CN100536588C - An active sensor network system and mobile node device for monitoring the dangerous environment conditions - Google Patents
An active sensor network system and mobile node device for monitoring the dangerous environment conditions Download PDFInfo
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- CN100536588C CN100536588C CNB2007100230041A CN200710023004A CN100536588C CN 100536588 C CN100536588 C CN 100536588C CN B2007100230041 A CNB2007100230041 A CN B2007100230041A CN 200710023004 A CN200710023004 A CN 200710023004A CN 100536588 C CN100536588 C CN 100536588C
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Abstract
The disclosed active sensor environment faced to danger environment comprises: a client computer, a BS as a gateway between the client computer and mobile node, and some mobile nodes sending collected environment data to BS, wherein the BS repacks data from node and sends to the client computer, receives and decomposes command from the computer, and single jump routes or multiple jump routes to different node. This invention combines wireless sensor network and mobile robot technology, and provides a way for detecting danger environment.
Description
Technical field
The present invention relates to hazardous environment monitoring, radio communication and distributed robot and control the field, particularly a kind of active sensor network system and mobile node device towards the hazardous environment monitoring.
Background technology
At present, wireless sensor network obtains and treatment technology as a kind of brand-new information, and beginning obtains application more and more widely in fields such as military affairs, environment, health, families.Use for various environmental monitorings long-term or short-term, traditional wired TT﹠C system often is difficult to be competent at owing to reasons such as difficult wiring, complex structures.Wireless sensor network has solved this problem well as an important expansion and additional of wired TT﹠C system.
And for some dangerous urgent occasions, catch fire or Harmful chemicals leakage etc. such as building, people and main equipment often be difficult near or enter the scene.At this moment, traditional wireless sensor network node carries out networking owing to can't throw in the scene of being deployed to, and the task of environmental information collection is difficult to finish.Though some site environment does not have danger, because restrictions such as landform and spaces, people and main equipment also are difficult to enter wherein throw in disposes radio node, and the site environment situation is difficult to know.
The research of traditional wireless sensor networks at present also faces many theories and technical barrier, problem such as reshuffles such as node energy consumption, distributed demarcation, space-time scrambling, dynamic network.Although from the aspect of network topology, wireless sensor network is dynamic, and present most wireless sensor node is static, that is to say, in case after sensor node was arranged, they were actionless.And also fix often as the base station of convergence point.The sensor node of this static state and base station lack certain flexibility, can't dynamically adjust the Regional Distribution of node to guarantee certain certainty of measurement according to the variation of monitored target.In addition, only depend on the dynamic-configuration of network layer, still be not enough to increase substantially the life-span of network.
Summary of the invention
Technical problem to be solved by this invention is, overcomes technological deficiency and deficiency that prior art exists, and a kind of active sensor network system and mobile node device towards the hazardous environment monitoring is provided.
The present invention is towards the active sensor network system of hazardous environment monitoring, constitute by client computer, base station and some mobile nodes, it is characterized in that: the effect of a gateway is played in the base station between mobile node and client computer, the data upload of being responsible on the one hand collecting mobile node is responsible for sending the order of client terminal to mobile node on the other hand to client computer; Adopt radio communication between each mobile node and between base station and the mobile node, by mode (adopting the Xmesh agreement) the formation mesh network of multi-hop ad hoc; Mobile node sends the environmental data of gathering to base station by Xmesh mode single-hop or multi-hop, and the base station is information classification, and repacks, and sends client computer to by backbone networks such as Internet; Client requires to send order to the base station according to monitoring, will order decomposition by the base station again, and single-hop or multi-hop route carry out corresponding task for different mobile nodes.
The present invention is made of sensor unit, actuator unit, communications processor element and power module towards the mobile node device of the active sensor network system of hazardous environment monitoring; Each sensor acquisition environmental data of sensor unit sends communications processor element to by interface, is handled and is stored by main MCU; Actuator unit is made up of the MCU of association, coding disk, range finding positioning equipment and voltage detection module and molar behavior mechanism, the MCU of association control molar behavior mechanism action; Communications processor element is made up of radio receiving transmitting module, host microcontroller (MCU) and memory.
Described molar behavior mechanism adopts the rear end driving wheel to add front end universal wheel differential configuration; Universal wheel is fixed on the base plate; Driving wheel is connected on the high pulling torque motor of band reductor by shaft coupling.
The present invention is towards the active sensor network system of hazardous environment monitoring, the method that employing mutually combines traditional wireless sensor networks and mobile robot technology, utilize the advantage of the controlled maneuverability of mobile node, the inaccessible dangerous on-the-spot environmental monitoring task of people such as building catches fire, Harmful chemicals leakage be can finish, public safety monitoring and disaster accident rescue work helped.Utilize Terminal Server Client to carry out control, inquiry, data acquisition and the feedback of mobile node, solved traditional wireless sensor networks deployment in the hazardous environment, environmental monitoring, node energy consumption and the autonomous drawbacks such as being difficult to realization of repairing, provide sound assurance for realizing dangerous on-the-spot environmental monitoring.
Description of drawings
Fig. 1 is a system configuration schematic diagram of the present invention.
Fig. 2 is an architecture of base station schematic diagram of the present invention.
Fig. 3 is a mobile node device structural representation of the present invention.
Fig. 4 is a system control program block diagram of the present invention.
Fig. 5 is a mobile node device control program block diagram of the present invention.
Fig. 6 is a mobile node device control system block diagram of the present invention.
Fig. 7 is a cmd component programs block diagram of the present invention.
Fig. 8 is a mobile node behavior block diagram of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
Embodiment: system and device of the present invention mainly is made up of mobile node, base station, client computer and corresponding software system.Shown in the system structure figure 1.The mobile node that has executor module (Actuator) is the chief component of this platform, also is the emphasis of this design of Platform, and commercial ready-made assembly is then adopted in the base station.The design of software then comprises mobile node, aggregation node and three parts of PC.
The communication unit of mobile node adopts the Xmesh protocol groups to reticulate net.The maximum characteristics of mesh network are supported multi-hop communication exactly, and are far away or because electromagnetic shielding can not direct communication the time, the node messages bag can route to the base station by other node multi-hops when node and base station distance, thereby realize the multi-hop communication with the base station.The advantage of multi-hop communication is to have improved greatly the overlay area of network.Even between the mobile node wireless communication ability a little less than, in environment such as mine, tunnel, also can guarantee the reliable transmission of Monitoring Data bag.
Mobile node molar behavior mechanism adopts rear end driving wheel+front end universal wheel differential configuration.Universal wheel by bolt on base plate; The high pulling torque motor of band reductor is fixed between base plate and the poly (methyl methacrylate) plate by structure copper post; Driving wheel is connected on the motor by shaft coupling.This kind is simple and reliable for structure, and be easy for installation, and difficulty of processing is little, and cost is low, is fit to very much practical application of the present invention.
Control system is connected with radio communication unit by communication interface as shown in Figure 6, and the order according to radio communication unit transmits in conjunction with the signal of transducers such as digital compass, infrared coding, range finding, realizes the control to motor.The control system circuit board is by being bolted on the base plate on 4 jiaos the structure copper post, mounts and dismounts very simply, is convenient to the debugging and the maintenance of system.
Mobile node actuator has the SMA structure, and SMA is the english abbreviation of Sensor, Mote and Actuator.Wherein, Sensor is the sensing unit of mobile node, is responsible for gathering the data of environment.Mote is the communications processor element of mobile node, is used for finishing networking and the task of communicating by letter.Actuator is the actuator of mobile node, comprises base and two parts of control system of design voluntarily.
Mobile node software comprises processor/communication system (Mote) and actuator system (Actuator) two parts.Be connected by the UART mouth between Mote and the Actuator.
The Mote module adopts based on event driven embedded OS TinyOS as its software platform, TinyOS has abundant assembly and application interface, we directly utilize the assembly in the existing storehouse to make up the software systems of Mote, the programmer needn't improve efficiency of software greatly directly towards hardware programming.
The main effect of Mote module is that the transmitting/receiving wireless packet line data of going forward side by side is handled.When comprising the control protocol bag in the wireless data packet that receives, the UARTM assembly that extracts protocol package and call TinyOS sends to Actuator with it by 51 needle connectors.Here, our assembly that made up a Cmd has been realized the transmission of control protocol bag.Fig. 7 is the specific procedure block diagram of Cmd assembly, and wherein circle is represented configuration (accessory), and square frame is represented module (module), and accessory and module realize calling by interface.CmdC has defined the annexation of each assembly as the top layer accessory.The CmdM module is the specific implementation of CmdC, calls the transmitting-receiving that existing assembly GenericComm realizes wireless data, and the RobotC assembly that calls design is voluntarily realized the transmission of protocol package, and RobotM is the specific implementation of RobotC.The PACKETM module of one deck is called down in the transmission of each byte again, and then finishes the communication task with Actuator.
The software of actuator system adopts the programming mode based on behavior.Robot behavior can be understood as the set of a series of actions.Basic act is made up of trigger and control unit, and control unit can make robot move according to specific mode, and trigger has determined then when robot should carry out that associative operation.Trigger simultaneously for fear of a plurality of behaviors, need carry out priority arbitration behavior.
As shown in Figure 8 be the behavior block diagram of mobile node.Wherein, each transducer input is as the trigger of behavior, and the priority of charging behavior is the highest, and the priority of the behavior of cruising is minimum.In order to allow a plurality of mobile node agreements, also can be from the data of communication interface as trigger.
Each behavior is encapsulated in each action-function for calling, after the program running, transducer refreshes the every 100ms of task task _ Update_Sensor () and is performed the request flag that once triggers each behavior simultaneously, and the last call function Behavior_Arbitration of this task () arbitrates and calls relevant action-function and comes drive motors to move according to predetermined behavior.
Behavior description:
The charging behavior: battery voltage sensor is responsible for gathering cell voltage, if the cell voltage deficiency is then carried out the charging behavior.The charging behavior simply is provided with mobile node here and goes home, and promptly gets back to starting point.
Flee from behavior: when causing motor rotation blockage when the collision of mobile node and barrier or owing to other reason, anti-stall transducer is fled from behavior with triggering, manages to make mobile node to leave the stall scene.
Navigation behavior: do point-to-point navigation by mobile node by the VFF navigation algorithm.Navigation is the data that the parameter of needs transmits from digital compass, encoder, distance measuring sensor and communication interface.
Walk behavior along wall: come metope is followed the tracks of according to two infrared ray proximity transducers about mobile node, make mobile node along left wall or the walking of right wall.
The behavior of cruising: the priority of the behavior of cruising is minimum, is the motion state of mobile node when not having other behavior to produce, and this motion state is the open loop campaign.The behavior of cruising can certainly be set at static by setting according to the task needs.
The exploitation of host computer user administration software is based on VC++6.0.The ceiling camera links to each other by USB with PC, is used to monitor the working region at whole mobile node place.Picture is displayed on the Video hurdle of software interface, and sectional drawing is preserved with the BMP form at any time.The motion conditions of each mobile node and data etc. are presented at the Details hurdle of software interface with the form of text, for analysis.After in Select nodes hurdle, choosing node number, just can carry out plane motion control to this node by the button in Set direction and the Set speed hurdle.PC communicates by RS232 and aggregation node.Therefore, the serial port protocol between PC and aggregation node is the core of this software.
The operation principle and the course of work:
Be illustrated in figure 1 as system construction drawing of the present invention, mobile node 1 passes through 2.4GHz frequency range MANET mesh network after entering site environment, after gathering respective environment 5 data, send base station 2 to by Xmesh mode single-hop or multi-hop, the base station is with information classification, and repack, send client computer PC or PDA4 to by backbone networks such as Internet 3.After client was received environmental data, monitoring required to send order to base station 2 according to difference, will order decomposition by the base station again, and single-hop or multi-hop route carry out corresponding task for different mobile nodes.This system solves traditional wireless sensor networks from difficult problems such as deployment, selfreparings because mobile robot technology is incorporated in the wireless sensor network with less cost.
In the system of the present invention architecture of base station as shown in Figure 2, it has comprised power module, communications processor element and host computer interface.Wherein power module employing+5V direct current and two saves the AA powered battery; Communications processor element is made up of radio receiving transmitting module, microcontroller (MCU) and memory; 51 needle connectors are used for being connected between base station and the host computer.When the sensor acquisition of mobile node to data and when sending the base station to, radio receiving transmitting module unpacks packet, analyzes the back storage by MCU, and requires to send to host computer according to difference.When client sent order to the base station, MCU classified to different command, and required to send related command to mobile node to radio receiving transmitting module.This architecture of base station is simple, cost is low, good energy saving property, can long-time steady operation in hazardous environment.
Fig. 3 is the wireless mobile node structure chart.This node is made up of power module, sensor unit, communications processor element and actuator unit.Sensor unit has comprised sensor elements such as temperature, illumination and acceleration, is used for the collection site environmental data.These data send communications processor element to by interface, are handled and are stored by main MCU.According to the order that transmit the base station, main MCU can send back the base station with the data of gathering, and also can require to assist simultaneously MCU to carry out corresponding task.Actuator is by the MCU of association, and motor, coding disk, digital compass, infrared distance measurement and voltage detection module are formed.The MCU of association only is responsible for bottom operation, call according to different command advance, retreat, turn, operations such as range finding, pose correction.Stable for circuit system, power module is divided into two parts, and a part is to the communications processor element power supply, and another part is powered to actuator unit.This mechanism structure is clear, well arranged, easy to maintenance, can be competent at varying environment monitoring occasion.
The explanation of actuator unit each several part:
The MCU of association: the ATmega16L that adopts Atmel company is as the MCU of association.
Digital compass: the digital BE-2610 of ring during digital compass adopts is connected with ATmega16L by the I2C interface.
Motor-driven: chip for driving adopts the L293 of ST company, and single-chip microcomputer is recently controlled rotating speed of motor by the duty that change L293 enables pin.
Infrared distance measuring: adopt the GP2D12 infrared distance measuring transducer of SHARP company, its analog quantity output is directly connected on the single-chip microcomputer is gathered by inner 10 AD.
Coding disk detects: design voluntarily, and carry out code-disc with the mode of infrared reflection and detect, the moving circle of wheel revolution will produce 36 pulses and input to single-chip microcomputer, and positioning accuracy is 0.5cm.
Voltage detecting: will be connected to inner 10 AD of single-chip microcomputer after the cell voltage conditioning.
Communication interface: communications processor element is connected by 51 needle connectors with actuator unit, communicates with the UART mode.
Enclose the parameter of motor and wheel in addition:
The powerful reducing motor of low inertia, 50 rev/mins of output shafts, wheel diameter 60mm, 1.5 kilograms/6V of wheel limit basket torsion
Fig. 4 is a systems approach flow chart of the present invention, and its concrete steps are as follows:
Step 1 with user terminal 4, is connected to base station 2 by transmission medium 3.
Step 4, the user selects the stronger mobile node of a part of executive capability according to the health status of each node.
Step 6, mobile node 4 is finished deployment task, returns current coordinate and observes for the user, if revise deployment scenario, can return step 5, finishes up to deployment.
Fig. 5 is the mobile node method flow diagram, and its concrete steps are as follows:
Step 1 starts mobile node, the mobile node initial position is set and finishes initialization.
Step 4, if from master mode, main MCU will be transmitted to the MCU of association from deployment order and relevant parameter by communication interface, come complete from deployment task by the MCU of association; If navigate mode, main MCU is transmitted to the MCU of association by communication interface with navigation target address and relevant parameter, comes complete navigation task by the MCU of association.
The data route:
If in step 3, mobile node receives route data packets, then transmits the address of this packet to its appointment.
The health status test:
If in step 3, mobile node receives the Fitness Testing order, and the health status that then sends this node is to the base station, and health status comprises battery electric quantity and radio communication quality.
Step 6: if do not receive packet in step 3, perhaps above step is finished, and mobile node is gathered the data of entrained transducer and sent to the base station by mesh network 5.
Step 7: repeating step 3.
Claims (1)
1, a kind of active sensor network system towards the hazardous environment monitoring is made of client computer, base station and some mobile nodes; The effect of a gateway is played in the base station between mobile node and client computer, the data upload of being responsible on the one hand collecting mobile node is responsible for sending the order of client terminal to mobile node on the other hand to client computer; Adopt radio communication between each mobile node and between base station and the mobile node, the mode by multi-hop ad hoc forms mesh network; Mobile node sends the environmental data of gathering to base station by Xmesh mode single-hop or multi-hop, and the base station is information classification, and repacks, and sends client computer to by backbone networks such as Internet; Client requires to send order to the base station according to monitoring, will order decomposition by the base station again, and single-hop or multi-hop route carry out corresponding task for different mobile nodes;
Described mobile node is made of sensor unit, actuator unit, communications processor element, molar behavior mechanism and power module; It is characterized in that:
Described communications processor element is made up of radio receiving transmitting module, host microcontroller MCU and memory, the data message that host microcontroller MCU handles is by memory stores, radio receiving transmitting module is a host microcontroller MCU transceive data information, each sensor acquisition environmental data of sensor unit, send communications processor element to by interface, handle and stored by host microcontroller MCU; Communications processor element is connected by 51 needle connectors with actuator unit, communicates with the UART mode; Actuator unit is made up of the MCU of association, coding disk, range finding positioning equipment and voltage detection module; Described range finding positioning equipment is made up of digital compass, coding disk and infrared range-measurement system, be respectively applied for fix the position, displacement and target range, its data message is transferred to the MCU of association and is handled;
Described molar behavior mechanism adopts the rear end driving wheel to add front end universal wheel differential configuration; Universal wheel is fixed on the base plate; Driving wheel is connected by shaft coupling on the high pulling torque motor of band reductor, the MCU of association control molar behavior mechanism action;
If from master mode, host microcontroller MCU will be transmitted to the MCU of association from deployment order and relevant parameter by communication interface, come complete from deployment task by the MCU of association; If navigate mode, host microcontroller MCU is transmitted to the MCU of association by communication interface with navigation target address and relevant parameter, comes complete navigation task by the MCU of association.
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| CNB2007100230041A CN100536588C (en) | 2007-05-30 | 2007-05-30 | An active sensor network system and mobile node device for monitoring the dangerous environment conditions |
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| CNB2007100230041A CN100536588C (en) | 2007-05-30 | 2007-05-30 | An active sensor network system and mobile node device for monitoring the dangerous environment conditions |
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Families Citing this family (19)
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| CN101516141B (en) * | 2008-12-05 | 2011-01-19 | 中国移动通信集团广东有限公司 | Method and system for communication between mobile terminal and Internet |
| US8626444B2 (en) * | 2009-03-16 | 2014-01-07 | The Hong Kong University Of Science And Technology | Safety based road map navigation |
| CN101635995B (en) * | 2009-09-01 | 2011-07-06 | 东南大学 | Wireless sensor network equipment adaptable to complex terrain |
| CN101927488B (en) * | 2009-10-28 | 2012-06-13 | 东南大学 | Self-assembly multiple-mobile-robot system and self-assembly structure |
| CN101801017B (en) * | 2010-01-28 | 2012-07-18 | 南京信息工程大学 | Self-maintenance system of mobile sensor network communication link and self-maintenance method thereof |
| CN101975755A (en) * | 2010-10-09 | 2011-02-16 | 东南大学 | Wireless sensor network monitoring system for crop nitrogen |
| CN102006323A (en) * | 2010-11-19 | 2011-04-06 | 上海波顿无线传感技术有限公司 | Environmental monitoring Internet-of-things system |
| CN102264128A (en) * | 2011-06-27 | 2011-11-30 | 无锡泛联物联网科技股份有限公司 | Personnel real time positioning device based on wireless sensor network |
| WO2013007013A1 (en) * | 2011-07-11 | 2013-01-17 | 深圳英盟欣科技有限公司 | Non-infrastructure-based peripheral surveillance system of wireless sensor network |
| CN102340894B (en) * | 2011-08-26 | 2014-01-29 | 东北大学 | Wireless-sensor-network-based remote control rescue robot system and control method |
| CN103163501B (en) * | 2013-02-19 | 2014-12-17 | 上海理工大学 | Implementation method of infrared multi-machine coordinate positioning and communication |
| CN105684515A (en) * | 2014-06-10 | 2016-06-15 | 奇点新源国际技术开发(北京)有限公司 | Mobile station, base station, wireless communication system and communication method |
| CN104301907B (en) * | 2014-11-11 | 2018-06-19 | 东南大学 | Mix Network Mobility coverage detection method and node deployment selection method |
| CN104735820B (en) * | 2015-04-07 | 2018-01-05 | 无锡职业技术学院 | Checking system on the spot based on sensor self-organized algorithm |
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| CN107945871A (en) * | 2017-12-19 | 2018-04-20 | 贵州医科大学附属医院 | A kind of blood disease intelligent classification system based on big data |
| CN108650681B (en) * | 2018-03-16 | 2023-10-10 | 科航（苏州）信息科技有限公司 | Automatic deployment device for multi-bin combined wireless communication nodes |
| CN108698227B (en) * | 2018-04-24 | 2021-07-09 | 达闼机器人有限公司 | Cloud-controlled information transmission method, robot and swarm robot system |
| CN109490970A (en) * | 2018-11-27 | 2019-03-19 | 北京空间技术研制试验中心 | A kind of planet surface exploration method |
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