CN102123488B - Method for selecting control nodes for complex task cooperative processing in wireless sensor network - Google Patents

Method for selecting control nodes for complex task cooperative processing in wireless sensor network Download PDF

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CN102123488B
CN102123488B CN201110050986XA CN201110050986A CN102123488B CN 102123488 B CN102123488 B CN 102123488B CN 201110050986X A CN201110050986X A CN 201110050986XA CN 201110050986 A CN201110050986 A CN 201110050986A CN 102123488 B CN102123488 B CN 102123488B
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韩光洁
张娜
朱川
董玉慧
江金芳
巢佳
郭惠
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Changzhou City Ankong Electrical Appliance Complete Set Equipment Co ltd
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Abstract

本发明公开了一种无线传感器网络中复杂任务协作处理的控制节点选取方法，其主要步骤为：在感知节点工作区域内，各个节点的位置信息都是已知的，感知节点感知到复杂任务后对任务进行描述并分解为若干子任务，感知节点广播消息要求工作区域内的所有节点返回各自的ID号、位置信息和能量信息，感知节点根据能量由大到小顺序对节点进行排序，分析两节点与感知节点间夹角，选定符合条件的节点做为控制节点，根据控制节点的位置将工作区域划分为若干子工作区域，且子工作区域的个数与子任务的个数相等。本发明应用于无线传感器网络通讯，可以提高复杂任务协作处理的效率，节约网络能量。

Figure 201110050986

The invention discloses a control node selection method for complex task cooperative processing in a wireless sensor network. The main steps are as follows: in the working area of the sensing node, the position information of each node is known, and the sensing node senses the complex task. Describe the task and decompose it into several subtasks. The sensing node broadcasts a message and requires all nodes in the working area to return their ID numbers, location information and energy information. The sensing node sorts the nodes according to the order of energy from large to small, and analyzes the two The angle between the node and the sensing node, select the qualified node as the control node, divide the working area into several sub-working areas according to the position of the control node, and the number of sub-working areas is equal to the number of sub-tasks. The invention is applied to wireless sensor network communication, can improve the efficiency of complex task cooperative processing, and save network energy.

Figure 201110050986

Description

无线传感器网络中复杂任务协作处理的控制节点选取方法Control node selection method for complex task cooperative processing in wireless sensor networks

技术领域 technical field

本发明涉及无线传感器网络通信领域，具体说是一种无线传感器网络中复杂任务协作处理的控制节点选取方法。  The invention relates to the field of wireless sensor network communication, in particular to a control node selection method for complex task cooperative processing in the wireless sensor network. the

背景技术 Background technique

无线传感器网络（Wireless Sensor Networks）由于其高度的学科交叉性和广泛的应用前景受到世界各地学术界和工业界的高度关注，是新兴的前沿热点研究方向。其被广泛应用于许多领域来处理敏感的信息，应用场景包括军事、工业、家庭、医疗健康、环境监测等诸多领域。比如，无线传感器网络可以对建筑物内火灾发生进行准确及时地预报；当发生地震、水灾、强热带风暴或遭受其他灾难打击的应急场合，也需要无线传感器网络这种不依赖任何固定网络设施、能快速布设的自组织网络技术；在地处偏远、动植物受到保护的自然保护区或湿地保护区，无法采用固定或预设的网络设施进行通信，而采用无线传感器网络来进行信号采集与处理毫无疑问是最佳的选择。 Wireless sensor networks (Wireless Sensor Networks) are highly concerned by academia and industry all over the world due to their highly interdisciplinary nature and broad application prospects, and are emerging frontier hot research directions. It is widely used in many fields to process sensitive information, and its application scenarios include military, industrial, family, medical and health, environmental monitoring and many other fields. For example, wireless sensor networks can accurately and timely predict the occurrence of fires in buildings; when earthquakes, floods, severe tropical storms, or other disasters strike emergency situations, wireless sensor networks that do not rely on any fixed network facilities, Self-organizing network technology that can be quickly deployed; in remote nature reserves or wetland reserves where animals and plants are protected, fixed or preset network facilities cannot be used for communication, and wireless sensor networks are used for signal acquisition and processing Undoubtedly the best choice.

无线传感器节点作为组成无线传感器网络的基本组成单元，受到实际应用等诸多方面的影响，其能量、通信半径、计算能力、感知范围等都是有限的。一般在实际应用中，单个节点无法完成指定任务。无线传感器网络的分布式特点，使得在车况复杂的交通运输方面，在战况激烈的军事战场，在医护医疗方面，在大片的动物养殖基地和海洋环境下，需要对目标运动状态进行监测、定位及跟踪的应用要求下，要求多个传感器节点协作来达到应用需求。协作作为无线传感器网络的基本属性，是无线传感器网络工作的基本模式，为了充分利用传感器节点的有限资源，均衡网络能量消耗，选取最合适的节点来参加任务的协作处理，可以避免任务处理中不必要的通信消耗与时间延迟。复杂任务协作求解时，需要预先对任务进行描述与分解，然后由某些能量较大的节点通过协调管理，经过若干通信与计算后，挑选出协作节点对任务进行协作。 As the basic unit of wireless sensor networks, wireless sensor nodes are affected by many aspects such as practical applications, and their energy, communication radius, computing power, and sensing range are all limited. Generally, in practical applications, a single node cannot complete specified tasks. The distributed characteristics of the wireless sensor network make it necessary to monitor, locate and monitor the movement state of the target in the complex transportation of vehicles, in the fierce military battlefield, in the medical care and medical care, in large animal breeding bases and in the ocean environment. Under the application requirements of tracking, multiple sensor nodes are required to cooperate to meet the application requirements. As the basic attribute of wireless sensor network, cooperation is the basic working mode of wireless sensor network. In order to make full use of the limited resources of sensor nodes and balance the energy consumption of the network, select the most suitable nodes to participate in the cooperative processing of tasks, which can avoid the inconsistencies in task processing. Necessary communication consumption and time delay. When solving complex tasks collaboratively, it is necessary to describe and decompose the task in advance, and then coordinate and manage some nodes with high energy. After several communications and calculations, the cooperative nodes are selected to cooperate with the task.

Mauri Kuorilehto所写的一篇无线传感器网络分布式应用的综述中总结了近年来，在协作复杂任务处理的过程中，任务处理时的任务间通信以及任务迁移都在在整个工作区域进行的，划分后的子任务都是从整个工作区域内挑选节点来进行任务处理的。而当感知节点通知某节点来处理相应任务时，此节点可能还在处理上一个任务，这时就会带来任务的堆积，从而导致任务处理的时间延迟；或此正在处理任务的节点直接拒绝感知节点的征用要求，不对下一个任务进行处理，引起无效通信，增加能耗。以上种种不足严重降低了复杂任务协作处理的效率，浪费了网络能量。  A review of distributed applications of wireless sensor networks written by Mauri Kuorilehto summarizes that in recent years, in the process of collaborative complex task processing, inter-task communication and task migration during task processing are carried out in the entire work area. The subsequent subtasks are all selected nodes from the entire work area for task processing. When the sensing node notifies a node to process the corresponding task, the node may still be processing the previous task, which will lead to the accumulation of tasks, resulting in a delay in task processing; or the node that is processing the task directly refuses Perceive the requisition requirements of nodes, and do not process the next task, causing invalid communication and increasing energy consumption. The above-mentioned deficiencies seriously reduce the efficiency of complex task cooperative processing and waste network energy. the

发明内容 Contents of the invention

发明目的：为了克服现有技术中存在的不足，本发明的目的是提供一种在无线传感器网络中复杂任务协作处理的控制节点选取方法，此方法应用于无线传感器网络通讯时，可以提高复杂任务协作处理的效率，节约网络能量。 Purpose of the invention: In order to overcome the deficiencies in the prior art, the purpose of the present invention is to provide a control node selection method for complex task cooperative processing in wireless sensor networks. When this method is applied to wireless sensor network communication, it can improve complex task The efficiency of collaborative processing saves network energy.

为解决上述技术问题，本发明采用的技术方案为： In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:

无线传感器网络中复杂任务协作处理的控制节点选取方法，该方法包括如下步骤： A control node selection method for complex task cooperative processing in a wireless sensor network, the method includes the following steps:

（1）感知节点感知到复杂任务后对任务进行描述并分解为m个子任务； (1) After the perception node perceives the complex task, it describes the task and decomposes it into m subtasks;

（2）感知节点广播消息要求工作区域内的所有一跳范围内的其他节点返回各自的ID号、位置信息和能量信息，收到广播消息的其他节点将各自的ID号、位置信息和自身剩余能量返回给感知节点； (2) The sensing node broadcasts the message and requires all other nodes within one hop in the working area to return their ID numbers, location information and energy information, and other nodes receiving the broadcast message send their ID numbers, location information and their own remaining The energy is returned to the sensing node;

（3）感知节点收到各节点的返回信息后，根据能量由大到小顺序对节点进行排序，得到节点序列                                                

Figure 201110050986X100002DEST_PATH_IMAGE001
、
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、
Figure 201110050986X100002DEST_PATH_IMAGE003
…
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…
Figure 201110050986X100002DEST_PATH_IMAGE005
； (3) After receiving the return information of each node, the sensing node sorts the nodes according to the order of energy from large to small, and obtains the node sequence
Figure 201110050986X100002DEST_PATH_IMAGE001
,
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,
Figure 201110050986X100002DEST_PATH_IMAGE003
…
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…
Figure 201110050986X100002DEST_PATH_IMAGE005
;

（4）根据步骤（3）中的节点排序，感知节点分析两节点与感知节点三点组成角度的大小，选出夹角值符合要求的节点，确定这些节点为控制节点，控制节点的个数与步骤（1）中分解的子任务的个数相等，即为m个控制节点，定义两节点与感知节点三点组成的角度为，则存在以下关系

Figure 201110050986X100002DEST_PATH_IMAGE007
，其中，m为子任务的个数，
Figure 540612DEST_PATH_IMAGE008
为任意非负的正整数； (4) According to the ordering of nodes in step (3), the sensing node analyzes the size of the angle formed by the two nodes and the three points of the sensing node, selects the nodes whose angle value meets the requirements, determines these nodes as control nodes, and the number of control nodes It is equal to the number of subtasks decomposed in step (1), that is, m control nodes, and the angle formed by two nodes and three points of perception nodes is defined as , then there is the following relationship
Figure 201110050986X100002DEST_PATH_IMAGE007
, where m is the number of subtasks,
Figure 540612DEST_PATH_IMAGE008
is any non-negative positive integer;

（5）根据步骤（4）选出的控制节点，将整个工作区域划分为与控制节点个数相等的子工作区域，即划分为m个子工作区域，每个控制节点负责一个子工作区域，每个控制节点的编号与各自管理的子工作区域的编号保持一致，m个子任务分别在这m个子工作区域内由m个控制节点整体管理协作过程； (5) According to the control nodes selected in step (4), the entire working area is divided into sub-working areas equal to the number of control nodes, that is, divided into m sub-working areas, and each control node is responsible for a sub-working area. The numbers of the control nodes are consistent with the numbers of the sub-working areas managed by them, and the m sub-tasks are respectively managed by the m control nodes in the m sub-working areas;

（6）工作区域内的其他节点通过比较自身与子工作区域的位置关系，来确定自己属于哪一个子工作区域，并将自己所属的子工作区域号发送给感知节点，感知节点将每个子工作区域内各个节点的ID号、位置坐标和能量值发送给已经确认的相应子工作区域内的控制节点，控制节点收到后保存信息，并分析挑选出工作区域内其他节点的各种属性来确定哪些节点作为协作节点。 (6) Other nodes in the working area determine which sub-working area they belong to by comparing the positional relationship between themselves and the sub-working area, and send the number of the sub-working area to the sensing node, and the sensing node sends each sub-working area The ID number, position coordinates and energy value of each node in the area are sent to the control node in the corresponding sub-working area that has been confirmed. The control node saves the information after receiving it, and analyzes and selects various attributes of other nodes in the working area to determine Which nodes act as coordinating nodes.

所述的无线传感器网络中复杂任务协作处理的控制节点选取方法，其特征在于，步骤（1）还包括感知节点估计每个子任务处理过程中控制节点至少应具备的能量

Figure 201110050986X100002DEST_PATH_IMAGE009
的步骤，而在步骤（3）所述的根据能量由大到小顺序对节点进行排序的步骤中，还包括预先将能量小于的节点排除的步骤，得到新的节点序列：、
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、
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…
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…
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，其中，
Figure 201110050986X100002DEST_PATH_IMAGE011
。 The method for selecting a control node for cooperative processing of complex tasks in a wireless sensor network is characterized in that step (1) further includes the sensing node estimating at least the energy that the control node should have during the processing of each subtask
Figure 201110050986X100002DEST_PATH_IMAGE009
, while in the step (3) of sorting the nodes according to the order of energy from large to small, it also includes pre-setting the energy less than The node exclusion step to get a new sequence of nodes: ,
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,
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…
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…
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,in,
Figure 201110050986X100002DEST_PATH_IMAGE011
.

所述的无线传感器网络中复杂任务协作处理的控制节点选取方法，其特征在于，所述的

Figure 321114DEST_PATH_IMAGE012
高于控制节点与其子工作区域其他节点相互通信耗费的能量以及协作处理过程中挑选协作节点的具体计算消耗。 The control node selection method for complex task cooperative processing in the wireless sensor network is characterized in that the
Figure 321114DEST_PATH_IMAGE012
It is higher than the energy consumed by the communication between the control node and other nodes in its sub-working area and the specific calculation consumption of selecting cooperative nodes in the cooperative processing process.

所述的无线传感器网络中复杂任务协作处理的控制节点选取方法，其特征在于，步骤（2）中所述的其他节点的个数为

Figure 201110050986X100002DEST_PATH_IMAGE013
，其中
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，
Figure 201110050986X100002DEST_PATH_IMAGE015
为感知节点通信范围内节点的总个数，且
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。 The control node selection method for complex task cooperative processing in the wireless sensor network is characterized in that the number of other nodes described in step (2) is
Figure 201110050986X100002DEST_PATH_IMAGE013
,in
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,
Figure 201110050986X100002DEST_PATH_IMAGE015
is the total number of nodes within the communication range of sensing nodes, and
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.

所述的无线传感器网络中复杂任务协作处理的控制节点选取方法，其特征在于，步骤（5）中划分子工作区域的具体方法为：挑选出能量最相近的相邻节点的夹角，作这个角的角平分线，以这条角平分线为基准，向两边分别划定

Figure 201110050986X100002DEST_PATH_IMAGE017
角度大小的区域，然后再在以此新划分出的角的边为基准继续向外划分出同样角度的区域，直到整个区域划分完成； The control node selection method for complex task cooperative processing in the wireless sensor network is characterized in that the specific method of dividing the sub-working area in step (5) is: select the angle between the adjacent nodes with the closest energy, and make this The angle bisector of the angle, with this angle bisector as the reference, draws to both sides respectively
Figure 201110050986X100002DEST_PATH_IMAGE017
Angle-sized area, and then continue to divide the area of the same angle outward based on the side of the newly divided angle until the entire area is divided;

本发明的有益效果为：与现有技术相比，本发明提供了一种基于复杂任务协作求解过程中控制节点的选取方法，能够使工作区域能量较均匀地分布，各个子任务工作区域相互分离，避免了因任务堆积造成的时延；划分算法较为简单，节点与控制节点之间的通信距离较不分区域处理情况下节点与感知节点的通信距离短，相应的通信能耗降低，在对任务处理的实时性要求较高并且要求节能的情况下具有很好的应用价值。 The beneficial effects of the present invention are: compared with the prior art, the present invention provides a method for selecting control nodes based on the complex task cooperative solution process, which can make the energy of the working area more evenly distributed, and the working areas of each subtask are separated from each other , avoiding the time delay caused by task accumulation; the division algorithm is relatively simple, the communication distance between the node and the control node is shorter than the communication distance between the node and the sensing node without regional processing, and the corresponding communication energy consumption is reduced. It has a good application value when the real-time requirements of task processing are high and energy saving is required.

附图说明 Description of drawings

图1为无线传感器网络中复杂任务协作处理的控制节点选取方法的流程图；图2为拆分的子任务个数为3时的工作区域划分模型。 Fig. 1 is a flow chart of a control node selection method for complex task cooperative processing in a wireless sensor network; Fig. 2 is a working area division model when the number of split subtasks is 3.

具体实施方式 Detailed ways

下面将结合附图，详细说明本发明的具体实施方式： The specific embodiment of the present invention will be described in detail below in conjunction with accompanying drawing:

图1为无线传感器网络中复杂任务协作处理的控制节点选取方法的流程图。 FIG. 1 is a flowchart of a method for selecting a control node for cooperative processing of complex tasks in a wireless sensor network.

如图1所示：无线传感器网络中复杂任务协作处理的控制节点选取方法，包括如下步骤： As shown in Figure 1: the control node selection method for complex task cooperative processing in wireless sensor networks, including the following steps:

（1）感知节点

Figure 699116DEST_PATH_IMAGE018
在感知到任务后，将任务拆分成m个子任务，并估计每个子任务处理过程中控制节点至少应具备的能量
Figure 393402DEST_PATH_IMAGE009
，其中能量应高于控制节点与其子工作区域中其他节点相互通信耗费的能量以及协作处理过程中挑选协作节点的具体计算消耗，因为这部分与实际应用相关，所以暂定为一个定常数，然后对其不同取值的控制节点挑选结果进行讨论； (1) Sensing node
Figure 699116DEST_PATH_IMAGE018
After the task is perceived, the task is divided into m subtasks, and the energy that the control node should have at least during the processing of each subtask is estimated
Figure 393402DEST_PATH_IMAGE009
, where the energy It should be higher than the energy consumed by the communication between the control node and other nodes in its sub-working area and the specific calculation consumption of selecting cooperative nodes in the cooperative processing process. Because this part is related to practical applications, it is tentatively is a constant, and then discuss the selection results of control nodes with different values;

（2）感知节点

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发送消息给其一跳范围内的其他节点
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（
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为其他节点的个数，
Figure 201110050986X100002DEST_PATH_IMAGE019
，
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为
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通信范围内节点的总个数，且
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），并要求节点返回自身ID号、位置坐标以及能量信息
Figure 201110050986X100002DEST_PATH_IMAGE023
，收到广播消息的节点将自身剩余能量返回给感知节点； (2) Sensing node
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Send messages to other nodes within one hop
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(
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is the number of other nodes,
Figure 201110050986X100002DEST_PATH_IMAGE019
,
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for
Figure 201110050986X100002DEST_PATH_IMAGE021
The total number of nodes within the communication range, and
Figure 172547DEST_PATH_IMAGE022
), and ask the node to return its own ID number, location coordinates and energy information
Figure 201110050986X100002DEST_PATH_IMAGE023
,receive The node that broadcasts the message returns its remaining energy to the sensing node;

（3）感知节点收到各节点的返回信息后，根据能量由大到小顺序对节点进行排序，得到节点序列

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、
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、
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…
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…
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，并且将能量小于
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的节点从备选控制节点的序列中剔除，得到一个新的节点序列：
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、
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、
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……
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，
Figure 644242DEST_PATH_IMAGE011
，挑选控制节点时按照此顺序进行，可以在避免控制节点过密的同时保证控制节点能量足够大； (3) After receiving the return information of each node, the sensing node sorts the nodes according to the order of energy from large to small, and obtains the node sequence
Figure 772473DEST_PATH_IMAGE001
,
Figure 464485DEST_PATH_IMAGE002
,
Figure 201497DEST_PATH_IMAGE003
…
Figure 662565DEST_PATH_IMAGE004
…
Figure 92409DEST_PATH_IMAGE005
, and reduce the energy to less than
Figure 6139DEST_PATH_IMAGE009
The nodes of are removed from the sequence of candidate control nodes to obtain a new sequence of nodes:
Figure 546842DEST_PATH_IMAGE001
,
Figure 190313DEST_PATH_IMAGE002
,
Figure 463162DEST_PATH_IMAGE003
… …
Figure 208581DEST_PATH_IMAGE010
,
Figure 644242DEST_PATH_IMAGE011
, when selecting the control nodes, follow this order, which can ensure that the energy of the control nodes is large enough while avoiding the control nodes being too dense;

（4）根据步骤（3）中的节点排序，感知节点分析两节点与感知节点三点组成角度的大小，选出夹角值符合要求的节点，确定这些节点为控制节点，控制节点的个数与步骤（1）中分解的子任务的个数相等，即为m个控制节点，定义两节点与感知节点三点组成的角度为

Figure 150309DEST_PATH_IMAGE024
，则存在以下关系
Figure 301281DEST_PATH_IMAGE007
，其中，m为子任务的个数，
Figure 183786DEST_PATH_IMAGE008
为任意非负的正整数，具体为：按照以下顺序比较、
Figure 354184DEST_PATH_IMAGE026
、、
Figure 729802DEST_PATH_IMAGE028
、
Figure 201110050986X100002DEST_PATH_IMAGE029
、
Figure 150419DEST_PATH_IMAGE030
…
Figure 201110050986X100002DEST_PATH_IMAGE031
、
Figure 560672DEST_PATH_IMAGE032
、
Figure 201110050986X100002DEST_PATH_IMAGE033
、
Figure 346225DEST_PATH_IMAGE034
…
Figure 201110050986X100002DEST_PATH_IMAGE035
，直到找到m个节点，以及m个
Figure 209139DEST_PATH_IMAGE036
、
Figure 201110050986X100002DEST_PATH_IMAGE037
、…
Figure 201110050986X100002DEST_PATH_IMAGE039
…的角度值
Figure 917310DEST_PATH_IMAGE006
存在以下关系（m为子任务的个数，
Figure 29940DEST_PATH_IMAGE008
为任意非负的正整数），将满足以上关系的
Figure 201110050986X100002DEST_PATH_IMAGE041
挑选为控制节点； (4) According to the ordering of nodes in step (3), the sensing node analyzes the size of the angle formed by the two nodes and the three points of the sensing node, selects the nodes whose angle value meets the requirements, determines these nodes as control nodes, and the number of control nodes It is equal to the number of subtasks decomposed in step (1), that is, m control nodes, and the angle formed by two nodes and three points of perception nodes is defined as
Figure 150309DEST_PATH_IMAGE024
, then there is the following relationship
Figure 301281DEST_PATH_IMAGE007
, where m is the number of subtasks,
Figure 183786DEST_PATH_IMAGE008
is any non-negative positive integer, specifically: Compare in the following order ,
Figure 354184DEST_PATH_IMAGE026
, ,
Figure 729802DEST_PATH_IMAGE028
,
Figure 201110050986X100002DEST_PATH_IMAGE029
,
Figure 150419DEST_PATH_IMAGE030
…
Figure 201110050986X100002DEST_PATH_IMAGE031
,
Figure 560672DEST_PATH_IMAGE032
,
Figure 201110050986X100002DEST_PATH_IMAGE033
,
Figure 346225DEST_PATH_IMAGE034
…
Figure 201110050986X100002DEST_PATH_IMAGE035
, until m nodes are found, and m
Figure 209139DEST_PATH_IMAGE036
,
Figure 201110050986X100002DEST_PATH_IMAGE037
, …
Figure 201110050986X100002DEST_PATH_IMAGE039
… the angle value of
Figure 917310DEST_PATH_IMAGE006
The following relationship exists (m is the number of subtasks,
Figure 29940DEST_PATH_IMAGE008
is any non-negative positive integer), which will satisfy the above relation
Figure 201110050986X100002DEST_PATH_IMAGE041
selected as the control node;

（5）根据步骤（4）选出的控制节点，将整个工作区域划分为与控制节点个数相等的子工作区域，即划分为m个子工作区域，每个控制节点负责一个子工作区域，每个控制节点的编号与各自管理的子工作区域的编号保持一致，m个子任务分别在这m个子工作区域内由m个控制节点整体管理协作过程，其中，划分子工作区域的具体方法为：挑选出相邻节点能量最相近的两个节点之间的夹角，然后作这个角的角平分线，以这条角平分线为基准，向两边分别划定

Figure 542141DEST_PATH_IMAGE017
角度大小的区域，然后再在以此新划分出角的边为基准继续向外划分出同样角度的区域，直到整个区域划分完成，这样，工作区域被划分为m个子工作区域，每个子区域的角度值为
Figure 441964DEST_PATH_IMAGE017
，且划分后的子工作区域相互分离，每个工作区域内包含一个控制节点，能够保证子任务被分配到子工作区域后系统有足够能力来处理； (5) According to the control nodes selected in step (4), the entire working area is divided into sub-working areas equal to the number of control nodes, that is, divided into m sub-working areas, and each control node is responsible for a sub-working area. The numbering of the control nodes is consistent with the numbering of the sub-working areas managed by them. The m sub-tasks are respectively managed by the m control nodes in the m sub-working areas. Find the angle between two nodes with the closest energy to adjacent nodes , and then make the angle bisector of this angle, and use this angle bisector as the benchmark to delineate the two sides respectively
Figure 542141DEST_PATH_IMAGE017
Angle-sized area, and then continue to divide the same angle area based on the newly divided side of the corner until the entire area is divided. In this way, the working area is divided into m sub-working areas, each sub-area The angle value is
Figure 441964DEST_PATH_IMAGE017
, and the divided sub-working areas are separated from each other, and each working area contains a control node, which can ensure that the system has sufficient capacity to process sub-tasks after they are assigned to sub-working areas;

（6）工作区域内的其他节点通过比较自身与子工作区域的位置关系，来确定自己属于哪一个子工作区域，并将自己所属的子工作区域号发送给感知节点，感知节点将每个子工作区域内各个节点的ID号、位置坐标和能量值发送给已经确认的相应子工作区域内的控制节点，控制节点收到后保存信息，且控制节点统一管理在其控制区域内的节点； (6) Other nodes in the working area determine which sub-working area they belong to by comparing the positional relationship between themselves and the sub-working area, and send the number of the sub-working area to the sensing node, and the sensing node sends each sub-working area The ID number, position coordinates and energy value of each node in the area are sent to the control node in the corresponding sub-working area that has been confirmed, and the control node saves the information after receiving it, and the control node uniformly manages the nodes in its control area;

（7）在复杂任务协作处理的过程中，控制节点直接下载步骤（1）中感知节点得到的工作区域内的节点信息，分析工作区域内其他节点的各种属性来确定哪些节点作为协作节点，而避免了再次广播消息要求其工作区域节点返回自身信息带来的通信消耗，节约能量。 (7) In the process of collaborative processing of complex tasks, the control node directly downloads the node information in the working area obtained by sensing nodes in step (1), and analyzes various attributes of other nodes in the working area to determine which nodes are cooperative nodes. This avoids the communication consumption caused by rebroadcasting messages requiring nodes in their working areas to return their own information, and saves energy.

图2为拆分的子任务个数为3时的工作区域划分模型。 Figure 2 is the working area division model when the number of split subtasks is 3.

如图2所示：感知节点

Figure 945757DEST_PATH_IMAGE018
在感知到任务后，将任务拆分成3个子任务。图2中各点位置由极坐标表示，选定线段
Figure 981847DEST_PATH_IMAGE042
为极坐标的基准线，即
Figure 608000DEST_PATH_IMAGE021
极坐标为（0,0）、
Figure 932802DEST_PATH_IMAGE001
的极坐标为（
Figure 201110050986X100002DEST_PATH_IMAGE043
，0），感知节点将各节点按照能量由高到低排列为、
Figure 130882DEST_PATH_IMAGE002
、
Figure 865620DEST_PATH_IMAGE003
、
Figure 474456DEST_PATH_IMAGE044
、
Figure 201110050986X100002DEST_PATH_IMAGE045
…，它们的极坐标表示依次为（
Figure 582702DEST_PATH_IMAGE043
，0）、（，）、（，
Figure 201110050986X100002DEST_PATH_IMAGE049
）、（，
Figure 201110050986X100002DEST_PATH_IMAGE051
）、（，）…（，
Figure 201110050986X100002DEST_PATH_IMAGE055
）…（
Figure 61536DEST_PATH_IMAGE056
，）。 As shown in Figure 2: perception node
Figure 945757DEST_PATH_IMAGE018
After the task is perceived, the task is split into 3 subtasks. The position of each point in Figure 2 is represented by polar coordinates, and the selected line segment
Figure 981847DEST_PATH_IMAGE042
is the reference line of polar coordinates, that is,
Figure 608000DEST_PATH_IMAGE021
The polar coordinates are (0,0),
Figure 932802DEST_PATH_IMAGE001
The polar coordinates are (
Figure 201110050986X100002DEST_PATH_IMAGE043
, 0), the sensing node arranges the nodes according to the energy from high to low as ,
Figure 130882DEST_PATH_IMAGE002
,
Figure 865620DEST_PATH_IMAGE003
,
Figure 474456DEST_PATH_IMAGE044
,
Figure 201110050986X100002DEST_PATH_IMAGE045
..., and their polar coordinate representations are (
Figure 582702DEST_PATH_IMAGE043
,0), ( , ), ( ,
Figure 201110050986X100002DEST_PATH_IMAGE049
), ( ,
Figure 201110050986X100002DEST_PATH_IMAGE051
), ( , )…( ,
Figure 201110050986X100002DEST_PATH_IMAGE055
)…(
Figure 61536DEST_PATH_IMAGE056
, ).

然后依次计算

Figure 582647DEST_PATH_IMAGE058
、
Figure 201110050986X100002DEST_PATH_IMAGE059
、
Figure 770046DEST_PATH_IMAGE060
、
Figure 201110050986X100002DEST_PATH_IMAGE061
、
Figure 690073DEST_PATH_IMAGE062
、
Figure 201110050986X100002DEST_PATH_IMAGE063
、
Figure 999831DEST_PATH_IMAGE064
、
Figure 201110050986X100002DEST_PATH_IMAGE065
、
Figure 8239DEST_PATH_IMAGE066
、
Figure 201110050986X100002DEST_PATH_IMAGE067
…，直到存在一系列
Figure 999328DEST_PATH_IMAGE068
（
Figure 839108DEST_PATH_IMAGE008
为任意非负的正整数），且这个系列内存在m个表达式，这m个表达式内只由m个角度构成，每个角度出现两次，则挑选这m个角度对应的节点为m个控制节点。 and then calculate
Figure 582647DEST_PATH_IMAGE058
,
Figure 201110050986X100002DEST_PATH_IMAGE059
,
Figure 770046DEST_PATH_IMAGE060
,
Figure 201110050986X100002DEST_PATH_IMAGE061
,
Figure 690073DEST_PATH_IMAGE062
,
Figure 201110050986X100002DEST_PATH_IMAGE063
,
Figure 999831DEST_PATH_IMAGE064
,
Figure 201110050986X100002DEST_PATH_IMAGE065
,
Figure 8239DEST_PATH_IMAGE066
,
Figure 201110050986X100002DEST_PATH_IMAGE067
… until there exists a series of
Figure 999328DEST_PATH_IMAGE068
(
Figure 839108DEST_PATH_IMAGE008
is any non-negative positive integer), and there are m expressions in this series, these m expressions are only composed of m angles, and each angle appears twice, then select the node corresponding to these m angles as m a control node.

挑选这m个控制节点中下标最接近的两个节点

Figure 257451DEST_PATH_IMAGE004
和
Figure 201110050986X100002DEST_PATH_IMAGE069
（
Figure 487576DEST_PATH_IMAGE070
>
Figure 344673DEST_PATH_IMAGE055
），并作的角平分线，如图2中的角分线：S0A，此角平分线上所有点的极坐标的角度值为
Figure 976643DEST_PATH_IMAGE072
，由此角平分线起始向两边同时划定一个角度为
Figure DEST_PATH_IMAGE073
的区域，在本实施方式中，划定的角度值为
Figure 565887DEST_PATH_IMAGE074
，再按照相同的方法将整个工作区域划分为m个子工作区域，在本实施方式中，是划分为3个子工作区域，每划定一个区域时，边界线上所有点的极坐标的角度值依次确定。 Select the two nodes with the closest subscripts among the m control nodes
Figure 257451DEST_PATH_IMAGE004
and
Figure 201110050986X100002DEST_PATH_IMAGE069
(
Figure 487576DEST_PATH_IMAGE070
>
Figure 344673DEST_PATH_IMAGE055
), and make The angle bisector of , such as the angle bisector in Figure 2: S 0 A, the angle value of the polar coordinates of all points on this angle bisector is
Figure 976643DEST_PATH_IMAGE072
, starting from the bisector of this angle, draw an angle to both sides at the same time as
Figure DEST_PATH_IMAGE073
area, in this embodiment, the defined angle value is
Figure 565887DEST_PATH_IMAGE074
, and then divide the entire working area into m sub-working areas according to the same method. In this embodiment, it is divided into 3 sub-working areas. When each area is delimited, the angle values of the polar coordinates of all points on the boundary line are sequentially Sure.

控制节点

Figure 611203DEST_PATH_IMAGE004
控制区域的极坐标角度范围为[
Figure DEST_PATH_IMAGE075
，
Figure 944096DEST_PATH_IMAGE076
]， control node
Figure 611203DEST_PATH_IMAGE004
The polar coordinate angle range of the control area is [
Figure DEST_PATH_IMAGE075
,
Figure 944096DEST_PATH_IMAGE076
],

控制节点

Figure 492889DEST_PATH_IMAGE069
控制区域的极坐标角度范围为[
Figure DEST_PATH_IMAGE077
，
Figure 515684DEST_PATH_IMAGE078
]，按照此步骤，整个控制节点被划分的工作区域的角度范围为[
Figure DEST_PATH_IMAGE079
，
Figure 720400DEST_PATH_IMAGE080
]，其中
Figure DEST_PATH_IMAGE081
。 control node
Figure 492889DEST_PATH_IMAGE069
The polar coordinate angle range of the control area is [
Figure DEST_PATH_IMAGE077
,
Figure 515684DEST_PATH_IMAGE078
], according to this step, the angle range of the working area divided by the entire control node is [
Figure DEST_PATH_IMAGE079
,
Figure 720400DEST_PATH_IMAGE080
],in
Figure DEST_PATH_IMAGE081
.

感知节点通过比较各节点极坐标角度与控制节点极坐标角度是否在同一个范围内，来确定节点是否由这个控制节点管理，并将属于同一范围的节点ID号发送给相应的控制节点。 The perception node determines whether the node is managed by the control node by comparing the polar coordinate angle of each node with the control node polar coordinate angle, and sends the node ID number belonging to the same range to the corresponding control node.

以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。 The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also possible. It should be regarded as the protection scope of the present invention.

以上已以较佳实施例公开了本发明，然其并非用以限制本发明，凡采用等同替换或者等效变换方式所获得的技术方案，均落在本发明的保护范围之内。  The above has disclosed the present invention with preferred embodiments, but it is not intended to limit the present invention, and all technical solutions obtained by adopting equivalent replacement or equivalent transformation methods fall within the protection scope of the present invention. the

Claims (4)

1.无线传感器网络中复杂任务协作处理的控制节点选取方法，其特征在于该方法包括如下步骤： 1. the control node selection method of complex task cooperative processing in the wireless sensor network, it is characterized in that the method comprises the steps: （1）感知节点感知到复杂任务后对任务进行描述并拆分为m个子任务； (1) After the perception node perceives the complex task, it describes the task and splits it into m subtasks; （2）感知节点广播消息要求工作区域内的所有一跳范围内的其他节点返回各自的ID号、位置信息和能量信息，收到广播消息的其他节点将各自的ID号、位置信息和自身剩余能量返回给感知节点； (2) The sensing node broadcasts the message and requires all other nodes within one hop in the working area to return their ID numbers, location information and energy information, and other nodes receiving the broadcast message send their ID numbers, location information and their own remaining The energy is returned to the sensing node; （3）感知节点收到各节点的返回信息后，根据能量由大到小顺序对节点进行排序，得到节点序列                                               、
Figure 201110050986X100001DEST_PATH_IMAGE004
、
Figure 201110050986X100001DEST_PATH_IMAGE006
…
Figure 201110050986X100001DEST_PATH_IMAGE008
…； (3) After receiving the return information of each node, the sensing node sorts the nodes according to the order of energy from large to small, and obtains the node sequence ,
Figure 201110050986X100001DEST_PATH_IMAGE004
,
Figure 201110050986X100001DEST_PATH_IMAGE006
…
Figure 201110050986X100001DEST_PATH_IMAGE008
… ; （4）根据步骤（3）中的节点排序，感知节点分析两节点与感知节点三点组成角度的大小，选出夹角值符合要求的节点，确定这些节点为控制节点，控制节点的个数与步骤（1）中分解的子任务的个数相等，即为m个控制节点，定义两节点与感知节点三点组成的角度为
Figure 201110050986X100001DEST_PATH_IMAGE012
，则存在以下关系，其中，m为子任务的个数，为任意非负的正整数； (4) According to the ordering of nodes in step (3), the sensing node analyzes the size of the angle formed by the two nodes and the three points of the sensing node, selects the nodes whose angle value meets the requirements, determines these nodes as control nodes, and the number of control nodes It is equal to the number of subtasks decomposed in step (1), that is, m control nodes, and the angle formed by two nodes and three points of perception nodes is defined as
Figure 201110050986X100001DEST_PATH_IMAGE012
, then there is the following relationship , where m is the number of subtasks, is any non-negative positive integer; （5）根据步骤（4）选出的控制节点，将整个工作区域划分为与控制节点个数相等的子工作区域，即划分为m个子工作区域，每个控制节点负责一个子工作区域，每个控制节点的编号与各自管理的子工作区域的编号保持一致，m个子任务分别在这m个子工作区域内由m个控制节点整体管理协作过程； (5) According to the control nodes selected in step (4), the entire working area is divided into sub-working areas equal to the number of control nodes, that is, divided into m sub-working areas, and each control node is responsible for a sub-working area. The numbers of the control nodes are consistent with the numbers of the sub-working areas managed by them, and the m sub-tasks are respectively managed by the m control nodes in the m sub-working areas; （6）工作区域内的其他节点通过比较自身与子工作区域的位置关系，来确定自己属于哪一个子工作区域，并将自己所属的子工作区域号发送给感知节点，感知节点将每个子工作区域内各个节点的ID号、位置坐标和能量值发送给已经确认的相应子工作区域内的控制节点，控制节点收到后保存信息，然后分析工作区域内其他节点的各种属性来确定哪些节点作为协作节点， (6) Other nodes in the working area determine which sub-working area they belong to by comparing the positional relationship between themselves and the sub-working area, and send the number of the sub-working area to the sensing node, and the sensing node sends each sub-working area The ID number, position coordinates and energy value of each node in the area are sent to the control node in the corresponding sub-working area that has been confirmed. The control node saves the information after receiving it, and then analyzes various attributes of other nodes in the working area to determine which nodes As a collaborating node, 步骤（2）中所述的其他节点的个数为
Figure 201110050986X100001DEST_PATH_IMAGE018
，其中
Figure 201110050986X100001DEST_PATH_IMAGE020
，
Figure 201110050986X100001DEST_PATH_IMAGE022
为感知节点通信范围内节点的总个数，且
Figure 201110050986X100001DEST_PATH_IMAGE024
。 The number of other nodes mentioned in step (2) is
Figure 201110050986X100001DEST_PATH_IMAGE018
,in
Figure 201110050986X100001DEST_PATH_IMAGE020
,
Figure 201110050986X100001DEST_PATH_IMAGE022
is the total number of nodes within the communication range of sensing nodes, and
Figure 201110050986X100001DEST_PATH_IMAGE024
. 2.根据权利要求1所述的无线传感器网络中复杂任务协作处理的控制节点选取方法，其特征在于，步骤（1）还包括感知节点估计每个子任务处理过程中控制节点至少应具备的能量的步骤，而在步骤（3）所述的根据能量由大到小顺序对节点进行排序的步骤中，还包括预先将能量小于
Figure 912221DEST_PATH_IMAGE026
的节点排除的步骤，得到新的节点序列：、
Figure 121803DEST_PATH_IMAGE004
、
Figure 475424DEST_PATH_IMAGE006
…
Figure 742457DEST_PATH_IMAGE008
…
Figure 201110050986X100001DEST_PATH_IMAGE028
，其中，
Figure 201110050986X100001DEST_PATH_IMAGE030
。 2. The method for selecting control nodes for cooperative processing of complex tasks in a wireless sensor network according to claim 1, wherein the step (1) further includes the sensing node estimating the energy that the control node should have at least during the processing of each subtask , while in the step (3) of sorting the nodes according to the order of energy from large to small, it also includes pre-setting the energy less than
Figure 912221DEST_PATH_IMAGE026
The node exclusion step to get a new sequence of nodes: ,
Figure 121803DEST_PATH_IMAGE004
,
Figure 475424DEST_PATH_IMAGE006
…
Figure 742457DEST_PATH_IMAGE008
…
Figure 201110050986X100001DEST_PATH_IMAGE028
,in,
Figure 201110050986X100001DEST_PATH_IMAGE030
. 3.根据权利要求2所述的无线传感器网络中复杂任务协作处理的控制节点选取方法，其特征在于，所述的
Figure 201110050986X100001DEST_PATH_IMAGE032
高于控制节点与其子工作区域其他节点相互通信耗费的能量以及协作处理过程中挑选协作节点的具体计算消耗。 3. the control node selection method of complex task cooperative processing in the wireless sensor network according to claim 2, is characterized in that, described
Figure 201110050986X100001DEST_PATH_IMAGE032
It is higher than the energy consumed by the communication between the control node and other nodes in its sub-working area and the specific calculation consumption of selecting cooperative nodes in the cooperative processing process. 4.根据权利要求1所述的无线传感器网络中复杂任务协作处理的控制节点选取方法，其特征在于，步骤（5）中划分子工作区域的具体方法为：挑选出能量最相近的相邻节点的夹角，作这个角的角平分线，以这条角平分线为基准，向两边分别划出
Figure 201110050986X100001DEST_PATH_IMAGE034
角度大小的区域，然后再在以此新划分出的角的边为基准继续向外划分出同样角度的区域，直到整个区域划分完成。 4. The method for selecting control nodes for cooperative processing of complex tasks in wireless sensor networks according to claim 1, characterized in that the specific method of dividing the sub-working areas in step (5) is: selecting the adjacent nodes with the closest energy , draw the angle bisector of this angle, and use this angle bisector as a benchmark to draw the two sides respectively
Figure 201110050986X100001DEST_PATH_IMAGE034
The area of the angle size, and then continue to divide the area of the same angle outward based on the side of the newly divided angle until the entire area is divided.
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