Invention content
In view of the above-mentioned problems, the present invention is provided to the intelligent data acqusition systems of multirobot.
The purpose of the present invention is realized using following technical scheme:
The intelligent data acqusition system for multirobot is provided, which includes radio sensor network monitoring module
With data processing analysis platform, radio sensor network monitoring module is used to acquire the work on the spot parameter of robot, and will show
Field running parameter is sent to Data Management Analysis platform;Data Analysis Services platform is for monitoring received robot in real time
Work on the spot parameter, and analyzing processing is carried out to work on the spot parameter, when running parameter is beyond the threshold range set at the scene
Export corresponding alarm signal;Radio sensor network monitoring module includes base station and is deployed in multiple in setting monitoring region
Sensor node, base station and sensor node collectively form wireless sensor network, and plurality of sensor node is synergistically adopted
Collection, processing and transmission work on the spot parameter are to base station, and base station is for converging received work on the spot parameters for transmission to data
Processing center;Sensor node generates cluster head by sub-clustering, and cluster head is often set by one for receiving each sensor node in cluster
Determine the work on the spot parameter of monitoring cycle transmission.
Preferably, the Data Management Analysis platform includes sequentially connected data transmit-receive module, data exception detection
Module, data fusion module;The wherein described data transmit-receive module is for receiving and storing radio sensor network monitoring module hair
The work on the spot parameter sent;And work on the spot parameter is sent to data exception detection module;The data exception detection module
Work on the spot parameter for being sent to data transmit-receive module carries out abnormality detection, and is repaiied to the abnormal data detected
It is multiple;The data fusion module is used to carry out fusion treatment to work on the spot parameter.
Preferably, sensor node includes the sensor of the work on the spot parameter of the monitoring robot for acquiring.
Further, further include power supply module, for being powered to each sensor.
Beneficial effects of the present invention are:Multirobot work on the spot parameter is realized by wireless sensor network technology
Acquisition, and by carrying out analyzing processing to work on the spot parameter, exported when running parameter exceeds the threshold range of setting at the scene
Corresponding alarm signal, can at the scene running parameter beyond setting threshold range when alarm, so that observer is directed to
The operation operating mode of multirobot makes reasonable arrangement in time, avoids unexpected situation.
Specific implementation mode
The invention will be further described with the following Examples.
Referring to Fig. 1, an embodiment of the present invention provides the intelligent data acqusition system for multirobot, which includes nothing
Line sensor network monitoring module 1 and data processing analysis module 2, radio sensor network monitoring module 1 is for acquiring machine
The work on the spot parameter of people, and work on the spot parameter is sent to Data Management Analysis module 2;Data Analysis Services platform is used for
It monitors the work on the spot parameter of received robot in real time, and analyzing processing is carried out to work on the spot parameter, work at the scene
Corresponding alarm signal is exported when parameter is beyond the threshold range set;Radio sensor network monitoring module 1 include base station and
The multiple sensor nodes being deployed in setting monitoring region, base station and sensor node collectively form wireless sensor network,
Plurality of sensor node synergistically acquires, handles and transmits work on the spot parameter to base station, and base station is received for converging
Work on the spot parameters for transmission to data processing centre;Sensor node generates cluster head by sub-clustering, and cluster head is for receiving cluster
Interior each sensor node often passes through the work on the spot parameter that a setting monitoring cycle is sent.
Wherein, sensor node includes the sensor of the work on the spot parameter of the monitoring robot for acquiring.
Wherein, intelligent data acqusition system further includes power supply module 3, for being powered to each sensor.
In a kind of mode of possible implementation, as shown in Fig. 2, Data Management Analysis module 2 includes sequentially connected data
Transmit-Receive Unit 10, data exception detection unit 20, data fusion unit 30;The wherein described data transceiving unit 10 for receive and
Store the work on the spot parameter that radio sensor network monitoring module 1 is sent;And work on the spot parameter is sent to data exception
Detection unit 20;The data exception detection unit 20 is used to carry out the work on the spot parameter that data transceiving unit 10 is sent different
Often detection, and the abnormal data detected is repaired;The data fusion unit 30 is used to carry out work on the spot parameter
Fusion treatment.
The above embodiment of the present invention realizes adopting for multirobot work on the spot parameter by wireless sensor network technology
Collection, and by carrying out analyzing processing to work on the spot parameter, the output phase when running parameter is beyond the threshold range set at the scene
The alarm signal answered, can at the scene threshold range of the running parameter beyond setting when alarm, so that observer is for more
The operation operating mode of robot makes reasonable arrangement in time, avoids unexpected situation.
In a kind of mode of possible implementation, only when freshly harvested work on the spot parameter meets the change condition of setting
When, the freshly harvested work on the spot parameter is just sent to corresponding cluster head by sensor node, is not otherwise sent;If freshly harvested
Work on the spot parameter is xm+1, the change condition set as:
In formula, xiIndicate the work on the spot parameter acquired described in i-th of monitoring cycle,For preceding m+1 monitoring cycle
The average value of the work on the spot parameter acquired,In the work on the spot parameter acquired by preceding m+1 monitoring cycle
Value,By the average value for the work on the spot parameter that preceding m monitoring cycle acquires,Preceding m monitoring cycle is acquired
The intermediate value of work on the spot parameter, wherein the work on the spot parameter that preceding m+1 monitoring cycle is acquired is { x1,x2,…,xm+1, preceding m
The work on the spot parameter that a monitoring cycle is acquired is { x1,x2,…,xm};For the work on the spot parameter threshold of setting.
The present embodiment innovatively sets change condition, meet change condition show freshly harvested work on the spot parameter compared with
Work on the spot parameter before generates the degree that variation has reached setting;Sensor node only works as its new acquisition in the present embodiment
Work on the spot parameter meet setting change condition when, freshly harvested work on the spot parameter is just sent to corresponding cluster head, energy
It enough avoids unnecessary work on the spot parameter being also sent to cluster head, to reduce the energy consumption of work on the spot parameter transmission, energy
The energy for enough saving sensor node, reduces Internet traffic, and then save the communications cost of system on the whole.
In one embodiment, cluster head periodically carries out fault detect to each sensor node in cluster, and is examined according to failure
It surveys result and sends dormancy instruction to corresponding malfunctioning node, sensor node enters dormant state after receiving dormancy instruction;Its
In, cluster head periodically carries out fault detect to each sensor node in cluster, specifically includes:
(1) setting detection unit k obtains sensor node a and its natural neighbor node acquisition of preceding k monitoring cycle
Work on the spot parameter, calculate separately average value, obtain work on the spot mean parameter sequence
Wherein discrete data node set S is built using the other sensors node in sensor node a communication rangesa, according to biography
The geographical location of sensor node, utilizes SaThe single order Voronoi diagram for building sensor node a, to obtain sensor node a's
Multiple nature neighbor node b, b=1 ..., na, naIndicate the natural neighbor node number of sensor node a;
(2) rightIt is ranked up from small to large ord, work on the spot after being sorted
Mean parameter sequenceCalculate the intermediate value of work on the spot mean parameter sequence after sortingAverage valueAnd standard variance
(3) average value for the work on the spot parameter that the sensor node a of k monitoring cycle is acquired before setting asIfIt is full
Foot row fault verification formula, then judge sensor node a for malfunctioning node:
In formula, ρ is the probability threshold value of setting.
If the work on the spot parameter of sensor node acquisition deviates considerably from the other sensors in its communication range
The work on the spot parameter of node, it may be considered that the sensor node failure.Based on the principle, the present embodiment sets node event
Hinder decision mechanism.The natural neighbor node of sensor node is obtained in the mechanism using the division methods of Voronoi diagram.
Voronoi diagram is one of the extremely important research contents in computational geometry field, and Voronoi diagram is according to sky of interest
Between object neighbouring attribute by the region division where them at many subregions.Per sub-regionsWhat is indicated is given
In discrete data point set p, relatively other discrete data points, distanceThe set that closer all spatial points are constituted.This reality
The natural neighbor node for applying example acquisition is actually the neighbour of sensor node truly.The present embodiment is by comparing sensing
Deviation between device node and the work on the spot parameter of its natural neighbor node acquisition judges sensor node failure, relative to
The mode being compared with the work on the spot parameter of neighbor node, reduces False Rate, improves the accurate of malfunctioning node detection
Rate;The present embodiment further sets fault verification formula, and carrying out failure to sensor node by the fault verification formula sentences
It is fixed, improve the efficiency of malfunctioning node detection.
In one embodiment, it improves formula according to following standard variance and calculates standard variance
In formula,For work on the spot mean parameter sequence after sequenceIn v
A average value.
The calculation of existing standard variance is the difference of each number and the average of this group of data in one group of data
Square and again divided by the number of data.When sensor node breaks down, can with other sensors node deviate one compared with
Big value is based on this, and the present embodiment is improved the calculation of existing standard variance, using in intermediate value and average value
Between value substitute average value, since intermediate value and the median of average value can more represent its practical center relative to average value, according to
Above-mentioned calculation formula calculates standard variance, can reduce the erroneous judgement of malfunctioning node, improves the accuracy rate of malfunctioning node detection.
Cluster head sends dormancy instruction, sensor section according to failure detection result to corresponding malfunctioning node in above-described embodiment
Point enters dormant state after receiving dormancy instruction, enables to the sensor node to break down cut-off collection site work ginseng
Number so as to opposite reduction work on the spot parameter acquisition and transmission energy consumption, and is avoided that malfunctioning node to work on the spot parameter
Precision impact.
Through the above description of the embodiments, those skilled in the art can be understood that it should be appreciated that can
To realize the embodiments described herein with hardware, software, firmware, middleware, code or its any appropriate combination.For hardware
It realizes, each module can be realized in one or more the following units:Application-specific integrated circuit (ASIC), digital signal processor
(DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), processing
Device, controller, microcontroller, microprocessor, other electronic units or combinations thereof designed for realizing functions described herein.
For software implementations, some or all of embodiment flow can instruct relevant hardware to complete by computer program.
When realization, above procedure can be stored in computer-readable medium or as the one or more on computer-readable medium
Instruction or code are transmitted.Computer-readable medium includes computer storage media and communication media, wherein communication media packet
It includes convenient for transmitting any medium of computer program from a place to another place.Storage medium can be that computer can
Any usable medium of access.Computer-readable medium can include but is not limited to RAM, ROM, EEPROM, CD-ROM or other
Optical disc storage, magnetic disk storage medium or other magnetic storage apparatus or can be used in carry or store with instruction or data
The desired program code of structure type simultaneously can be by any other medium of computer access.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although being explained in detail to the present invention with reference to preferred embodiment, those skilled in the art answer
Work as understanding, technical scheme of the present invention can be modified or replaced equivalently, without departing from the reality of technical solution of the present invention
Matter and range.