CN102404817A - Networking method and system for wireless sensor network based on multiple sink nodes - Google Patents
Networking method and system for wireless sensor network based on multiple sink nodes Download PDFInfo
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- CN102404817A CN102404817A CN2011103282129A CN201110328212A CN102404817A CN 102404817 A CN102404817 A CN 102404817A CN 2011103282129 A CN2011103282129 A CN 2011103282129A CN 201110328212 A CN201110328212 A CN 201110328212A CN 102404817 A CN102404817 A CN 102404817A
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Abstract
The invention relates to a networking method for a wireless sensor network based on multiple sink nodes. The method is characterized by comprising the following steps of: 101, sending a control command for acquiring sensor data to the network by a control server according to demand; 102, acquiring the sensor data and sending to the sink nodes by ordinary nodes; 103, collecting the acquired sensor data, sending commands for acquiring the sensor data to the ordinary nodes and simultaneously sending the acquired sensor data to a wireless base station by the sink nodes; 104, performing time synchronization of each of the sink nodes by a time server; 105, sending the sensor data received by the wireless base station to a data server through the network, simultaneously sending the commands for acquiring the sensor data to the sink nodes, and configuring a long-distance wireless communication module for the wireless base station; and 106, storing the acquired sensor data by the data server.
Description
Technical field
The present invention relates to the wireless sensor network technology field, relate in particular to a kind of to poly concourse nodes networking method of wireless sensor network and system thereof.
Background technology
Wireless sensor network is technology such as a kind of integrated wireless communication, sensor technology, embedded technology and Distributed Calculation; Through the collaborative work between the sensor node; Various environment are monitored the system with perception in real time; It has been realized physical world, has calculated the connection in the world and the human society ternary world, thereby also is called as " Internet of Things ".Sensor network has important use and is worth, and many key areas such as for example intelligent transportation, environmental monitoring, precision agriculture, national defense and military, Smart Home, safety monitoring, rescue and relief work all have broad application prospects.At present, begun the promotion and application of this technology, and obtained certain effect in many industries.Along with the popularization of the expansion of using with technology, the scale of sensor network system is hundreds of, thousands of, tens thousand of from initial dozens of development.Can predict the increasing sensor network system of the scale of to come out future.
Yet the network-building method of moment sensor network all is to small-scale application, can not adapt to the demand of large-scale application.Existing network-building method can divide two types: one type of network-building method based on single aggregation node network; The another kind of network-building method that is based on the poly concourse nodes network, but the application scope there is very large limitation or network topology is had certain restriction.At present, the overwhelming majority is the first kind, has only a few method to belong to second type.Based on the network-building method of single aggregation node network, in whole network, all use an aggregation node and avoid adopting and introduce technical barriers such as route foundation, time synchronized behind a plurality of aggregation nodes.The network topology of this type network-building method or be bunch shape or for tree-shaped or for netted in network size hour, can be worked preferably.But after network size is big, sensing node will sharply increase to the jumping figure of aggregation node; It is very long that the path becomes; Add the unsteadiness of Radio Link itself and the hot issue of aggregation node, make the sensing data of gathering to be sent to aggregation node and will experience very big time delay that the probability that success transmits also will reduce, single sensing data transmits the energy consumption of being brought and also will become very big; Thereby the success rate of network life, data acquisition and time delay etc. all will be had a strong impact on.
At present, less based on the network-building method of poly concourse nodes, also can it be divided into two groups: a group is the network-building method that can only be applied to banded monitoring targets such as river, and this method range of application has bigger limitation.It is the single-hop cluster networking mode of bunch head that another group adopts with aggregation node, thus define sensing node must be in a jumping scope of aggregation node, thereby the scale of network also can not be too big.
In sum, large-scale sensor network is used press for a kind ofly expand, energy consumption is little, data transmission service quality is high network-building method.Many trees network-building method based on poly concourse nodes disclosed by the invention has overcome the shortcoming of the single aggregation node networking and the poly concourse nodes network-building method of band restriction at present; When it is applied to large-scale sensor network; Both had good more extensibility and energy efficiency, again transmission service quality preferably can be provided simultaneously.
Summary of the invention
The objective of the invention is to, overcome the defective of prior art, the network-building method that design can be expanded, energy consumption is little, data transmission service quality is high is for the application of large-scale sensor network provides crucial infrastructure.
A kind of poly concourse nodes networking method of wireless sensor network is characterized in that, comprises the steps:
Step 101 is sent the control command of gathering sensing data by Control Server in network according to demand;
Step 102, ordinary node is equipped with short-range wireless communication module, is responsible for gathering sensing data by ordinary node, sends to aggregation node;
Step 103; Collect the sensing data that collects by aggregation node; And to the order that ordinary node sends the collection sensing data, be responsible for simultaneously the sensing data that collects is sent to the wireless base station, aggregation node is equipped with short-range wireless communication module and long distance wireless communication module;
Step 104 is responsible for the time synchronized of each aggregation node by time server;
Step 105, the sensing data that is received by the wireless base station sends data server to through network, and the order that will gather sensing data simultaneously sends to aggregation node, and the wireless base station is equipped with long distance wireless communication module;
Step 106 is responsible for the sensing data of storage of collected by data server.
Described network-building method is characterized in that, said step 102 also comprises:
When step 202, asynchronous operating state, ordinary node is set up route or is repaired route.
Described network-building method is characterized in that, said step 201 also comprises:
Step 304; The forwarding of sensing data adopts directed forwarding and chance to transmit the strategy that combines; And father node replied bag to this forwarding of data as the successful reception of implicit expression, transmitted to father node for 3 times before this, after be that 3 broadcasting is transmitted; Transmit by and node that be in the synchronous working state littler, till receiving that implicit expression successfully receives the answer bag than own jumping figure;
Described network-building method is characterized in that, said step 202 also comprises:
Step 401 is set up by initiating route simultaneously with the synchronous aggregation node of time server, and ordinary node rescreens and selects father node, estimates link-quality, selects best father node according to dump energy and link-quality;
Described network-building method is characterized in that, said step 103 also comprises:
Step 501, first initialization after dormancy then, the activity alternation, gets into the renewal route stage with the ordinary node that is in synchronous regime simultaneously.
Described network-building method is characterized in that, said step 501 also comprises:
Step 601, after initialization period began, aggregation node was realized the time synchronized between each aggregation node to the time server acquisition time;
Step 602, at dormant state, aggregation node is closed modules such as radio communication, microprocessor and sensing simultaneously and is got into low power consumpting state;
Described network-building method is characterized in that also comprising:
Step 701 realizes the foundation and the maintenance of route and the father node of routed path and the identification number of all child nodes is provided; It is the tree topology of root with each aggregation node that the set of the routed path of being constructed forms a plurality of; The sensing data of each ordinary node is transmitted in the path of stable state along this ordinary node to aggregation node, can transmit with the chance mode in labile state, and the order of Control Server is broadcast to ordinary node by aggregation node along tree;
Step 702 realizes the reception and the transmission work of packet, and the data of reception are provided by radio hardware equipment, and the packet of transmission is produced by step 701;
Step 703 is classified execution in step 704 from step 702 through the data that the time synchronized management passes over;
Step 704 is accomplished buffer memory packet to be sent;
Step 705 is accomplished the time control of ordinary node and/or aggregation node;
Step 706, monitoring ordinary node and/or aggregation node running status, when software or hardware fault, oneself is restarted, maintenance commands such as the response to network keeper pressure of injecting network is simultaneously restarted, status poll.
A kind of poly concourse nodes wireless sensor network constructing system is characterized in that, comprising:
Ordinary node is used to gather sensing data, and it is equipped with short-range wireless communication module;
Aggregation node is used to collect the sensing data that collects and sends order to ordinary node, also is responsible for sending the data to the wireless base station, is equipped with short-range wireless communication module, also is furnished with long distance wireless communication module;
The wireless base station is used for sending the data of receiving to data server, also order is sent to aggregation node, is equipped with long distance wireless communication module;
Time server is used for the time synchronized of each aggregation node;
Data server is used for the sensing data that permanent storage is gathered;
Control Server is used for according to formation with to the network transmitting control commands.
Described group network system is characterized in that, said ordinary node also comprises:
The synchronous working block of state is used for initial phase of ordinary node experience, sets up route for the first time in this stage, if set up the route success then get into the synchronous working state; Otherwise, get into asynchronous operation state module;
Asynchronous operation state module: when being used for asynchronous operating state, ordinary node is set up route or is repaired route.
Described group network system is characterized in that, said synchronous working block of state also comprises:
Upgrade routing module, be used under the synchronous working state, ordinary node with the work of low duty ratio periodic mode after experience once upgrade routing procedure, circulation according to this;
Ordinary node dormant state module is used for ordinary node at the dormant state in each cycle, closes microprocessor module, sensing module and wireless communication module;
The movable morphotype piece of ordinary node is used for ordinary node when the activity attitude in each cycle, and node sends data and order, when the activity attitude finishes, judges whether that route lost efficacy, when losing efficacy, gets into asynchronous operating state to repair route; When not losing efficacy, get into dormant state;
The sensing data forwarding module; The forwarding that is used for sensing data adopts directed forwarding and chance to transmit the strategy that combines; And father node replied bag to this forwarding of data as the successful reception of implicit expression, transmitted to father node for 3 times before this, after be that 3 broadcasting is transmitted; Transmit by and node that be in the synchronous working state littler, till receiving that implicit expression successfully receives the answer bag than own jumping figure;
The control command forwarding module, the forwarding that is used for control command is transmitted to ordinary node from aggregation node according to the tree topology that makes up one by one.
Described group network system is characterized in that, said asynchronous operation state module also comprises:
Father node is selected module, is used for setting up by initiating route simultaneously with the synchronous aggregation node of time server, and ordinary node rescreens and selects father node, estimates link-quality, selects best father node according to dump energy and link-quality; When route lost efficacy, ordinary node can start route repair, according to the respond packet screening father node that the adjacent ordinary node that is operated in synchronous regime is replied, estimated link-quality, selected best father node according to dump energy and link-quality; Behind a repairing failure, attempt once more after the dormancy.
Described group network system is characterized in that, said aggregation node also comprises:
Routing module is upgraded in initialization, is used for first initialization, after dormancy then, the activity alternation, gets into the renewal route stage simultaneously with the ordinary node that is in synchronous regime.
Described group network system is characterized in that, said initialization is upgraded routing module and also comprised:
Initialization module is used for after initialization period begins, and aggregation node is realized the time synchronized between each aggregation node to the time server acquisition time;
Aggregation node dormant state module is used at dormant state, and aggregation node is closed modules such as radio communication, microprocessor and sensing simultaneously and got into low power consumpting state;
The movable morphotype piece of aggregation node is used in the activity attitude, and aggregation node sends order and data, and assists ordinary node to carry out route repair; After the renewal route period began, aggregation node broadcasting route was set up bag and is started the renewal routing procedure.
Described group network system is characterized in that, also comprises:
Route is set up maintenance module; Be used for the foundation and the maintenance of route and the father node of routed path and the identification number of all child nodes are provided; It is the tree topology of root with each aggregation node that the set of the routed path of being constructed forms a plurality of; The sensing data of each ordinary node in the stable state lower edge this node transmit to the path of aggregation node, can transmit under labile state, and the order of Control Server is broadcast to ordinary node by aggregation node along tree with the chance mode;
The data qualification module is used for classifying through the data that the time synchronized management passes over from receiving sending module, sends into queue management module or route is set up maintenance module;
Queue management module is used to accomplish buffer memory packet to be sent;
The time synchronized administration module is used to accomplish the time control of whole node;
Receive sending module; Be used for the reception and the transmission work of packet; The data that receive are provided by radio hardware equipment, and the packet of transmission is set up maintenance module by route and produced, or pass over after the time synchronized administration module is handled by queue management module;
The network monitor maintenance module is used for being responsible for the monitoring node running status, and when software or hardware fault, oneself is restarted, maintenance commands such as the response to network keeper pressure of injecting network is simultaneously restarted, status poll.
Compared with prior art, the present invention has following some advantage: the poly concourse nodes networking mode is adopted in (1), has extensibility preferably, supports large scale network; (2) power-saving technology is all sidedly taken all factors into consideration balancing energy and implicit expression time synchronized in conjunction with periodically dormancy, node deep-sleep, Route Selection; (3) periodically the whole network upgrades route, guarantees the optimality of route; (4) data forwarding adopts directed the forwarding (promptly to transmit to father node for 3 times before this.) and chance transmit (" 3 broadcasting is transmitted " is a kind of chance retransmission method, and promptly the sender does not know who can help to transmit, a plurality of recipients according to certain strategy own decision whether transmit.) combine, can take into account efficiency of transmission and reliability; (5) but network monitor is safeguarded the monitoring node running status, when software or hardware fault, carry out making networking have high reliability from restarting.In addition, but also the response to network keeper pressure of injecting network restart, maintenance command such as status poll, be convenient to the network operation management; (6) there is the special initialization debugging period during initialization, is convenient to the Installation and Debugging of network manager's fielded system.
Description of drawings
Fig. 1 is a network topological diagram of the present invention;
Fig. 2 is a routing module structure chart of the present invention;
Fig. 3 is the state transition graph of ordinary node of the present invention;
Fig. 4 is the synchronous regime working timing figure of ordinary node of the present invention;
Fig. 5 is that ordinary node of the present invention is at the dynamic work sheet of living;
Fig. 6 is the data of ordinary node of the present invention and the sketch map of order transmission;
Fig. 7 is the state transition graph of ordinary node of the present invention in routing update attitude and route repair attitude;
Fig. 8 is the working timing figure of aggregation node of the present invention.
Embodiment
Below in conjunction with accompanying drawing method of the present invention and system thereof are done further explanation.
The present invention proposes a kind of network-building method to large-scale sensor network.The design of ordinary node is characterised in that:
(1) ordinary node divides synchronous working state and asynchronous operating state.Initial phase of ordinary node experience is set up routed path for the first time in this stage, if set up the route success then get into the synchronous working state; Otherwise, get into asynchronous operating state.
(2) under the synchronous working state, ordinary node with some wheel of low duty ratio periodic mode work after again experience once upgrade routing procedure, circulation according to this.
(3) node is closed microprocessor module, sensing module and wireless communication module at the dormant state in each cycle.Microprocessor module is responsible for the operation of whole node, handles and store data and other node data sent of oneself gathering; After sensing module is responsible for detecting the respective environment information in the region, will be used to represent that the analog voltage signal of these environmental informations converts digital signal to through AD conversion unit; Wireless communication module is responsible for communicating through wireless signal and other nodes, exchange control messages and transmitting-receiving image data.(wherein, microprocessor module has been closed a grade, relates to register, and the clock part can not closed.And sensing module and wireless communication module are closed fully.) the entering low power consumpting state.
(4) node is when the activity attitude in each cycle, and node sends data and order, when the activity attitude finishes, judges whether that routed path lost efficacy (when inefficacy, to get into asynchronous operating state; When not losing efficacy, normally get into dormant state), should get into asynchronous operating state to repair route.
(5) forwarding of data adopts the strategy that orientation is transmitted and the chance forwarding combines, and orientation is transmitted and chance forwarding difference between the two is exactly: the orientation forwarding is meant that node will send to respective nodes with regard to confirming when sending, and by this node forwarding.And chance to transmit sending node also uncertain be whom sends to, but whether should transmit by the node that receives oneself is definite.And with father node to this forwarding of data as the ACK of implicit expression (Acknowledgement successfully receives and replys bag).3 kinds of ACK appear in the literary composition altogether, the implication of having nothing in common with each other.Implicit expression ACK: refer to not receive the ACK controlling packet, but whether have other to transmit the packet that oneself sent just now than the own node group nearer apart from the sink node through monitoring.If have, then the own just now packet that sends of expression has and is received by the node of front.Thereby data have been passed to the node nearer apart from sink.Explicit ACK: referring to the ACK bag of real MAC layer, is traditional ACK bag.PROBEACK: after being meant that the recipient receives the PROBE bag, a controlling packet of answer.It is corresponding one by one with the PROBE bag.7。(transmitting again to father node earlier, broadcasting is in order to improve reliability; Be for 3 times according in Beijing, ground such as Taihu Lake, Wuxi, Jiangsu Da Feng, Zhaoqing, Guangdong test measured result in a large number, and combine the result after the power dissipation trade.)
(6) forwarding of order is transmitted to child node from aggregation node according to constructed tree topology one by one.
(7) during asynchronous operating state, route is set up or repaired to node.Set up by initiating route simultaneously with the synchronous aggregation node of time server, ordinary node rescreens and selects father node, estimates link-quality, selects best father node according to dump energy and link-quality.When route lost efficacy, ordinary node can start route repair, according to the respond packet screening father node that the neighbors that is operated in synchronous regime is replied, estimated link-quality, selected best father node according to dump energy and link-quality.Behind a repairing failure, attempt once more after the dormancy.
The aggregation node design is characterised in that:
(1) (wherein a section in one section initialization period of indication is that parameter, the reference value that can be provided with is 60 seconds to experience one section initialization period earlier.), (wherein some cycles is the parameter that can be provided with, and reference value is 72 cycles for secondary dormancy, activity alternation some cycles.) after, get into the renewal route stage simultaneously with the ordinary node that is in synchronous regime.
(2) after initialization period begins, aggregation node is realized the time synchronized between each aggregation node to the time server acquisition time.
(3) in the dormancy period, aggregation node is closed modules such as radio communication, microprocessor and sensing simultaneously and is got into low power consumpting state.
(4) in the movable period, aggregation node sends order and data, and assists ordinary node to carry out route repair.
(5) after the renewal route period begins, aggregation node is broadcasted some SETUP bags (route is set up bag) and is started the renewal routing procedure.
Fig. 1 is a system construction drawing of the present invention, comprises following a few part: (1) ordinary node 101; (2) aggregation node 102; (3) wireless base station 103; (4) time server 104; (5) data server 105; (6) Control Server 106.
Wherein, ordinary node 101 is responsible for gathering sensing data, and it is equipped with short-range wireless communication module; Aggregation node 102 is responsible for collecting the sensing data that collects and is sent order to ordinary node 101, also is responsible for sending the data to wireless base station 103, and it is equipped with outside short-range wireless communication module, like 802.15.4, is responsible for communicating by letter with ordinary node.(short-range wireless communication module of here mentioning is meant: include short distance and long distance wireless communication module in the wireless communication module, use short-range wireless communication module here.) in addition, aggregation node 102 also is furnished with the isometric distance wireless communication module of WiFi, GPRS, GSM or 3G, be responsible for to insert the Internet, realize with time server 104, data server 105 and Control Server 106 between communicate by letter.Shown in accompanying drawing 1, the straight solid line in the wireless sensor network is represented short haul connection, and what shape indicated as the line of lightning is long haul communication.Wireless base station 103 is responsible for sending the data of receiving to data server 105, also order is sent to aggregation node 102, also is equipped with the isometric distance wireless communication module of WiFi, GPRS, GSM or 3G.Time server 104 is responsible for the time synchronized of each aggregation node 102; Data server 105 is responsible for the sensing data that permanent storage is gathered; Control Server 106 is responsible for according to formation with to the network transmitting control commands.
According to application demand, aggregation node and ordinary node are deployed in perhaps other application places at random.At first each aggregation node and time server carry out synchronously, synchronously after, undertaken alternately by aggregation node and ordinary node, setting up a plurality of through Routing Protocol is the routing tree of tree root with the aggregation node, wherein, an ordinary node only is in the routing tree.Ordinary node passes to the aggregation node that be positioned at tree root with the multi-hop mode along routing tree through wireless channel after collecting data, sends data server by aggregation node to through the wireless base station.In addition, the order of being sent by Control Server sends each aggregation node to through the wireless base station, and is transmitted to ordinary node by each aggregation node.Because of routing mode of the present invention is supported poly concourse nodes, thereby be highly suitable for large-scale sensor network.
Said ordinary node also comprises:
The synchronous working block of state is used for initial phase of ordinary node experience, sets up route for the first time in this stage, if set up the route success then get into the synchronous working state; Otherwise, get into asynchronous operation state module;
Asynchronous operation state module: when being used for asynchronous operating state, ordinary node is set up route or is repaired route.
Said synchronous working block of state also comprises:
Upgrade routing module, be used under the synchronous working state, ordinary node with the work of low duty ratio periodic mode after experience once upgrade routing procedure, circulation according to this;
Ordinary node dormant state module is used for ordinary node at the dormant state in each cycle, closes microprocessor module, sensing module and wireless communication module;
The movable morphotype piece of ordinary node is used for ordinary node when the activity attitude in each cycle, and node sends data and order, when the activity attitude finishes, judges whether that route lost efficacy, when losing efficacy, gets into asynchronous operating state to repair route; When not losing efficacy, get into dormant state;
The sensing data forwarding module; The forwarding that is used for sensing data adopts directed forwarding and chance to transmit the strategy that combines; And father node replied bag to this forwarding of data as the successful reception of implicit expression, transmitted to father node for 3 times before this, after be that 3 broadcasting is transmitted; Transmit by and node that be in the synchronous working state littler, till receiving that implicit expression successfully receives the answer bag than own jumping figure;
The control command forwarding module, the forwarding that is used for control command is transmitted to ordinary node from aggregation node according to the tree topology that makes up one by one.
Said asynchronous operation state module also comprises:
Father node is selected module, is used for setting up by initiating route simultaneously with the synchronous aggregation node of time server, and ordinary node rescreens and selects father node, estimates link-quality, selects best father node according to dump energy and link-quality; When route lost efficacy, ordinary node can start route repair, according to the respond packet screening father node that the adjacent ordinary node that is operated in synchronous regime is replied, estimated link-quality, selected best father node according to dump energy and link-quality; Behind a repairing failure, attempt once more after the dormancy.
Said aggregation node also comprises:
Routing module is upgraded in initialization, is used for first initialization, after dormancy then, the activity alternation, gets into the renewal route stage simultaneously with the ordinary node that is in synchronous regime.
Said initialization is upgraded routing module and is also comprised:
Initialization module is used for after initialization period begins, and aggregation node is realized the time synchronized between each aggregation node to the time server acquisition time;
Aggregation node dormant state module is used at dormant state, and aggregation node is closed modules such as radio communication, microprocessor and sensing simultaneously and got into low power consumpting state;
The movable morphotype piece of aggregation node is used in the activity attitude, and aggregation node sends order and data, and assists ordinary node to carry out route repair; After the renewal route period began, aggregation node broadcasting route was set up bag and is started the renewal routing procedure.
Fig. 2 is a routing module structure chart of the present invention.Ordinary node and aggregation node all are equipped with routing module, and routing module consists of the following components: (1) route is set up maintenance module 201; (2) the data qualification module 202; (3) queue management module 203; (4) the time synchronized administration module 204; (5) receive sending module 205; (6) the network management maintenance module 206.
Route is set up the foundation and the maintenance of maintenance module 201 main realization routes and the father node of routed path and the identification number of all child nodes is provided.It is the tree topology of root with each aggregation node that the set of the routed path of being constructed forms a plurality of.This node of sensing data normal condition lower edge of each ordinary node is transmitted to the path of aggregation node, under unsettled situation, may transmit with the chance mode, and the order of Control Server is broadcast to ordinary node by aggregation node along tree.202 groundworks of data qualification module are to classify through the data that the time synchronized management passes over from receiving sending module, send into queue management module 203 or route and set up maintenance module 201.The major function of queue management module 203 is to accomplish buffer memory packet to be sent.The major function of time synchronized administration module 204 is to accomplish the time control of whole node, and ordinary node and aggregation node are respectively to carry out work according to Fig. 4 and workflow shown in Figure 8, accomplish different working in different time point position.Receive sending module 205 main reception and the transmission work that realize packet, the data of reception are provided by radio hardware equipment.The packet that sends is set up maintenance module by route and is produced, or pass over after the time synchronized administration module is handled by queue management module.The network monitor maintenance module 206 main monitoring node running statuses of being responsible for, when software or hardware fault, oneself is restarted, maintenance commands such as in addition, the pressure that also responsible response to network keeper injects network is restarted, status poll.
Fig. 3 is the state transition graph of ordinary node among the present invention.Ordinary node is in one of five kinds of states at any time: initialization attitude 301, upgrade route attitude 302, initially debug attitude 303, sleep state 304, activity attitude 305 and route repair attitude 306.
Step S301, initialization attitude immediately after ordinary node starts, the initial work of completion equipment, and driving arrangement gets into renewal route attitude, execution in step S302;
Step S302, ordinary node and ordinary node on every side and aggregation node carry out alternately to confirm route, at first in the renewal route attitude; Start the back and enter into renewal route attitude by the initialization attitude; Set up successfully (promptly successfully get into one tree and become the part of tree) when the path, then node gets into initialization debugging attitude, execution in step S303; Otherwise get into the route repair attitude, execution in step S306; Upgrade the route attitude if repair successfully to be entered into by the activity attitude, after the routing update success, then node gets into sleep state, execution in step S304, otherwise get into route repair attitude, execution in step S306; Because of the foundation of network route is started by each aggregation node simultaneously, thereby under normal circumstances, to accomplish route earlier from the near ordinary node of aggregation node and set up or upgrade, farther afterwards node is accomplished route again and is set up or upgrade.
Step S303, initially debugging attitude is the one relatively long Activity On the Node period that provides for the network manager, so that the network manager observes network is installed successfully.
Step S304, after INITIAL_WORK_TIME (initialization time) was overtime, node was closed radio (radio frequency) and is got into sleep state; Node adopts the deep sleep technology in sleep state, closes wireless communication module, sensing module and microprocessor module, to prolong working life.The time that node is in sleep state reaches SYNCHRONIC_SLEEP_TIME (synchronized sleep time) after second, and node is opened microprocessor module, sensing module and the wireless communication module that wakes oneself up, entering activity attitude, execution in step 305.
Step S305; Node is gathered sensing data after the activity attitude begins, and sends the sensing data bag to father node; When state finishes; If continuous 3 little work periods of node (1 little work period fingering gets into the dynamic time sum of living again after going into sleep state) are not successfully sent a sensing data bag, then node gets into route repair attitude, execution in step 306; After node has passed through the individual little work period of PERIODIC_COUNT (number of cycles parameter); Node gets into and upgrades the route attitude; Execution in step S302, otherwise, when being in the dynamic time of living, node reaches SYNCHRONIC_WORK_TIME (synchronous working time) after second; Node is got back to sleep state, execution in step S304 again.
Step S306, ordinary node carries out alternately with definite routed path at route repair attitude and on every side ordinary node and aggregation node, when the path is set up successfully, node entering activity attitude then, execution in step S305.
Upgrade the state transition graph of route attitude and route repair attitude and see Fig. 3.State and path re-establishing state that node has been set up behind the path are called synchronous regime, and it comprises initialization attitude 301, upgrades route attitude 302, initially debugs attitude 303, sleep state 304 and activity attitude 305.Otherwise, route repair attitude 306 is called the lock-out state.Because of the course of work of renewal route attitude 302 and route repair attitude 306 is similar, with the course of work of introducing these two states in the back simultaneously.Below, the course of work of synchronous regime at first.
Fig. 4 is the synchronous regime working timing figure of ordinary node.
Step S41, node start starting constantly 401, will pass through the initialization attitude period 402, and this moment, node was in the initialization attitude, i.e. step S301, and in this period, node is accomplished the initialization of built-in variable, resource and hardware;
Step S42 then, gets into route and sets up the period 403, and node was in and upgraded route attitude 302 this moment.Carry out mutual to add a path tree of building up, to reach the purpose of setting up routed path at this period node and node on every side;
Step S43, then, node gets into the initial debugging attitude period 404, and this moment, node was in initial debugging attitude 303.In this period, each node transmits the tune-up data bag so that let the network manager confirm whether network is successfully installed to data server.Afterwards, node is in the dormancy moment 405, and closure sensor module, wireless module and microprocessor module are to cut down the consumption of energy.Wherein, initialization attitude period, route set up the period and initial debugging attitude period total length of time is initialization time (INITIAL_WORK_TIME);
Step S44, node periodically get into dormant state period 406 and activity attitude period 407.Be in dormant state 304 at dormant state periods 406 node, time span is SYNCHRONIC_SLEEP_TIME (the synchronized sleep time), and node is closed.Be in activity attitude 305 at activity attitude periods 407 node, time span is SYNCHRONIC_WORK_TIME (the synchronous working time), and 1 dormant state period 406 and 1 activity attitude period 407 constitute 1 little work period 409;
Step S45, when node experience after the individual little work period of number of cycles parameter (PERIODIC_COUNT), the little work period is in order to distinguish a big work period that is made up of PERIODIC_COUNT little work period, and promptly shown in Fig. 4, ordinary node is through (406; 407,406,407 ... 408) can get into (406,407 again afterwards; 406,407 ... 408), the said big work period is meant (406,407; 406,407 ... 408), and the little work period is meant single (406,407).Get into and upgrade the route attitude period 408, this moment, the node operating state was 306.Wherein, the little work period is meant a dormant state period continuous in time and activity attitude period.With setting up in route the period 403 the same, node rebulids routed path in this period.
Fig. 5 is that ordinary node is at the dynamic working timing figure of living.
Step S501, node send data or order 701;
Step S502, last 1 second of finishing in the activity attitude, node judges whether lock-out 702: if implicit expression ACK (successfully receive and reply bag) is not promptly received in node 3 little work periods all successes of data of sending in the past, node gets into the lock-out attitude so.
Fig. 6 is the data of ordinary node and the sketch map of order transmission.
The sensing data of node all is up, and order all is descending.
Shown in Fig. 6 (a); Produce by node itself for each, transmit packet that clean culture is come or that come by the neighbors broadcasting bigger by child node than own jumping figure, node is all given father node (step S601) with its clean culture, gives its father node (step S602) with this packet clean culture equally after its father node is received; Meanwhile; Node listens to the bag that its father node is transmitted, and with it as implicit expression ACK (successfully receive and reply bag), think that the packet of oneself successfully sends to father node.Because packet possibly lost, node is tasted time transmission 3 secondary data bags with the compartment of terrain, up to the packet of hearing that father node is transmitted.
Otherwise node continues to adopt the mode chance shown in Fig. 6 (b) to transmit.At first; Node elder generation broadcast data packet (step S603), jumping figure is littler than it on every side, and after the neighbors that is in synchronous state receives this bag; Mode shown in the image pattern 6 (a) is transmitted (step S604) to father node; After node is heard the bag of this forwarding, think that packet has sent success, promptly receive implicit expression ACK (successfully receive and reply bag).Equally, node broadcasts 3 times is up to the packet of receiving its forwarding of neighbors group.
Descending order adopts the mode shown in Fig. 6 (c) to transmit.The order bag (step S605) that node broadcasts is received after child node is received, is broadcast to the child node (step S606) of child node again.
Fig. 7 is that ordinary node is at the state transition graph that upgrades route attitude 302 and route repair attitude 306.
Step S701, INIT state (init state): when node gets into renewal route attitude, get into this state.At this state; It is a preset parameter TIMER_RECOVER_INIT_WAIT that route repair timer (RouteRecoveryTimer) value is set; Putting the renewal route indication is true (very), and the jumping figure of oneself is 255, and indexed variable chooseLargeHopNode is false (vacation).Because the time of all nodes in the network all is synchronous; All nodes that are in synchronous state can get into simultaneously and upgrade the route attitude; The initial foundation of whole route is gone into to upgrade routing procedure and is started simultaneously by each aggregation node; At first; Aggregation node can the compartment of terrain the individual SETUP bag of broadcasting NUM_SETUP_REPEAT (preset parameter) (route is set up bag), comprise in this bag aggregation node time, oneself identification number, connect aggregation node identification number (i.e. the identification number of oneself), jumping figure (being 0), electric weight.The ordinary node of just having set up routed path equally also can the individual SETUP bag of compartment of terrain broadcasting NUM_SETUP_REPEAT (preset parameter) (route is set up bag).After ordinary node is received the 1st SETUP bag, preserve contained neighbors in the bag time, identification number, connect information such as aggregation node identification number, jumping figure, electric weight.And the replacement route to set up timer SetupRouteTableTimer value be a preset parameter TIMER_WAIT_GOODNBR.Get into 702 states then.If route repair timer RouteRecoveryTimer is overtime and do not receive SETUP bag (route is set up bag), then get into 708 states.
Step S702; WAIT_FOR_GOODNBR state (waiting for the neighbors state that communication is good): node mainly is to wait for a SETUP bag (route is set up bag) with neighbors broadcasting of better link at this state; And storage institute receive to some extent the neighbors that carries in the SETUP bag (route is set up and wrapped) time, identification number, connect information such as aggregation node identification number, jumping figure, electric weight.When receiving the neighbors with better link-quality, node is reseted route, and to set up timer SetupRouteTableTimer be a preset parameter TIMER_SETUP_ROUTE_TABLE, and get into 703 states.Otherwise, route set up timer SetupRouteTableTimer overtime after, node gets into 704 states.
Step S703; REBUILD_CONST_NBRTBL state (upgrade routing table state): node mainly is a SETUP bag (route is set up bag) of collecting the neighbors broadcasting of setting up the path at this state, and the time of the neighbors that wherein carries of storage, identification number, connect information such as aggregation node identification number, jumping figure, electric weight.When route set up timer SetupRouteTableTimer overtime after, node gets into 704 states.
Step S704, the SIFT_PARENT state: node mainly is to judge whether to receive SETUP bag (route is set up bag) at this state, and filters out all neighborss that can be used as the candidate parent node.When big jumping figure selection marker variable (chooseLargeHopNode) is true (very), received that the neighbors of its SETUP bag (route is set up bag) all can be used as the candidate parent node; Otherwise, have only jumping figure just to can be used as the candidate parent node than own little node.Be not changed to true (very) if receive any SETUP bag (route is set up bag), iFailureSetup＜MAX_NUM_FAILURE_SETUP (being that the fail count variable is less than certain parameter) and the mark of resetting, then node gets into 711 states; Be not changed to false (vacation) if receive any SETUP bag (route is set up bag), iFailureSetup＜MAX_NUM_FAILURE_SETUP (being that the fail count variable is less than certain parameter) and the mark of resetting, then node gets into 710 states; If do not receive any SETUP bag (route is set up bag), iFailureSetup=MAX_NUM_FAILURE_SETUP (being that the fail count variable equals certain parameter), then node gets into 712 states.After accomplishing screening, if no candidate parent node and iFailureSetup＜MAX_NUM_FAILURE_SETUP (being that the fail count variable is less than certain parameter) then node get into 711 states; If no candidate parent node and iFailureSetup=MAX_NUM_FAILURE_SETUP (being that the fail count variable equals certain parameter), then node gets into 712 states; Otherwise,, get into 705 states if when having the candidate parent node.
Step S705, CHECK_BILINK state (confirm two-way link state): the main task of this state is that the quality to two-way link between node and each the candidate parent node detects.Detection mode is to send the CHECK bag (confirming bag) of NUM_CHECK_REPEAT explicit ACK of needs of preset parameter (receive successfully and reply) respectively to each candidate parent node, and statistics CHECK bag (confirming bag) transmits the estimation of number of success as link-quality.The explicit ACK that here mentions is meant: the ACK bag of real MAC layer is traditional ACK bag.
Step S706, CHOOSE_PARENT state (selection father node): the task of this state is the candidate parent node that judges whether that link-quality is enough good, and according to the link-quality of candidate parent node and the father node of an optimum of dump energy selection.If the enough good candidate parent node of no link-quality in the SETUP that the receives bag (route is set up bag), and iFailureSetup＜MAX_NUM_FAILURE_SETUP (being that the fail count variable is less than certain parameter), then node gets into 711 states; If the enough good candidate parent node of no link-quality in the SETUP that the receives bag (route is set up bag), and iFailureSetup=MAX_NUM_FAILURE_SETUP (being that the fail count variable equals certain parameter), then node gets into 712 states.If there is the enough good candidate parent node of link-quality, then select an optimum father node.The choice criteria of optimum father node is to make the maximum candidate parent node of * residual electric quantity of alpha* link-quality+(1-alpha), and wherein, alpha is a preset parameter.Then, is set the time of the time of oneself for selected father node, destroys the individual SETUP bag of neighbors table and compartment of terrain broadcasting NUM_SETUP_REPEAT (preset parameter) (route is set up bag), get into 707 states then.
Step S707, NORMAL state (normal operating conditions): arrive this STA representation routed path and set up.Preserve the identification number of aggregation node when getting into this state, the identification number of father node, the jumping figure of oneself (father node jumping figure+1).If receive PROBE bag (detection packet), then respond PROBEACK bag (survey and reply bag) at this state.The PROBEACK bag here is meant: after the recipient receives the PROBE bag, and a controlling packet of answer, it is corresponding one by one with the PROBE bag.There is neighbors not to be in the route repair attitude near receiving PROBE bag (detection packet) representative.In the PROBEACK bag of replying (survey and reply bag), comprise the time of aggregation node, the identification number of controlling oneself, connect aggregation node identification number (i.e. the identification number of oneself), jumping figure (being 0), electric weight.
Step S708, NO_ROUTE state (no routing state): node can get into this state when getting into the route repair attitude, begin the process of a route repair from this.At this state; Node guarantees that radio (radio frequency) opens; Send a PROBE bag (detection packet) then; And putting routing table, to set up timer SetupRouteTableTimer be a preset parameter TIMER_SETUP_ROUTE_TABLE, puts that to upgrade route indication be false (vacation), gets into 709 states afterwards.The neighbors that is in synchronous regime on every side receives that PROBE can answer PROBEACK bag (surveying the answer bag) after wrapping (detection packet).
Step S709, RECOVER_CONST_NBRTBL state (repairing the routing table state): node is collected PROBEACK bag (survey and reply bag) structure neighbor table when this state.Whenever receive a PROBEACK (survey reply bag) just storage aggregation node wherein time, oneself identification number, connect information such as aggregation node identification number (i.e. the identification number of oneself), jumping figure (being 0), electric weight.When routing table set up timer SetupRouteTableTimer overtime after, node gets into 704 states.
Step S710, LONG_WAIT state (long wait state): this state is the long wait state of dormancy.When node gets into this state, close wireless module and microprocessor module.FailureSetup adds 1 with the fail count variable i, representes a repair process failure, and putting route repair timer RouteRecoverTimer is a preset parameter TIMER_RECOVER_LONG_WAIT value.After route repair timer RouteRecoverTimer is overtime, get into 708 states.
Step S711, SHORT_WAIT state (short wait state): this state is the short wait state of not dormancy.When node gets into this state, also represent a repair process failure, putting route repair timer RouteRecoverTimer is a preset parameter TIMER_RECOVER_SHORT_WAIT value.After route repair timer RouteRecoverTimer is overtime, get into 708 states.
Step S712, TRY_LARGE_HOP state (attempting big jumping figure state): when node gets into this state, also represent the failure of continuous several times repair process, in the jumping figure neighbors that be in synchronous regime littler, can't find the enough good father node of link than oneself.It is 2*T_DUTY_CYCLE that node is provided with big jumping figure selection enable counter EnableLargerHopTimer, and wherein, T_DUTY_CYCLE is the time span in single cycle.After this counter was overtime, putting big jumping figure selection marker variable chooseLargeHopNode was true (very), and like this in repair process after this, node can be selected than the low node of own jumping figure as father node.
Being in the status switch that upgrades the route attitude in the above state is 701,702,703,704,705,706 and 707.The status switch that is in the route repair attitude is 708,709,704,705,706,710,711,712 and 707.
Fig. 8 is the working timing figure of aggregation node.Its work is similar when control is worked under synchronous regime with ordinary node with dormancy time.After node starts, be long operating time, in the beginning of this section operating time, aggregation node is to the time server acquisition time, and is changed to the time (step 801) of oneself.Then, the individual SETUP bag of the transmission preset parameter NUM_SETUP_REPEAT of compartment (preset parameter) (route is set up bag) (step 803).The then transmission (step 802) of initiation command and data.After work is accomplished, PERIODIC_COUNT little work period of beginning preset parameter, all carry out the transmission of order or data in the activity time of each little work period.NUM_SETUP_REPEAT SETUP of transmission preset parameter bag (route is set up bag) of compartment once more when the renewal route attitude period afterwards begins.During data that transmission is sended over by ordinary node, send to data server through the wireless base station.After receiving the order that Control Server sends by the wireless base station, transmit to all child nodes.After receiving PROBE bag (detection packet), aggregation node is replied PROBEACK bag (survey and reply bag).
Those skilled in the art can also carry out various modifications to above content under the condition that does not break away from the definite the spirit and scope of the present invention of claims.Therefore scope of the present invention is not limited in above explanation, but confirm by the scope of claims.
Claims (14)
1. a poly concourse nodes networking method of wireless sensor network is characterized in that, comprises the steps:
Step 101 is sent the control command of gathering sensing data by Control Server in network according to demand;
Step 102, ordinary node is equipped with short-range wireless communication module, is responsible for gathering sensing data by ordinary node, sends to aggregation node;
Step 103; Collect the sensing data that collects by aggregation node; And to the order that ordinary node sends the collection sensing data, be responsible for simultaneously the sensing data that collects is sent to the wireless base station, aggregation node is equipped with short-range wireless communication module and long distance wireless communication module;
Step 104 is responsible for the time synchronized of each aggregation node by time server;
Step 105, the sensing data that is received by the wireless base station sends data server to through network, and the order that will gather sensing data simultaneously sends to aggregation node, and the wireless base station is equipped with long distance wireless communication module;
Step 106 is responsible for the sensing data of storage of collected by data server.
2. network-building method as claimed in claim 1 is characterized in that, said step 102 also comprises:
Step 201, initial phase of ordinary node experience is set up route for the first time in this stage, if set up the route success then get into the synchronous working state; Otherwise, get into asynchronous operating state, execution in step 202;
When step 202, asynchronous operating state, ordinary node is set up route or is repaired route.
3. network-building method as claimed in claim 2 is characterized in that, said step 201 also comprises:
Step 301, under the synchronous working state, ordinary node with the work of low duty ratio periodic mode after experience once upgrade routing procedure, circulation according to this;
Step 302, ordinary node are closed microprocessor module, sensing module and wireless communication module at the dormant state in each cycle;
Step 303, ordinary node are when the activity attitude in each cycle, and node sends data and order, when the activity attitude finishes, judges whether that route lost efficacy, when losing efficacy, get into asynchronous operating state to repair route; When not losing efficacy, get into dormant state, execution in step 302;
Step 304; The forwarding of sensing data adopts directed forwarding and chance to transmit the strategy that combines; And father node replied bag to this forwarding of data as the successful reception of implicit expression, transmitted to father node for 3 times before this, after be that 3 broadcasting is transmitted; Transmit by and node that be in the synchronous working state littler, till receiving that implicit expression successfully receives the answer bag than own jumping figure;
Step 305, the forwarding of control command is transmitted to ordinary node from aggregation node according to the tree topology that makes up one by one.
4. network-building method as claimed in claim 2 is characterized in that, said step 202 also comprises:
Step 401 is set up by initiating route simultaneously with the synchronous aggregation node of time server, and ordinary node rescreens and selects father node, estimates link-quality, selects best father node according to dump energy and link-quality;
Step 402, when route lost efficacy, ordinary node can start route repair, according to the respond packet screening father node that the adjacent ordinary node that is operated in synchronous regime is replied, estimated link-quality, selected best father node according to dump energy and link-quality;
Step 403 behind a repairing failure, is attempted after the dormancy once more.
5. network-building method as claimed in claim 1 is characterized in that, said step 103 also comprises:
Step 501, first initialization after dormancy then, the activity alternation, gets into the renewal route stage with the ordinary node that is in synchronous regime simultaneously.
6. network-building method as claimed in claim 5 is characterized in that, said step 501 also comprises:
Step 601, after initialization period began, aggregation node was realized the time synchronized between each aggregation node to the time server acquisition time;
Step 602, at dormant state, aggregation node is closed modules such as radio communication, microprocessor and sensing simultaneously and is got into low power consumpting state;
Step 603, in the activity attitude, aggregation node sends order and data, and assists ordinary node to carry out route repair;
Step 604, after the renewal route period began, aggregation node broadcasting route was set up bag and is started the renewal routing procedure.
7. network-building method as claimed in claim 1 is characterized in that, also comprises:
Step 701 realizes the foundation and the maintenance of route and the father node of routed path and the identification number of all child nodes is provided; It is the tree topology of root with each aggregation node that the set of the routed path of being constructed forms a plurality of; The sensing data of each ordinary node is transmitted in the path of stable state along this ordinary node to aggregation node, can transmit with the chance mode in labile state, and the order of Control Server is broadcast to ordinary node by aggregation node along tree;
Step 702 realizes the reception and the transmission work of packet, and the data of reception are provided by radio hardware equipment, and the packet of transmission is produced by step 701;
Step 703 is classified execution in step 704 from step 702 through the data that the time synchronized management passes over;
Step 704 is accomplished buffer memory packet to be sent;
Step 705 is accomplished the time control of ordinary node and/or aggregation node;
Step 706, monitoring ordinary node and/or aggregation node running status, when software or hardware fault, oneself is restarted, maintenance commands such as the response to network keeper pressure of injecting network is simultaneously restarted, status poll.
8. a poly concourse nodes wireless sensor network constructing system is characterized in that, comprising:
Ordinary node is used to gather sensing data, and it is equipped with short-range wireless communication module;
Aggregation node is used to collect the sensing data that collects and sends order to ordinary node, also is responsible for sending the data to the wireless base station, is equipped with short-range wireless communication module, also is furnished with long distance wireless communication module;
The wireless base station is used for sending the data of receiving to data server, also order is sent to aggregation node, is equipped with long distance wireless communication module;
Time server is used for the time synchronized of each aggregation node;
Data server is used for the sensing data that permanent storage is gathered;
Control Server is used for according to formation with to the network transmitting control commands.
9. group network system as claimed in claim 8 is characterized in that, said ordinary node also comprises:
The synchronous working block of state is used for initial phase of ordinary node experience, sets up route for the first time in this stage, if set up the route success then get into the synchronous working state; Otherwise, get into asynchronous operation state module;
Asynchronous operation state module: when being used for asynchronous operating state, ordinary node is set up route or is repaired route.
10. group network system as claimed in claim 9 is characterized in that, said synchronous working block of state also comprises:
Upgrade routing module, be used under the synchronous working state, ordinary node with the work of low duty ratio periodic mode after experience once upgrade routing procedure, circulation according to this;
Ordinary node dormant state module is used for ordinary node at the dormant state in each cycle, closes microprocessor module, sensing module and wireless communication module;
The movable morphotype piece of ordinary node is used for ordinary node when the activity attitude in each cycle, and node sends data and order, when the activity attitude finishes, judges whether that route lost efficacy, when losing efficacy, gets into asynchronous operating state to repair route; When not losing efficacy, get into dormant state;
The sensing data forwarding module; The forwarding that is used for sensing data adopts directed forwarding and chance to transmit the strategy that combines; And father node replied bag to this forwarding of data as the successful reception of implicit expression, transmitted to father node for 3 times before this, after be that 3 broadcasting is transmitted; Transmit by and node that be in the synchronous working state littler, till receiving that implicit expression successfully receives the answer bag than own jumping figure;
The control command forwarding module, the forwarding that is used for control command is transmitted to ordinary node from aggregation node according to the tree topology that makes up one by one.
11. group network system as claimed in claim 9 is characterized in that, said asynchronous operation state module also comprises:
Father node is selected module, is used for setting up by initiating route simultaneously with the synchronous aggregation node of time server, and ordinary node rescreens and selects father node, estimates link-quality, selects best father node according to dump energy and link-quality; When route lost efficacy, ordinary node can start route repair, according to the respond packet screening father node that the adjacent ordinary node that is operated in synchronous regime is replied, estimated link-quality, selected best father node according to dump energy and link-quality; Behind a repairing failure, attempt once more after the dormancy.
12. group network system as claimed in claim 8 is characterized in that, said aggregation node also comprises:
Routing module is upgraded in initialization, is used for first initialization, after dormancy then, the activity alternation, gets into the renewal route stage simultaneously with the ordinary node that is in synchronous regime.
13. group network system as claimed in claim 12 is characterized in that, said initialization is upgraded routing module and is also comprised:
Initialization module is used for after initialization period begins, and aggregation node is realized the time synchronized between each aggregation node to the time server acquisition time;
Aggregation node dormant state module is used at dormant state, and aggregation node is closed modules such as radio communication, microprocessor and sensing simultaneously and got into low power consumpting state;
The movable morphotype piece of aggregation node is used in the activity attitude, and aggregation node sends order and data, and assists ordinary node to carry out route repair; After the renewal route period began, aggregation node broadcasting route was set up bag and is started the renewal routing procedure.
14. group network system as claimed in claim 8 is characterized in that, also comprises:
Route is set up maintenance module; Be used for the foundation and the maintenance of route and the father node of routed path and the identification number of all child nodes are provided; It is the tree topology of root with each aggregation node that the set of the routed path of being constructed forms a plurality of; The sensing data of each ordinary node in the stable state lower edge this node transmit to the path of aggregation node, can transmit under labile state, and the order of Control Server is broadcast to ordinary node by aggregation node along tree with the chance mode;
The data qualification module is used for classifying through the data that the time synchronized management passes over from receiving sending module, sends into queue management module or route is set up maintenance module;
Queue management module is used to accomplish buffer memory packet to be sent;
The time synchronized administration module is used to accomplish the time control of whole node;
Receive sending module; Be used for the reception and the transmission work of packet; The data that receive are provided by radio hardware equipment, and the packet of transmission is set up maintenance module by route and produced, or pass over after the time synchronized administration module is handled by queue management module;
The network monitor maintenance module is used for being responsible for the monitoring node running status, and when software or hardware fault, oneself is restarted, maintenance commands such as the response to network keeper pressure of injecting network is simultaneously restarted, status poll.
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