CN108448731B - Energy supplement method for cooperative wireless sensor network and wireless sensor network thereof - Google Patents

Energy supplement method for cooperative wireless sensor network and wireless sensor network thereof Download PDF

Info

Publication number
CN108448731B
CN108448731B CN201810185491.XA CN201810185491A CN108448731B CN 108448731 B CN108448731 B CN 108448731B CN 201810185491 A CN201810185491 A CN 201810185491A CN 108448731 B CN108448731 B CN 108448731B
Authority
CN
China
Prior art keywords
energy
charging
mobile
charger
node
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201810185491.XA
Other languages
Chinese (zh)
Other versions
CN108448731A (en
Inventor
叶晓国
高云
吴洁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Posts and Telecommunications
Original Assignee
Nanjing University of Posts and Telecommunications
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing University of Posts and Telecommunications filed Critical Nanjing University of Posts and Telecommunications
Priority to CN201810185491.XA priority Critical patent/CN108448731B/en
Publication of CN108448731A publication Critical patent/CN108448731A/en
Application granted granted Critical
Publication of CN108448731B publication Critical patent/CN108448731B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/40—Circuit arrangements or systems for wireless supply or distribution of electric power using two or more transmitting or receiving devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Power Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The invention provides an energy supplementing method for a cooperative wireless sensor network, which uses a hierarchical structure to realize cooperation among a plurality of mobile chargers and aims to supplement energy for a large-scale wireless chargeable sensor network. The invention uses a plurality of mobile charging vehicles, and divides the mobile charging vehicles into two types, one type is a common mobile charger and is responsible for charging the sensor, and the other type is a super charger and is responsible for charging the common mobile charging vehicle. The method increases the charging capacity through the cooperative work of the plurality of chargers, can also fully shorten the overall charging time of the network, and ensures that the network can run for a long time.

Description

Energy supplement method for cooperative wireless sensor network and wireless sensor network thereof
Technical Field
The invention belongs to the technical field of wireless sensor networks, and particularly relates to an energy supplement method for a cooperative wireless sensor network.
Background
In the wireless sensor network, energy is consumed for collecting information and transmitting data by the sensor nodes, energy carried by the nodes is limited, and although energy consumption of the sensor network can be reduced by some energy-saving modes, the nodes can stop working due to the fact that energy is consumed out along with the lapse of time, and normal work of the wireless sensor network is affected. To solve the problem that the energy problem of the node becomes a significant hindrance to the deployment of the sensor network, researchers try to let the node collect the energy from the environment. However, the energy extracted from the environment is very difficult to predict and unstable. For example, the solar energy captured is typically affected by many factors, including time, weather, season, etc. This is inefficient for the proper operation of the sensor, so designing an efficient and stable charging method is an important task to keep the sensor operating. Wireless energy transfer based on strongly coupled magnetic resonance technology is a promising technology, which transfers energy from one storage device to another device without plugs or wires, fundamentally solving the problems of energy and life of wireless sensor networks. Compared with other wireless energy transmission technologies, the strong coupling magnetic resonance technology has obvious advantages, and the mode not only has high energy transmission efficiency, but also is basically not influenced by the environment. Since the sensor nodes are widely distributed geographically and the mobile charging device is required to move to the vicinity of the nodes for energy supplement, a scheme for supplementing energy to the nodes by using the mobile charging device is developed.
In a large-scale wireless sensor network, it is difficult for a single mobile charger to meet the charging requirements of the entire network. The problem is that when a large number of nodes needing charging exist, the capacity of the electric quantity carried by a single mobile charger is difficult to meet the requirements of all the nodes to be charged. With the increase of the number of the nodes to be charged, the total travel distance of the mobile charger is increased, and the driving electric energy carried by the charger for moving is limited, so that the energy supplement requirements of all the nodes cannot be met necessarily. In order to enable the mobile charger to perform charging round by round, the mobile charger needs to return to the charging station after the charging round is finished. The difficulty of problem solution is increased by factors such as large number of sensor nodes, wide distribution range, long distance and the like in a large-scale network. Meanwhile, the remaining electric quantity of the nodes to be charged is different, the power consumed by energy is different, and the load collected by data is different, so that the emergency degree of the nodes needing to be charged is different. Therefore, in a large-scale wireless sensor network, a plurality of mobile chargers are generally used to charge the sensors. And a super charger newly invented recently can charge the mobile chargers, so that the limited energy in the wireless sensor network is better utilized. Therefore, the mobile charger and the super charger need to be reasonably and efficiently scheduled, the charging efficiency of the mobile charger is improved, and the overall survival time of the network is prolonged to the maximum extent.
Disclosure of Invention
The invention aims to solve the technical problem of providing a cooperative wireless sensor network energy supplement method aiming at the defects of the background art, wherein a plurality of mobile chargers are applied to wirelessly charge sensor nodes, and the energy supply of the mobile chargers is ensured through a super charger so as to ensure that the sensor nodes can be charged before the energy of the sensor nodes is exhausted.
The present invention adopts the following technical solutions to solve the above technical problems.
A cooperative wireless sensor network energy supplementing method is characterized in that: the method specifically comprises the following steps:
step 1: n sensors distributed in the wireless sensor network send information to the base station at regular time, the remaining energy of the sensors is reported, and if the energy of the nodes is lower than a threshold value
Figure GDA0003162390830000021
The base station adds the node label into the set V to be chargedCIn (1),
Figure GDA0003162390830000022
is the initial charge of the sensor, wherein, alpha is 0.1;
step 2: v is divided by k-means using a distance-based clustering algorithmCDivided into M blocks of which ViIs the ith block, i is 1,2, …, M, and VC＝V1∪V2∪…∪VM，
Figure GDA0003162390830000023
Each block corresponds to a Mobile Charger, MC;
and step 3: mobile charger MCmFor V within a blockmRespectively calculate their shortest life expectancy
Figure GDA0003162390830000024
Wherein M is 1, 2.. times.M,
Figure GDA0003162390830000025
is a block VmThe shortest expected lifetime of the intermediate node i in time slot t,
Figure GDA0003162390830000026
into blocks VmThe remaining capacity of the intermediate node i in the time slot t,
Figure GDA0003162390830000027
into blocks VmThe energy consumption estimation value of the middle node i in the time slot t is epsilon (0, 1);
and 4, step 4: solving for V using a two-week around tree algorithmmTSP optimized paths R of all nodes in the networkmM is 1,2, …, M, the path of the mobile charger is VmCharging the middle node, and calculating the electric quantity supplemented for each node, so that the shortest expected life of each node in the charged path is the same, and the following conditions are required to be met:
Figure GDA0003162390830000031
is a block VmThe electric quantity to be supplemented by the middle node i in the time slot t; sending M mobile chargers from the base station as a set V to be chargedCSupplementing energy, and starting from the base station by M chargers at the same time to charge along each planned path respectively; MC (monomer casting)mAfter charging the nodes in the m group, staying at VmThe last node charged in the system waits for the corresponding Super Charger, and the SC charges the Super Charger;
and 5: dividing M mobile chargers into S groups, and allocating a movable SC to each group; computing
Figure GDA0003162390830000032
Wherein
Figure GDA0003162390830000033
For the remaining capacity of the kth SC at time t, let | Ck|＝M*εk，CkI.e. the set of MC allocated to the kth SC; SC (Single chip computer)kIs responsible for charging all MCs in the kth group, where k is 1,2, …, S;
step 6: SC (Single chip computer)kCommunicating with the corresponding MC to obtain the information of the residual electric quantity of the MC and the nodes in the block corresponding to the MC, SCkPreferentially charging the MC with lower electric quantity in the group, wherein k is 1,2, …, S; SC (Single chip computer)kTo intra-pair MCmIs charged by an amount of
Figure GDA0003162390830000034
Wherein
Figure GDA0003162390830000035
EiIs the remaining capacity of the node i,
Figure GDA0003162390830000036
is the remaining capacity of the charger m; and after charging of each SC is finished, returning to the base station to supplement energy, and continuing charging of each MC in the next round.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects: the invention provides a method for supplementing energy to a cooperative wireless sensor network, which uses a hierarchical structure to realize cooperation among a plurality of mobile chargers and provides a more effective energy management scheme. Compared with the traditional charger, the invention uses a plurality of mobile chargers, and divides the chargers into two types, the mobile charger at the lower layer is responsible for charging the nodes, and the super charger at the upper layer is responsible for charging the mobile charger at the lower layer. Through the cooperative work of a plurality of chargers, the charging capacity is increased, the overall charging time of the network can be fully shortened, and the long-term operation of the network is ensured.
Drawings
FIG. 1 illustrates a hierarchical collaborative charging model proposed by the present invention;
FIG. 2 is an example of a dispatch line diagram re-planned for various chargers according to the method of the present invention;
fig. 3 is a flow chart of the algorithm of the present invention.
Detailed Description
The technical scheme of the invention is further described in detail by combining the drawings and the specific embodiments in the specification. The specific embodiments are described as follows: the nodes described below refer to sensor nodes.
The architecture based on the invention is a wireless sensor network deployed in a two-dimensional space, and comprises a base station, sensor nodes, a mobile charger, a super charger and a scheduling route. Each part will be specifically described below.
(1) A base station: the base station is a fixed point in a network center, and can collect data of the whole network sensor by a multi-hop routing transmission method, including the collected data and the information of the electric quantity of the base station. Meanwhile, energy can be supplemented for the mobile charger, and scheduling route planning can be carried out.
(2) A sensor node: the sensor nodes are randomly deployed on some nodes on the two-dimensional space position, the sensor nodes have the functions of monitoring the surrounding environment, and data can be transmitted among the nodes through a route, so that different nodes have different energy consumption rates. The total energy of the batteries of all the sensor nodes is the same.
(3) The mobile charger is: the device is movable, carries a large-capacity rechargeable battery and can perform energy conversion with the sensor node. The total amount of energy carried by all the mobile chargers is the same, the energy can be supplemented through the super charger, meanwhile, the energy is used for charging the sensor and mechanically moving the sensor, and the mobile chargers work along a scheduling route established by the base station.
(4) The super charger is a movable device which carries a large-capacity rechargeable battery and is responsible for supplementing energy to the mobile charger. All the super chargers have compatible battery capacities and can be recharged at the base station, the super charger capacity being used to charge the mobile charger and its own movement.
(5) Scheduling routes: the base station plans according to the position of the sensor node to be charged at a certain moment, different mobile chargers have different routes, and all the routes finally return to the starting point to ensure that a loop is formed.
The invention provides an energy supplementing method for a cooperative wireless sensor network. Compared with the traditional charger, the invention uses a plurality of mobile chargers, and divides the chargers into two types, the mobile charger at the lower layer is responsible for supplying power to the nodes, and the super charger at the upper layer is responsible for supplying power to the mobile charger at the lower layer. Through the cooperative work of a plurality of chargers, the charging capacity is increased, the overall charging time of the network can be fully shortened, and the long-term operation of the network is ensured.
Taking the cooperative charging model of fig. 1 as an example, a plurality of Mobile Chargers (MC) are responsible for charging the sensors in the wireless sensor network, and all the mobile chargers are divided into a plurality of groups, and are charged by the super charger, and the super charger is not responsible for charging the sensors.
Assuming that the amount of electricity required to be supplemented to each sensor node is 5J, the energy consumption required for moving the mobile charger on the path is 1J/m. And the maximum energy that each mobile charger can carry is 80J, the maximum energy that the super charger can carry is 200J, and the energy consumption of moving unit distance is 1J. The scheduling route shown in fig. 2 is constructed according to the method of the present invention.
As can be seen from the figure, at least 3 mobile chargers need to be used for working simultaneously, the carried energy is 3 times of that of one mobile charger, the total time is shortened due to the simultaneous working, and all the sensor nodes in the turn can be ensured to be supplemented with energy. For convenience of description, we take the scenario in fig. 2 as an example.
As shown in fig. 3, when a rechargeable wireless sensor network is put into operation, the following steps are performed:
step 1: and the sensors distributed in the wireless sensor network send information to the base station at regular time, the residual energy of the sensors is reported, and if the energy of the nodes is lower than 10%, the nodes are added into a set to be charged.
Step 2: the nodes in the set to be charged are divided into 3 blocks by using a clustering algorithm, and the number of the nodes contained in each block is approximately the same.
And step 3: for 3 blocks of nodes in the wireless sensor network, respectively calculating the shortest expected life of the nodes in the blocks, and storing the results into 3 queues.
And 4, step 4: constructing a path for the queue obtained in the step 3, obtaining 3 loops, and enabling the distance of each loop to be the shortest. And simultaneously calculating the energy required to be supplemented by each node. 3 Mobile Chargers (MC) are dispatched from the base station to charge the nodes to be charged, and the energy consumed by the 3 mobile chargers is 60J, 78J and 70J respectively. The mobile charger stays in place after charging is complete waiting for the super charger to replenish its energy.
And 5: since one super charger can supplement energy to the 3 mobile chargers in step 6, only one super charger is used to supplement energy to the 3 mobile chargers in the group.
Step 6: the super charger preferentially supplements energy for the mobile charger with less residual energy, the energy supplemented by the 3 mobile chargers is respectively 56J, 73J and 67J, the super charger returns to the base station for maintenance after the mobile charger completes the energy supplement, and the mobile charger continues to perform the next round of charging.

Claims (1)

1. A cooperative wireless sensor network energy supplementing method is characterized in that: the method specifically comprises the following steps:
step 1: n sensors distributed in the wireless sensor network send information to the base station at regular time, the remaining energy of the sensors is reported, and if the energy of the nodes is lower than a threshold value
Figure FDA0003162390820000011
The base station adds the node label into the set V to be chargedCIn (1),
Figure FDA0003162390820000012
is the initial charge of the sensor, wherein, alpha is 0.1;
step 2: v is divided by k-means using a distance-based clustering algorithmCDivided into M blocks of which ViIs the ith block, i is 1,2, …, M, and VC＝V1∪V2∪…∪VM，
Figure FDA0003162390820000013
Vi∩VjPhi, i, j 1,2, …, M, each block corresponding to a Mobile Charger, MC;
and step 3: mobile charger MCmFor V within a blockmRespectively calculate their shortest life expectancy
Figure FDA0003162390820000014
Wherein M is 1, 2.. times.M,
Figure FDA0003162390820000015
is a block VmThe shortest expected lifetime of the intermediate node i in time slot t,
Figure FDA0003162390820000016
into blocks VmThe remaining capacity of the intermediate node i in the time slot t,
Figure FDA0003162390820000017
Figure FDA0003162390820000018
into blocks VmThe energy consumption estimation value of the middle node i in the time slot t is epsilon (0, 1);
and 4, step 4: solving for V using a two-week around tree algorithmmTSP optimized paths R of all nodes in the networkmM is 1,2, …, M, the path of the mobile charger is VmCharging the middle node, and calculating the electric quantity supplemented for each node, so that the shortest expected life of each node in the charged path is the same, and the following conditions are required to be met:
Figure FDA0003162390820000019
Figure FDA00031623908200000110
is a block VmThe electric quantity to be supplemented by the middle node i in the time slot t; sending M mobile chargers from the base station as a set V to be chargedCSupplementing energy, and starting from the base station by M chargers at the same time to charge along each planned path respectively; MC (monomer casting)mAfter charging the nodes in the m group, staying at VmThe last node charged in the system waits for the corresponding Super Charger, and the SC charges the Super Charger;
and 5: dividing M mobile chargers into S groups, and allocating a movable SC to each group; computing
Figure FDA00031623908200000111
Wherein
Figure FDA00031623908200000112
For the remaining capacity of the kth SC at time t, let | Ck|＝M*εk，CkI.e. the set of MC allocated to the kth SC; SC (Single chip computer)kIs responsible for charging all MCs in the kth group, where k is 1,2, …, S;
step 6: SC (Single chip computer)kCommunicating with the corresponding MC to obtain the information of the residual electric quantity of the MC and the nodes in the block corresponding to the MC, SCkPreferentially charging the MC with lower electric quantity in the group, wherein k is 1,2, …, S; SC (Single chip computer)kTo intra-pair MCmIs charged by an amount of
Figure FDA0003162390820000021
Wherein
Figure FDA0003162390820000022
EiIs the remaining capacity of the node i,
Figure FDA0003162390820000023
is the remaining capacity of the charger m; and after charging of each SC is finished, returning to the base station to supplement energy, and continuing charging of each MC in the next round.
CN201810185491.XA 2018-03-07 2018-03-07 Energy supplement method for cooperative wireless sensor network and wireless sensor network thereof Active CN108448731B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810185491.XA CN108448731B (en) 2018-03-07 2018-03-07 Energy supplement method for cooperative wireless sensor network and wireless sensor network thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810185491.XA CN108448731B (en) 2018-03-07 2018-03-07 Energy supplement method for cooperative wireless sensor network and wireless sensor network thereof

Publications (2)

Publication Number Publication Date
CN108448731A CN108448731A (en) 2018-08-24
CN108448731B true CN108448731B (en) 2021-11-16

Family

ID=63193448

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810185491.XA Active CN108448731B (en) 2018-03-07 2018-03-07 Energy supplement method for cooperative wireless sensor network and wireless sensor network thereof

Country Status (1)

Country Link
CN (1) CN108448731B (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109450015B (en) * 2018-10-29 2020-10-16 南京邮电大学 Wireless sensor network charging method and device considering charging characteristics
CN109617160A (en) * 2018-12-12 2019-04-12 福州臻美网络科技有限公司 A kind of wireless charging method, robot and computer readable storage medium
CN109583665B (en) * 2018-12-26 2022-03-08 武汉烽火凯卓科技有限公司 Unmanned aerial vehicle charging task scheduling method in wireless sensor network
CN110034596B (en) * 2019-04-10 2022-08-19 河海大学常州校区 Multi-base-station charging method based on SOM neural network in WRSNs
CN110048483B (en) * 2019-04-30 2022-08-19 河海大学常州校区 Multi-base-station cooperative charging method based on SOM neural network in high-power-consumption WRSNs
CN110943513A (en) * 2019-12-16 2020-03-31 南京邮电大学 Mobile charging scheduling method for rechargeable sensor network
CN112104027A (en) * 2020-09-09 2020-12-18 镇江博联电子科技有限公司 Autonomous wireless charging system and working method
CN113179457B (en) * 2021-03-09 2022-06-14 杭州电子科技大学 Method for charging space-time part during road passing in wireless chargeable sensing network
CN113659670B (en) * 2021-08-11 2023-07-07 南京邮电大学 Wireless sensor network charging method based on region division
CN117455418B (en) * 2023-12-22 2024-03-26 光大环境科技（中国）有限公司 Automatic settlement method and system for industrial and commercial photovoltaic benefits

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105979488A (en) * 2016-07-26 2016-09-28 河海大学常州校区 Collaborative charging algorithm based on region partition in wireless sensor network
CN106403968A (en) * 2016-06-06 2017-02-15 四川大学 Planning method for charging of wireless rechargeable sensor networks (WRSNs) with heterogeneous mobile charging vehicles
JP6095594B2 (en) * 2014-02-25 2017-03-15 株式会社 日立産業制御ソリューションズ Sensor network system, moving object, and sensor terminal power feeding method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6095594B2 (en) * 2014-02-25 2017-03-15 株式会社 日立産業制御ソリューションズ Sensor network system, moving object, and sensor terminal power feeding method
CN106403968A (en) * 2016-06-06 2017-02-15 四川大学 Planning method for charging of wireless rechargeable sensor networks (WRSNs) with heterogeneous mobile charging vehicles
CN105979488A (en) * 2016-07-26 2016-09-28 河海大学常州校区 Collaborative charging algorithm based on region partition in wireless sensor network

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
"Hierarchical, collaborative wireless energy transfer in sensor networks with multiple Mobile Chargers";Adelina Madhja等;《computer networks》;20160314;第97卷;第1-15页 *

Also Published As

Publication number Publication date
CN108448731A (en) 2018-08-24

Similar Documents

Publication Publication Date Title
CN108448731B (en) Energy supplement method for cooperative wireless sensor network and wireless sensor network thereof
CN107835499B (en) Mobile charging method based on clustering and energy relay in WSNs
CN106887887B (en) Mobile charging vehicle scheduling method in wireless chargeable sensor network
CN109495945B (en) Clustering-based cooperative charging method in WSNs
CN112738752B (en) WRSN multi-mobile charger optimal scheduling method based on reinforcement learning
CN107277840B (en) Data collection method for rechargeable wireless sensor network
CN103563210A (en) System for storing power comprising modularized BMS connection structure and method for controlling same
CN109489676A (en) A kind of meter and electric network information and the electric car of charge station information charge air navigation aid
CN110348611A (en) The optimum allocation method and system on a kind of networking unmanned plane reservation base station 5G charging level ground
Wei et al. Multi-MC charging schedule algorithm with time windows in wireless rechargeable sensor networks
CN106877437B (en) A kind of energy of wireless sensor network compensation process based on more mobile chargers
Xu et al. A wireless sensor network recharging strategy by balancing lifespan of sensor nodes
CN113887138A (en) WRSN charging scheduling method based on graph neural network and reinforcement learning
CN112235744A (en) Energy supply method for combined online and offline scheduling in WRSN (write once again and again)
CN105979488A (en) Collaborative charging algorithm based on region partition in wireless sensor network
CN107623901B (en) Combined data collection and energy supply method in WRSNs
Zhao et al. Design of optimal utility of wireless rechargeable sensor networks via joint spatiotemporal scheduling
CN109275170A (en) A kind of charging method and system of wireless chargeable sensing network
Nowrozian et al. A mobile charger based on wireless power transfer technologies: A survey of concepts, techniques, challenges, and applications on rechargeable wireless sensor networks
CN112702688A (en) Mobile car planning method combining energy supplement and data collection
CN110049500B (en) UAV energy compensation method in wireless chargeable sensor network based on simulated annealing algorithm
Huang et al. ACO-based path planning scheme in RWSN
CN111224450B (en) Multi-position simultaneous charging method for large-scale wireless sensor network
CN110248330A (en) One kind maximizing charging trolley time of having a rest dispatching method based on relaying charge model
Yi et al. Energy balancing and path plan strategy for rechargeable underwater sensor network

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant