back by the AGV transmitted by the flight relay equipment, updates the regional wireless signal distribution diagram and repeats the steps (3) to (6).
After the flight relay device is thrown, the regional wireless signal distribution map is updated, so that the wireless signal quality of the latest AGV position is obtained, a new wireless signal relay point is planned later, and another flight relay device is dispatched to execute a wireless signal relay task.
Drawings
FIG. 1 is a schematic diagram of a flight relay device;
FIG. 2 is an AGV travel path map;
FIG. 3 is a regional wireless signal distribution diagram;
FIG. 4 is a schematic diagram of a flight relay device approaching a wireless signal relay point;
FIG. 5 is a schematic illustration of a flight relay device at a wireless signal relay point;
fig. 6 is a flow chart of a method of relaying an over-the-air enhanced wireless signal;
fig. 7 is a flowchart of selecting a wireless signal relay.
Description of the reference numerals:
the system comprises a flight relay device 1, a flight carrier 11, a communication module 12, a signal relay module 13, a flight positioning mechanism 14, a power supply module 15, a power supply line 16, a ground power supply device 17, a central control server 2 and an AGV 3.
Detailed Description
Embodiments of the present invention are described below with reference to the accompanying drawings:
example 1
Referring to fig. 1, the present embodiment provides a flight relay device 1 for enhancing wireless signals in the air, which includes a flight carrier 11, wherein the flight carrier 11 is provided with a communication module 12, a signal relay module 13, a flight positioning mechanism 14 and a power module 15, and the power module 15 stores electric energy for supplying power to the flight carrier 11, the communication module 12, the signal relay module 13 and the flight positioning mechanism 14.
The flying carrier 11 is a multi-rotor aircraft, so that the flying carrier 11 can resist a certain level of wind power, relatively hover at a fixed position in the air, and ensure that the flying carrier 11 can fly stably under different environments.
The communication module 12 is used for the communication connection between the flight relay device 1 and the central server and the AGV.
The signal relay module 13 is used for enhancing the wireless signal strength in a specified range.
The flight positioning mechanism 14 includes a GPS positioning module (not shown), an optical flow image detection module (not shown), an ultrasonic altimeter module (not shown), a barometer altimeter module (not shown), and a gyro detection module (not shown), and the flight positioning mechanism 14 is configured to enable the flight relay device 1 to fly to a specified coordinate position and hover at a specified altitude.
Further comprises a power supply line 16, through which power supply line 16 the power supply module 15 is detachably and electrically connected to a ground power supply device 17.
By adopting the above arrangement mode, the power supply mechanism can ensure that the ground power supply equipment 17 continuously supplies power to the flight carrier 11, so that the flight carrier 11 can hover in the air for a long time to continuously execute a flight task, and in a relatively open environment (such as a port, a wharf and the like), the power supply mechanism is used for realizing the on-line traction type power supply, the duration of the flight relay equipment 1 can be longer, and the wireless relay requirement of the AGV in an open scene can be met.
The above-mentioned flight carrier 11, communication module 12, signal relay module 13, flight positioning mechanism 14, power module 15 and power supply mechanism all belong to the prior art application.
Example two
Referring to fig. 1 to 7, the present embodiment provides a relay method of an air-enhanced wireless signal of a flight relay device 1 of the first embodiment, comprising the steps of:
(1) The central control server 2 receives wireless signals fed back by all AGVs;
(2) The central control server 2 obtains an area wireless signal distribution diagram according to the wireless signals fed back by all AGVs;
(3) The central control server 2 obtains wireless signal relay points according to the regional wireless signal distribution diagram;
(4) The dispatch flying relay device 1 moves to a wireless signal relay point;
(5) The flight relay device 1 moves to the upper part of the wireless signal relay point and is in communication connection with the AGV.
Preferably, in the step (1), the wireless signal fed back by the AGV includes position information of the AGV, wireless signal intensity information of the position of the AGV, and wireless communication quality information of the position of the AGV.
Through making AGV feedback place position information, place position wireless signal intensity information and place position wireless communication quality information to the central control server 2 of being convenient for record AGV's coordinate and the wireless signal quality of analysis AGV place position.
Referring to fig. 2 to fig. 4, in step (2), the method for preparing the regional wireless signal distribution map includes:
(a1) Guiding an AGV running path map;
(a2) Marking the position of the AGV on an AGV running path map according to the position information of the AGV to form a signal marking point;
(a3) And matching the wireless signal intensity information of the position of the AGV with the wireless communication quality information of the position of the AGV to the corresponding signal mark point to generate an area wireless signal distribution map.
In the setting mode, based on the AGV running path map, the wireless signal quality fed back by the AGVs at different positions is combined to form the regional wireless signal distribution map, so that the effectiveness and the instantaneity are strong, and the follow-up accurate calculation of the wireless signal relay point by the central control server 2 can be facilitated.
Referring to fig. 3 and fig. 7, in step (3), the method for selecting a wireless signal relay point includes:
according to the regional wireless signal distribution diagram, the wireless signal quality at different positions is classified into a plurality of grades of N1 and N2 … Nn (N is more than or equal to 3) from low to high, wherein N1 represents a signal blind area;
if the area where the wireless signal of the AGV is poor is an I-shaped line, a U-shaped line, an S-shaped line or an L-shaped line, selecting a position with the wireless signal quality of N1 or N2 grade in the line as a wireless signal relay point;
if the area where the wireless signal of the AGV is poor is a T-shaped line or a Y-shaped line, selecting the position with the wireless signal quality of N1 or N2 grade in the three entrances as a wireless signal relay point;
if the area where the wireless signal of the AGV is poor is an X-shaped line, the position with the wireless signal quality of N1 or N2 grade in the four portals is selected as a wireless signal relay point.
The method for selecting the wireless signal relay point is simple and convenient, so that the operation pressure on the central control server 2 is reduced, the operation speed is improved, the production efficiency is improved, the wireless signal relay point is conveniently and rapidly determined, and the wireless signal of the area where the wireless signal of the AGV is located is enhanced by the flight relay device 1.
In actual production, in order to avoid the situation that an AGV planning route is too disordered, a motion path of an AGV is generally provided with 4 intersections at most, if 5 intersections appear, a position with the wireless signal quality of N1 or N2 level in 5 entrances is selected as a wireless signal relay point, and if more than 5 intersections are arranged, a position with the wireless signal quality of N1 or N2 level in a plurality of intersections is selected as the wireless signal relay point.
If a position with the wireless signal quality of N1 grade is selected as a wireless signal relay point, the wireless signal relay point is required to be positioned within 5 km of the position with the wireless signal quality of N2 grade.
Referring to fig. 4 to 5, in step (4), the central control server 2 receives a communication interruption early warning signal sent by the AGV, and sends out the flight relay device 1 to move to a wireless signal relay point.
After the central control server 2 obtains the regional wireless signal distribution diagram, the triggering condition is set according to the actual situation, and after receiving the communication interruption early warning signal sent by the AGV, the central control server sends out the flight relay device 1 to execute the wireless signal relay task, so that the production cost is saved.
Referring to fig. 4, in step (4), the central control server 2 is communicatively connected with all the flight relay devices 1 to find available flight relay devices 1, if the available flight relay devices 1 are found, one of the flight relay devices 1 is dispatched to move to a wireless signal relay point, otherwise, after waiting for t minutes (10 is greater than or equal to t > 0), the communication connection is performed with all the flight relay devices 1.
Specifically, the available flight relay device 1 refers to a flight relay device 1 that can function normally, is full of electricity, and communicates normally.
The above arrangement ensures that the central control server 2 is in communication connection with the flight relay device 1 to identify all available flight relay devices 1 for dispatch to perform wireless signal relay tasks at any time depending on the production situation.
In step (4), in the process of moving the flight relay device 1 to the wireless signal relay point, a status feedback signal is sent to the central control server 2, wherein the status feedback signal comprises the position information of the flight relay device 1, the flight height data and the AGV positioning result.
Referring to fig. 4, in step (4), in the process of moving the flight relay device 1 to the wireless signal relay point, the flight relay device 1 searches for and locates the AGV 3 that sends the communication interruption early warning signal.
Referring to fig. 4, in step (4), in the process that the flying relay device 1 moves to the wireless signal relay point, the flying relay device 1 sends a connection signal to find the AGV 3 sending the communication interruption early warning signal, if the flying relay device 1 is in communication connection with the AGV, the AGV feeds back the wireless signal recovery signal, the flying relay device 1 sends the wireless signal recovery signal to the central server and continues to move to the wireless signal relay point, otherwise, the flying relay device 1 determines that the wireless signal recovery signal cannot be in communication connection with the AGV and continues to move to the wireless signal relay point.
Because the AGV feeds back the wireless signal to the central server, the flight relay device 1 acquires the coordinate position of the AGV 3 sending the communication interruption early warning signal, if the flight relay device 1 is in communication connection with the AGV in the process of moving to the wireless signal relay point, the flight relay device 1 enters a communication range with the AGV, so that the communication interruption early warning is released, but the communication quality between the two is poor, and therefore the flight relay device 1 continues to move to the wireless signal relay point, so that the communication quality between the flight relay device 1 and the AGV is enhanced; if the flight relay device 1 cannot be in communication connection with the AGV in the process of moving to the wireless signal relay point, it indicates that the flight relay device 1 does not enter the communication range with the AGV (or the AGV enters the signal blind area after feeding back the wireless signal to the central control server 2), and the flight relay device 1 needs to move to the wireless signal relay point and then find the AGV, so as to ensure that the AGV still operates normally.
The AGV continues to move after feeding back the wireless signal to the central control server 2, and thus the AGV may enter the signal dead zone after feeding back the wireless signal to the central control server 2.
Preferably, in step (5), after the flight relay device 1 moves to a wireless signal relay point, the best relay flight height is obtained according to the wireless signal fed back by the AGV in communication connection with the flight relay device;
the method for calculating the optimal relay flying height comprises the following steps:
(b1) The flight relay device 1 is in communication connection with the AGV 3 which sends out a communication interruption early warning signal;
(b2) The flying relay device 1 gradually climbs upwards at a height of s meters (0 < s) from the contact object below the wireless signal relay point, and the distance between the flying relay device 1 and the contact object below the wireless signal relay point is not more than 50 meters;
(b3) The AGV feeds back a relay wireless signal to the flight relay device 1 at intervals, and the flight relay device 1 sends flight height data and the relay wireless signal to the central control server 2;
(b4) The central control server 2 calculates an optimum relay altitude of the flight relay device 1 from the altitude data and the relay wireless signal.
According to the calculation method of the optimal relay flying height, the relay wireless signals fed back by the AGV are collected in real time, so that the wireless signal quality of the AGV and the flying relay equipment 1 at different flying heights is analyzed, the method is simple, the optimal relay flying height can be obtained rapidly, the communication connection between the AGV and the central control server 2 is restored, and the production operation is guaranteed.
By controlling the distance between the flying relay device 1 and the contact object below the wireless signal relay point to be not more than 50 meters, the flying relay device 1 is prevented from climbing too high, the flying stability is reduced, and the generated flying height data is prevented from being too high.
Preferably, in step (b 4), the step of calculating the optimum relay altitude of the flight relay device 1 from the altitude data and the relay wireless signal by the central control server 2 includes:
(b 4.1) the central control server 2 marks different altitude positions of the flight relay device 1 as altitude mark points according to the flight altitude data;
(b 4.2) grading the quality of the wireless signal according to the relay wireless signal, and sequentially grading the quality of the wireless signal from low to high into a plurality of grades M1 and M2 … Mn (n is more than or equal to 3), wherein M1 represents that the flight relay device 1 is in a signal blind area relative to the AGV;
(b 4.3) the central control server 2 matches the wireless signal quality grades corresponding to the plurality of groups of relay wireless signals to the corresponding height mark points to generate a longitudinal wireless signal distribution map;
(b 4.4) the central control server 2 calculating an optimum relay altitude of the flight relay device 1 from the longitudinal wireless signal profile, and transmitting the optimum relay altitude to the flight relay device 1.
The calculation method of the optimal relay flying height is simple and convenient, so that the calculation pressure on the central control server 2 is reduced, the calculation speed is increased, and the production efficiency is improved.
Referring to fig. 4, step (6) is further included;
(6) The central control server 2 receives the wireless signal fed back by the AGV transmitted by the flight relay device 1, updates the regional wireless signal distribution diagram, and repeats the steps (3) to (6).
After the flight relay device 1 is thrown in, the regional wireless signal distribution map is updated, so that the wireless signal quality of the latest AGV position is obtained, a new wireless signal relay point is planned later, and another flight relay device 1 is dispatched to execute a wireless signal relay task.
If the energy of the flying relay device 1 at the wireless relay point is exhausted, the central control server 2 sends out another flying relay device 1 to move to the flying relay device 1 with the wireless relay point to take over the energy, so as to ensure the stability of the wireless signal.
Compared with the prior art, the method for relaying the aerial enhancement wireless signal utilizes the aerial relay equipment 1 capable of moving in the air as a device for enhancing the wireless signal, the aerial relay equipment 1 is dispatched after the wireless signal relay point is set, the aerial relay equipment 1 initiatively enhances the wireless signal in the air to the wireless signal relay point in the signal blind area, the problem of wireless signal attenuation caused by high-rise cargoes which shield the wireless signal or a large amount of metal materials which can attenuate the wireless signal is overcome, the AGV can obtain the enhancement wireless signal to continue to execute the task when the AGV is about to enter the signal blind area, the problem that the AGV temporarily enters the signal blind area is solved, the situation that the task execution progress is blocked because the AGV exits the task when the AGV is in the signal blind area is avoided, and in addition, the aerial relay equipment 1 enhances the wireless signal in the air, has the advantages of small signal shielding, wide coverage and high efficiency, and is convenient for large-scale popularization and use.
Variations and modifications to the above would be obvious to persons skilled in the art to which the invention pertains from the foregoing description and teachings. Therefore, the invention is not limited to the specific embodiments disclosed and described above, but some modifications and changes of the invention should be also included in the scope of the claims of the invention. In addition, although specific terms are used in the present specification, these terms are for convenience of description only and do not limit the present invention in any way.
Claims (8)
1. The relay method of the air enhanced wireless signal comprises the following steps:
(1) The central control server receives wireless signals fed back by all AGVs;
(2) The central control server obtains an area wireless signal distribution diagram according to the wireless signals fed back by all AGVs;
(3) The central control server obtains a wireless signal relay point according to the regional wireless signal distribution diagram;
(4) The dispatch flying relay device moves to a wireless signal relay point;
(5) The flight relay equipment moves to the position above the wireless signal relay point and is in communication connection with the AGV;
in the step (5), after the flight relay equipment moves to a wireless signal relay point, the optimal relay flight height is obtained according to a wireless signal fed back by the AGV in communication connection with the flight relay equipment;
the method for calculating the optimal relay flying height comprises the following steps:
(b1) The flight relay equipment is in communication connection with the AGV which sends out a communication interruption early warning signal;
(b2) The flying relay equipment gradually climbs upwards at the height of s meters from the contact object below the wireless signal relay point, wherein s is more than 0;
(b3) The AGV feeds back a relay wireless signal to the flight relay equipment at intervals, and the flight relay equipment sends the flight height data and the relay wireless signal to the central control server;
(b4) The central control server calculates the optimal relay flight height of the flight relay equipment according to the flight height data and the relay wireless signals;
in the step (b 4), the step of calculating the optimal relay flight altitude of the flight relay device by the central control server according to the flight altitude data and the relay wireless signal includes:
(b 4.1) the central control server marks different height positions of the flight relay device as height mark points according to the flight height data;
(b 4.2) grading the quality of the wireless signal according to the relay wireless signal, and sequentially grading the quality of the wireless signal from low to high into a plurality of grades M1 and M2 … Mn, wherein M1 represents that the flight relay equipment is in a signal blind area relative to the AGV, and n is more than or equal to 3;
(b 4.3) the central control server matches the wireless signal quality grades corresponding to the plurality of groups of relay wireless signals to the corresponding height mark points to generate a longitudinal wireless signal distribution map;
(b 4.4) the central control server calculating an optimal relay flight level of the flying relay device based on the longitudinal wireless signal profile, and transmitting the optimal relay flight level to the flying relay device.
2. The method of claim 1, wherein in step (1), the wireless signals fed back by the AGV include position information of the AGV, wireless signal strength information of the position of the AGV, and wireless communication quality information of the position of the AGV.
3. The method for relaying an air-enhanced wireless signal according to claim 2, wherein in step (2), the method for preparing the regional wireless signal distribution map comprises:
(a1) Guiding an AGV running path map;
(a2) Marking the position of the AGV on an AGV running path map according to the position information of the AGV to form a signal marking point;
(a3) And matching the wireless signal intensity information of the position of the AGV with the wireless communication quality information of the position of the AGV to the corresponding signal mark point to generate an area wireless signal distribution map.
4. The method for relaying an air-enhanced wireless signal according to claim 1, wherein in step (3), the method for selecting a wireless signal relay point comprises:
according to the regional wireless signal distribution diagram, the wireless signal quality at different positions is classified into a plurality of grades of N1 and N2 … Nn from low to high, wherein N1 represents a signal blind area, and N is more than or equal to 3;
if the area where the wireless signal of the AGV is poor is an I-shaped line, a U-shaped line, an S-shaped line or an L-shaped line, selecting a position with the wireless signal quality of N1 or N2 grade in the line as a wireless signal relay point;
if the area where the wireless signal of the AGV is poor is a T-shaped line or a Y-shaped line, selecting the position with the wireless signal quality of N1 or N2 grade in the three entrances as a wireless signal relay point;
if the area where the wireless signal of the AGV is poor is an X-shaped line, the position with the wireless signal quality of N1 or N2 grade in the four portals is selected as a wireless signal relay point.
5. The method of claim 1, wherein in step (4), the central control server receives a communication interruption early warning signal sent by the AGV and sends out a flight relay device to move to the wireless signal relay point.
6. The method of claim 1, wherein in step (4), the central control server is communicatively connected to all the flying relay devices to find available flying relay devices, and if the available flying relay devices are found, one of the flying relay devices is dispatched to the wireless signal relay point, otherwise, after waiting for t minutes, the central control server is communicatively connected to all the flying relay devices, wherein t > 0.
7. The method according to claim 1, wherein in the step (4), the flying relay device transmits a connection signal to find an AGV that transmits a communication interruption warning signal in the process of moving the flying relay device to the wireless signal relay point, if the flying relay device is in communication connection with the AGV, the AGV feeds back a wireless signal recovery signal, and if the flying relay device is not in communication connection with the AGV, the flying relay device transmits the wireless signal recovery signal to the central server and continues to move to the wireless signal relay point, otherwise, the flying relay device determines that the flying relay device cannot be in communication connection with the AGV and continues to move to the wireless signal relay point.
8. The method of relaying an over-the-air enhanced wireless signal according to claim 1, further comprising step (6);
(6) And (3) the central control server receives the wireless signals fed back by the AGV transmitted by the flight relay equipment, updates the regional wireless signal distribution diagram and repeats the steps (3) to (6).
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