CN108924781A - One kind being used for arable farming water-saving irrigation Internet of Things integrated system and operation method - Google Patents
One kind being used for arable farming water-saving irrigation Internet of Things integrated system and operation method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The invention discloses one kind to be used for arable farming water-saving irrigation Internet of Things integrated system, the system includes the wireless sensor network ad hoc network and node deployment module for crop greenhouse production, and the ad hoc network includes that wireless sensor network node, wireless sensor network base station are formed by ad hoc network；The wireless sensor network node includes sensing node, control node, gateway, relay node；A kind of sensing node of the node deployment module using fictitious force algorithm based on variable step for node static sensing range is disposed, the fictitious force algorithm based on variable step changes the moving step sizes of sensing node based on sigmoid function by establishing the sensor model of the two-dimensional model and node of cultural area.Wireless sensor network node Deployment Algorithm proposed by the present invention for arable farming water-saving irrigation, while guaranteeing later period convergence stability, also it can achieve the purpose that the coverage effect of equivalent amount within a short period of time is optimal, shorten the time for obtaining deployment strategy, monitoring coverage rate is improved, guarantees the comprehensive and integrality of monitoring data.
Description
Technical field
The present invention relates to the operation methods of a kind of integrated system and the system, and in particular to one kind is water-saving for arable farming
Irrigate Internet of Things integrated system and operation method.
Background technique
Wireless sensor network is the self-organizing network being made of in a manner of wireless multi-hop communication big quantity sensor, will be wireless
Sensor network is applied to modern agriculture field, not only can efficiently perceive, monitors and regulate and control agricultural environment information and crop
Growth information can also change the production method of traditional agriculture, push agricultural to fining, the transformation of intelligent direction.But
Since the computing capability, storage capacity and transmittability of sensor nodes in wireless sensor network are limited, by wireless sensing
Device network large-scale application also needs to solve problems in agriculture field, it is especially desirable to consider following factor：
(1) stability of system.Due to the control centre that wireless sensor network is not fixed, agricultural production ring is added
Border is complex, and wireless sensor network cannot be guaranteed can be under the complex environments such as high temperature, low temperature, high humility and rainwater not
Interruption works normally, and cannot be adapted to various working environments, it may appear that the internal systems such as system fault, system crash
The case where going wrong.
(2) self organization ability of node.In wireless sensor network any one node can be added at any time or from
Network is opened, the addition because of it is understood or is exited, therefore the structure of entire wireless sensor network can change, and wirelessly passing
In sensor node large scale deployment and the wealthy agriculture application environment of monitoring section field width, the biography of abnormal work is searched and replaced in time
Sensor node is very difficult.Therefore, the prior art cannot be guaranteed the normal operation of wireless sensor network, when certain sensings
When device node can not work normally, other sensors node cannot replace in time these sensor nodes to execute data transmission times
Business, goes wrong so as to cause the operation of whole system.
(3) high efficiency of transmission of data.In agriculture application environment, it is often necessary to real-time display environmental information parameter, so as to
Staff can make regulation to abnormal conditions at the first time, this just need the data of wireless sensor network transmit it is efficient,
Rapidly, key factor related to this is exactly the Routing Protocol of wireless sensor network.And in sensor node large scale deployment
Agricultural application in, it is necessary to consider design data packet transmission optimal route transmission path, to promote the whole of networked communication resource
Body utilization rate reduces network delay, avoids generating network congestion and balanced communication flow.Therefore, reasonable road how is designed
By agreement to provide the communication service of high quality, guarantees the data transmission of real-time high-efficiency, be that wireless sensor network is answered in agricultural
The problem of must be taken into consideration in.
(4) reliability and integrality of data.Under normal conditions, each sensor node is only responsible for a certain piece of region of acquisition
Component environment parameter, entire agricultural producing areas can not be covered, and the data of single-sensor node acquisition can not be complete
The overall condition of whole reflection detection zone environment, and not can guarantee the authenticity and reliability of the data of acquisition.
Summary of the invention
Goal of the invention：For overcome the deficiencies in the prior art, the present invention provides a kind of for arable farming water-saving irrigation object
Networking integrated system and operation method, solve sensor node in the real-time monitoring and regulation process of soil moisture environmental information
Transmission efficiency is low for data packet, the problem of data reliability and integrality difference.
Technical solution：Of the present invention to be used for arable farming water-saving irrigation Internet of Things integrated system, which includes using
In the wireless sensor network ad hoc network and node deployment module of crop greenhouse production, the ad hoc network includes wireless sensor network
Network node, wireless sensor network base station are formed by ad hoc network；The wireless sensor network node includes sensing node, control
Node processed, gateway, relay node；The node deployment module is quiet for node using a kind of fictitious force algorithm based on variable step
The sensing node of state sensing range is disposed, and the fictitious force algorithm based on variable step is by establishing the two dimension of cultural area
The sensor model of areal model and node changes the moving step sizes of sensing node based on sigmoid function；
The wireless sensor network base station is the wireless sensor network node configuration identifier number, establishes hop count relationship
Database simultaneously carries out clustering election leader cluster node to the wireless sensor network node, will be sent by local monitoring terminals
Control instruction data packet each leader cluster node is sent to optimal route transmission path；The sensing node acquisition soil moisture letter
Data are ceased, and the information data is handled, the leader cluster node of cluster where information data after processing is sent to itself；
The control node receives the control instruction data packet of the base station, and driving in real time, which executes equipment and monitors, executes equipment shape
State；The relay node real-time reception and the data packet for sending the sensing node and control node transmission；The gateway is real-time
The data packet for receiving and sending the network node transmissions carries out internetwork protocol conversion, routing to the information in data packet
Selection and data exchange, and data are sent to other network nodes by treated.
Preferably, the fictitious force algorithm based on variable step disposes the sensing node, the realization of the algorithm
Step is：
(1) monitoring region areal model is established；If radio sensor network monitoring region S is the rectangle of two-dimensional surface, quilt
Discrete to turn to K grid, each grid is described using mesh point, and the area of each grid is 1, is determined to monitor region
Justice is a set being made of many mesh points：
C={ a (x1,y1),a(x2,y2),…,a(xk,yk)}
Wherein, K is the number of mesh point, a (xi,yi) be mesh point in a two-dimensional plane coordinate parameters, i=1,2,
3…,K；
(2) sensing node 0-1 disk sensor model is established；Node static sensing range is to be with sensing node position
The center of circle, the perception radius rpBorder circular areas, perception area be π × rp 2, it is assumed that each sensing node s is placed on position (xs,
ys), for any point d, position is (xd,yd), the Euclidean distance of s to d is l (s, d), then the probability that d point is monitored by s point with
Sensing node the perception radius rpRelationship be：
(3) fixed step size fictitious force algorithm model is established, the fixation moving step length μ of each iteration node is obtainedi；
(4) change fixed moving step length μiFor step factor μi(t) with the sigmoid function of iteration error：
Wherein, e (t) is iteration error, and α and β are the parameter value in sigmoid function；Adjust the ginseng in sigmoid function
Numerical value α and β is optimal to sensing node coverage effect.
Preferably, it in the step (3), establishes fixed step size fictitious force algorithm model and includes the following steps：
(31) the two-dimensional plane coordinate system in monitoring region, sensing node u are establishediCoordinate (xi,yi), i=1,2 ..., n；
(32) stress model of each sensing node, each sensing node u are establishediBy the repulsion F from boundaryiB、
Gravitation F from grid nodeiDWith come from other nodes uj, the gravitation or repulsion F of j=1,2 ..., nij, a distance is set
Threshold value dmax, then sensing node uiSuffered resultant force FiFor：
Wherein, FijIt is expressed as：
Wherein, dijIt is sensing node uiWith sensing node ujBetween Euclidean distance, αijIt is from sensing node uiTo sensing
Node ujDeflection, taAnd trIt is the coefficient of gravitation and repulsion respectively, when the distance between two sensing nodes are less than threshold value
dmaxWhen, the power being subject to is repulsion；When greater than threshold value, the power being subject to is gravitation；When equal to threshold value, the power being subject to is 0；
(33) after sensing node stress, an acceleration is generated：
Wherein, aiFor sensor node uiAcceleration, miFor sensor node uiQuality；
Sensor node uiMovement velocity be：
vi=aiti
At the same time in interval, the move distance d of nodeiIt is proportional to acceleration aiValue：
According to the realization process of traditional virtual power algorithm it is found that the movement speed of each node has maximum speed limitation, and
Velocity amplitude viUsually constant, i.e.,：
vi=max_step
Sensor node uiVelocity amplitude, the moving step length μ of as each iteration nodei：
μi=vi。
Preferably, in the step (32), the precondition for establishing the stress model of each sensing node is：
All sensing nodes are all moveable；All sensing nodes have omnidirectional's sensor, and its sensing region is one
It is a using sensing node as the circle in the center of circle；The location information of all sensing nodes is known；The calculated mobile scheme of institute can
To perform effectively；All sensing nodes it is identical in quality.
Preferably, the method for the election leader cluster node is the wireless sensor network base station according to hop count relation data
Wireless sensor network node in the ad hoc network is divided into N number of cluster by library, by the highest top n network section of distribution density
Point is used as respective leader cluster node, and the leader cluster node nearest from oneself is added in remaining network node.
Preferably, the system also includes irrigation sprinkler and track, the irrigation sprinkler is used to guarantee that crop is raw to crop spraying
It grows under suitable soil moisture conditions, and realizes the water-saving irrigation effect that water shortage is irrigated and do not sprayed excessively, the track is used
It is supported in the walking path of the irrigation sprinkler, and guarantees that the spray area that can allow irrigation sprinkler of the length and width of the track covers
All plants of greenhouse production.
The present invention also provides a kind of system operation method for arable farming water-saving irrigation Internet of Things integrated system, the party
Method includes the following steps：
S01 is in monitoring range by sensing node, control node, relay node, gateway and wireless sensor network base station
It is deployed on scheduled network site, and is powered on and initialized；
S02 wireless sensor network base station receives the control instruction data packet sent by local monitoring terminals, in conjunction with optimal
Control instruction data packet is sent to each leader cluster node, cluster head with optimal route transmission path by route transmission routing algorithm
Node receives sensing node and control node in forwarding data packet to cluster；
S03 sensing node and control node receive and parse through control instruction data packet, according to wanting for control instruction data packet
It asks and executes equipment regulation task or environment information acquisition task, if regulating and controlling task comprising equipment in the control instruction data packet,
After then sensing node and control node complete regulation execution equipment task, S01 is returned to, if including in the control instruction data packet
Environment information acquisition task then enters S04；
S04 sensing node acquires the soil humidity information data of crop greenhouse production, carries out to soil humidity information data
According to regulation data frame format processing, the leader cluster node of cluster where soil humidity information data after processing are sent to itself；
Treated the soil humidity information data that the leader cluster node receives that the sensing node sends, and passed with optimal routing
Defeated path sends it to wireless sensor network base station；
Treated that soil humidity information data are parsed, integrate, analyze to described for S05 wireless sensor network base station
And optimization, by treated, data are sent to local monitoring terminals；
Treated that data are analyzed to described for local monitoring terminals described in S06, judges the humidity information currently acquired
The optimum humidity for whether reaching plant growth, control instruction is issued if not reaching optimum humidity makes irrigation sprinkler automatic job,
Until humidity reaches demand condition；Otherwise issuing control instruction makes irrigation sprinkler stop operation, and acquisition soil humidity information task is protected
Hold execution.
Preferably, the dispositions method of the sensor includes the following steps：
(1) monitoring region areal model is established；If radio sensor network monitoring region S is the rectangle of two-dimensional surface, quilt
Discrete to turn to K grid, each grid is described using mesh point, and the area of each grid is 1, is determined to monitor region
Justice is a set being made of many mesh points：
C={ a (x1,y1),a(x2,y2),…,a(xk,yk)}
Wherein, K is the number of mesh point, a (xi,yi) be mesh point in a two-dimensional plane coordinate parameters, i=1,2,
3…,K；
(2) sensing node 0-1 disk sensor model is established；Node static sensing range is to be with sensing node position
The center of circle, the perception radius rpBorder circular areas, perception area be π × rp 2, it is assumed that each sensing node s is placed on position (xs,
ys), for any point d, position is (xd,yd), the Euclidean distance of s to d is l (s, d), then the probability that d point is monitored by s point with
Sensing node the perception radius rpRelationship be：
(3) fixed step size fictitious force algorithm model is established, the fixation moving step length μ of each iteration node is obtainedi；
(4) change fixed moving step length μiFor step factor μi(t) with the sigmoid function of iteration error：
Wherein, e (t) is iteration error, and α and β are the parameter value in sigmoid function；Adjust the ginseng in sigmoid function
Numerical value α and β is optimal to sensing node coverage effect.
Preferably, it in the step (3), establishes fixed step size fictitious force algorithm model and includes the following steps：
(31) the two-dimensional plane coordinate system in monitoring region, sensing node u are establishediCoordinate (xi,yi), i=1,2 ..., n；
(32) stress model of each sensing node, each sensing node u are establishediBy the repulsion F from boundaryiB、
Gravitation F from grid nodeiDWith come from other nodes uj, the gravitation or repulsion F of j=1,2 ..., nij, a distance is set
Threshold value dmax, then sensing node uiSuffered resultant force FiFor：
Wherein, FijIt is expressed as：
Wherein, dijIt is sensing node uiWith sensing node ujBetween Euclidean distance, αijIt is from sensing node uiTo sensing
Node ujDeflection, taAnd trIt is the coefficient of gravitation and repulsion respectively, when the distance between two sensing nodes are less than threshold value
dmaxWhen, the power being subject to is repulsion；When greater than threshold value, the power being subject to is gravitation；When equal to threshold value, the power being subject to is 0；
(33) after joints, an acceleration is generated：
Wherein, aiFor sensor node uiAcceleration, miFor sensor node uiQuality；
Sensor node uiMovement velocity be：
vi=aiti
At the same time in interval, the move distance d of nodeiIt is proportional to acceleration aiValue：
According to the realization process of traditional virtual power algorithm it is found that the movement speed of each node has maximum speed limitation, and
Velocity amplitude viUsually constant, i.e.,：
vi=max_step
Sensor node uiVelocity amplitude, the moving step length μ of as each iteration nodei：
μi=vi。
Preferably, in the step (32), the stress model for establishing each sensing node need to meet the following conditions：
All sensing nodes are all moveable；All sensing nodes have omnidirectional's sensor, and its sensing region is one
It is a using sensing node as the circle in the center of circle；The location information of all sensing nodes is known；The calculated mobile scheme of institute can
To perform effectively；All sensing nodes it is identical in quality.
Beneficial effect：Compared with prior art, the present invention its remarkable advantage is：1, it proposes a kind of water-saving for arable farming
The wireless sensor network node Deployment Algorithm of irrigation can also reach when shorter while guaranteeing later period convergence stability
The optimal purpose of the coverage effect of interior equivalent amount shortens the time for obtaining deployment strategy, improves monitoring coverage rate,
Guarantee the comprehensive and integrality of monitoring data；2, in the ad hoc network method that the present invention designs, analysis, calculating and the processing of data
Process is realized in a base station, thus hardly increases the computation burden and communication pressure of network node, ensure that wireless sensing
Device network can be very good to realize the real-time monitoring and regulation of the growth information of crop greenhouse production.
Detailed description of the invention
Fig. 1 is wireless sensor ad hoc network work flow diagram of the present invention；
Fig. 2 is sensing node Deployment Algorithm flow chart of the present invention；
Fig. 3 is the wireless sensor network ad hoc network sensing control system construction drawing of arable farming of the present invention；
Fig. 4 is that arable farming water-saving irrigation Internet of Things integrated system structure chart is used for described in one embodiment of the invention；
Fig. 5 is the real-time monitoring and regulation workflow of the soil moisture environmental information of crop greenhouse production of the present invention
Cheng Tu；
Fig. 6 is the coverage condition lab diagram of traditional virtual power algorithm, and wherein Fig. 6 a is initially covering for traditional virtual power algorithm
Lid schematic diagram, Fig. 6 b are traditional virtual power algorithm node motion trajectory diagram, and Fig. 6 c is to monitor model after traditional virtual power algorithm acts on
Enclose schematic diagram；
Fig. 7 is linear function variable step fictitious force algorithm coverage condition lab diagram, and wherein Fig. 7 a is linear function variable step
The initial covering schematic diagram of fictitious force algorithm, Fig. 7 b are linear function variable step fictitious force algorithm node motion trajectory diagram, Fig. 7 c
For monitoring range schematic diagram after the effect of linear function variable step fictitious force algorithm；
Fig. 8 is quadratic function variable step fictitious force algorithm coverage condition lab diagram, and wherein Fig. 8 a is quadratic function variable step
The initial covering schematic diagram of fictitious force algorithm, Fig. 8 b are quadratic function variable step fictitious force algorithm node motion trajectory diagram, Fig. 8 c
For monitoring range schematic diagram after the effect of quadratic function variable step fictitious force algorithm；
Fig. 9 is the coverage situation lab diagram of the method for the invention, and wherein Fig. 9 a is initially covering for the method for the present invention
Lid schematic diagram, Fig. 9 b are the node motion trajectory diagram of the method for the present invention, and Fig. 9 c is that monitoring range shows after method of the invention acts on
It is intended to；
Figure 10 is that the change procedure of method of the present invention and the monitoring range coverage rate of other three kinds of algorithms compares in fact
Test figure.
Specific embodiment
On the one hand, the present invention provides a kind of for arable farming water-saving irrigation Internet of Things integrated system, the system crop temperature
The wireless sensor network ad hoc network of room cultivation, introduces ad hoc network specific workflow, as shown in Figure 1 first：
S01 is by wireless sensor network node, including sensing node, control node and relay node, gateway and wireless passes
Sensor network base station is deployed on scheduled position, power-up initializing.
The base station S02 is the n (n of ad hoc network>0) a network node configuration identifier IDi(i=1,2 ..., n).It establishes wireless
Hop count relational database H between sensor network nodesn×n, and by sub-clustering command packet by network node and gateway with
Flooding mode broadcast transmission is to whole network.
S03 wireless sensor network node received data packet records hop count relationship, and continues to forward data packet.
S04 wireless sensor network base station receives the data packet that network node is sent back to, and updates hop count relational database.
S05 wireless sensor network base station combines cluster algorithm to elect cluster according to the hop count relationship between network node
Head node carries out clustering to network node.Wireless sensor network base station complete sub-clustering after, by sub-clustering information packet with
Flooding mode broadcast transmission is to whole network.
S06 wireless sensor network node received data packet determines ad hoc network sub-clustering situation.
S07 wireless sensor network base station, which is received, to be referred to by host computers such as local monitoring terminals by the control that serial ports is sent
It enables, according to ad hoc network sub-clustering situation, in conjunction with optimal route transmission routing algorithm, by control instruction data packet with optimal routing
Transmission path is sent to each leader cluster node.The method for electing leader cluster node is wireless sensor network base station according to hop count relationship number
According to library, the wireless sensor network node in ad hoc network is divided into N number of cluster, by the highest top n wireless sensing of distribution density
For device network node as respective leader cluster node, the cluster head section nearest from oneself is added in remaining wireless sensor network node
Point.
S08 leader cluster node forwards sensing node and control node in data packet to cluster.
S09 sensing node and control node parse control instruction data packet, execute regulation task or environment information acquisition is appointed
Business.
S10 sensing node acquires the soil humidity information data of crop greenhouse production, and sensing node converts data
With processing, the leader cluster node of cluster where sending data packets to itself.
S11 leader cluster node receives the data packet that sensing node is sent, and sends it to nothing with optimal route transmission path
Line sensor network base station.
S12 wireless sensor network base station parses data packet, is integrated, analyzed and is optimized to data, then will processing
Data afterwards are sent to the host computers such as local monitoring terminals.So far, the wireless sensor network of crop greenhouse production completes a wheel
Soil humidity information acquisition tasks.
If the wireless sensor network of S13 crop greenhouse production completes more wheel environment information acquisition tasks, base station sends work
Make wireless sensor network node of the status inquiry data packet into ad hoc network.Wireless sensor network node received data packet,
And return to itself working condition.Base station according to the hop count relational database of network node and working condition to network node into
Row sub-clustering again.
After the power-up initializing of wireless sensor network base station, module sends system initialization data packet by wireless communication.
Sensing node, control node, relay node and gateway received data packet, and the broadcast transmission data packet.Table 1 is system initialization
Data packet format, type of data packet 0x01.
1 system initialization data packet format of table
| Serial number | Field name | Field length | Description |
| 1 | Source address | 2byte | The ID of sending node |
| 2 | Destination address | 2byte | Broadcast address is 0xFFFF |
| 3 | Type | 1byte | Type of data packet is 0x01 |
| 4 | Life cycle | 1byte | The random number of generation |
| 5 | CRC check | 2byte | Data check |
After sensing node, control node and relay node receive system initialization data packet, by counter O reset, suspend mode mark
Knowing position is 0, then broadcast transmission data packet.Data packet is forwarded every time, and life cycle, value subtracted 1, until stopping turning when being 0
Hair.
In order to obtain best monitoring effect in monitoring region, the deployment for the sensing node in S01, such as Fig. 2 institute
Show, the present invention uses a kind of fictitious force algorithm based on variable step, and the algorithm steps are as follows：
(1) monitoring region areal model is established, it is assumed that radio sensor network monitoring region S is the rectangle of two-dimensional surface,
It is discretized as K grid, each grid is described using mesh point.The area of each grid is 1, such unit
Change, so that monitoring region is defined as the set being made of many mesh points：
C={ a (x1,y1),a(x2,y2),…,a(xk,yk)}
K is the number of mesh point, determines that this variable size needs the target and measurement accuracy requirement according to monitoring region
It determines, a (xi,yi) be mesh point in a two-dimensional plane coordinate parameters, wherein i=1,2,3 ..., K.
(2) node 0-1 disk sensor model is established, in the model, node static sensing range is with sensor node
Position is the center of circle, the perception radius rpBorder circular areas, perception area be π × rp 2。rpSize by sensor node from
The characteristic of body determines, herein, for the specific aim of research, sets this value as a suitable constant r.Assuming that each sensor
Node s is placed on position (xs,ys), for any point d, position is (xd,yd), the Euclidean distance of s~d is l (s, d), then d point
Relationship by probability and sensor node the perception radius r that s point monitors is
(3) fixed step size fictitious force algorithm model is established, which comprises the steps of：
(31) n mobile sensor node is denoted as by the two-dimensional plane coordinate system for establishing monitoring region in monitoring region
Set U is randomly dispersed in the large area target region of L*W.
U=(u1,u2,…,un)
Establish a coordinate system in the monitoring region, make region four apex coordinates be respectively (100,100), (L+100,
100), (W+100,100), (L+100, W+100), node uiCoordinate (xi,yi), i=1,2,3 ..., the perception radius rp。
(32) supposed premise of joints model is determined, a) all nodes are all moveable；B) all nodes have
Omnidirectional's sensor, and its sensing region is one using node as the circle in the center of circle；C) location information of all nodes is known；
D) the calculated mobile scheme of institute can perform effectively；E) all nodes is identical in quality.
(33) stress model of each node, each node u are establishediIt may be by the effect of 3 kinds of power：A) boundary is come from
Repulsion FiB；B) the gravitation F from grid nodeiD；C) other nodes u is come fromjGravitation or repulsion Fij.Third force it is big
It is small by two node uiWith ujThe distance between determine.Need to be arranged a distance threshold d hereinmax, then node uiSuffered
Resultant force FiFor
Wherein, the power F from other nodesijExpression formula be
In formula, dijIt is node uiWith node ujBetween Euclidean distance, αijIt is from node uiTo node ujDeflection；ta
And trIt is the coefficient of gravitation and repulsion respectively, when the distance between two nodes are less than threshold value dmaxWhen, the power being subject to is repulsion；
When greater than threshold value, the power being subject to is gravitation；When equal to threshold value, the power being subject to is 0.
(34) motion model for establishing the stress model that node is based in step (33), according to Newton mechanics law, node
After stress, an acceleration can be generated：
In formula, aiFor sensor node uiAcceleration, miFor sensor node uiQuality.
Sensor node uiMovement velocity be：
vi=aiti
At the same time in interval, the move distance d of nodeiIt is proportional to acceleration aiValue：
According to the realization process of traditional virtual power algorithm it is found that ideally, if the distance between two nodes ten
Divide closely, very big repulsion can be generated, cause node motion speed very fast.But in practical applications, the movement of each node
Speed has maximum speed limitation, and velocity amplitude viUsually constant, i.e.,：
vi=max_step
Sensor node uiVelocity amplitude, the moving step length μ of as each iteration nodei：
μi=vi
(4) by the fixed step size μ in step (34)i, change into the sigmoid letter of step factor μ i Yu iteration error e (t)
Number：
(5) the parameter value α and β in the sigmoid function in set-up procedure (4) reaches best effects, obtains and is directed to step
(1) the node deployment optimal algorithm of area monitoring area planar model.
As shown in figure 3, ad hoc network is applied in crop greenhouse production by the present invention, establish in the greenhouse dynamic self-organization and
The isomorphism or heterogeneous wireless sensor network (Wireless Sensor Networks-WSN) of multi-hop transmission, to arable farming
Environmental information carry out real-time monitoring, and the WSN by 433MHz communications band realize to the acquisition of data, processing, networking, biography
It is defeated, and so that crop soil moisture is reached the state of suitable growth by terminal system auto-control irrigation sprinkler.Have with arable farming
The environmental factor of pass is numerous, such as aerial temperature and humidity, soil temperature and humidity, P in soil H value, gas concentration lwevel, but last mutual
The result soil moisture factor of effect is most direct most intuitive environmental factor, therefore, the main ring which is monitored
Border factor is soil moisture.Integrating device mainly includes sensing node 1, control node 2, relay node 3, gateway 4, wireless sensing
Device network base station 5, irrigation sprinkler and track, sensing node 1, control node 2 and gateway 4 are placed in 6 range of monitoring area, the monitoring
Region 6 can by WSN, RFID, WSID, WLAN etc. is wireless or the mode of standard interfaces such as RS232, RS485, USB and its
His network node communication, wireless sensor network base station 5 are connected with local monitoring terminals 7, and the major function of each section is as follows：
The soil humidity information parameter of the acquisition crop greenhouse production in real time of sensing node 1, and data are converted, are located
It manages, store and transmit, by 433MHz communications band, base station 5 is sent data in a manner of wireless multi-hop communication.
Control node 2 is for connecting according to actual needs and regulating and controlling to execute equipment irrigation sprinkler so as to real-time monitoring crop greenhouse
The soil moisture environment of cultivation.
It is right when gateway 4 is by intercommunication or fusion is carried out between wireless sensor network architecture or the sub-network of agreement
Data information carries out protocol conversion, Route Selection and data exchange between sub-network, and data are led to by 433MHz by treated
Letter frequency range is sent to other nodes.
Relay node 3 has information wireless relay transfer function, while but also with information processing, storage and intelligent collaboration
The function of identification, the data transmission being mainly used between gateway 4 and wireless sensor network base station 5.
The humidity data that wireless sensor network base station 5 is used for the wireless sensor network acquisition to crop greenhouse production is believed
Breath is configured, is converted, is stored, analyzed and is transmitted.
Irrigation sprinkler is used for crop spraying, and guarantee plant growth realizes that water shortage fills under suitable soil moisture conditions
The water-saving irrigation effect irrigate and do not sprayed excessively.
Walking path of the track for irrigation sprinkler supports, and guarantees that track setting can allow the spray area of irrigation sprinkler to cover
All plants of greenhouse production.
As shown in figure 4, the present invention specifically introduces a kind of specific embodiment of the system, in each greenhouse of A1 to A6
Sensing node 1 and control node 2 are deployed, relay node 3 is deployed between greenhouse.A7 is control room, arranges gateway 4 and nothing
Line sensor network base station 5.
The soil moisture data of the sensing node 1 of greenhouse A1 to greenhouse A6 acquisition crop greenhouse production in real time, and to data
It converted, handled, stored and transmitted, wireless sensor network base station 5 is sent data in a manner of wireless multi-hop communication.It passes
Sense node 1 is mounted with soil humidity sensor, for acquiring the indoor soil humidity information of temperature.Sensing node 1 in greenhouse A4
It is mounted with irrigation sprinkler and image identifying instrument, acquires image information and control soil and irrigate and apply fertilizer.
The control node 2 of greenhouse A1 to greenhouse A6 connects and controls different execution equipment, including：Inside/outside sunshade electricity
Machine, skylight motor, side window motor, membrane motor, blower, wet curtain water pump, terrace spray and room spray water pump and give crop
The equipment such as the irrigation sprinkler of sprinkling irrigation, the growing environment information for real-time monitoring crop greenhouse production.
Relay node 3 between greenhouse is transmitted with information wireless relay, i.e. radio transmission-receiving function, while but also with information
The function of processing, storage and intelligent collaboration identification, for the data transmission between network node and gateway and base station.
Gateway 4 in control room A7 will be carried out between wireless sensor network architecture or the sub-network of agreement intercommunication or
When fusion, protocol conversion, Route Selection and data exchange carrying out sub-network to data information, and data are sent by treated
To other network nodes.
The downlink of wireless sensor network base station 5 in control room A7 passes through wireless module and other network node communications,
And the soil humidity information data packet of the crop greenhouse production of network node transmission is received, data are divided in conjunction with optimization algorithm
Analysis, transformation, integration, optimization and processing；Uplink is by standard interfaces such as RS232, RS485, USB, or passes through Internet, movement
Host computers such as the multiple communication modes such as communication network, WLAN and local monitoring terminals, mobile monitoring terminal etc. are communicated.Wherein,
Sensing node, control node, relay node, gateway and wireless sensor network base station are all made of 433MHz frequency range multihop routing certainly
Organize wireless communication mode.
As shown in figure 5, the real-time monitoring of the soil moisture environmental information of crop greenhouse production includes following with regulation process
Step：
The host computers such as S01 local monitoring terminals send control instruction to wireless sensor network base station；
S02 wireless sensor network base station receives control instruction, analyzes and determine optimal route transmission path, will include control
The data packet of system instruction and optimal route transmission path, the leader cluster node of each cluster is sent to by network node and gateway；
S03 leader cluster node receives and forwards other network nodes in control instruction data packet to cluster；
S04 sensing node and control node parse control instruction data packet, are required to execute equipment regulation task according to control
Or environment information acquisition task.Sensing node and control node by the control instruction in data packet be converted to sensor module or
The communication protocol data packet that equipment matches is executed, and is communicated by corresponding communication interface with equipment is executed, is adjusted in real time
Control executes equipment or acquisition environmental information；In the wireless sensor network of crop greenhouse production, sprinkling irrigation machine equipment passes through isomery
Control node or heterogeneous sensor node are regulated and controled.After sensing node or control node complete the regulation task of irrigation sprinkler, return
Return S01；
S05 leader cluster node received data packet, and according to optimal route transmission routing algorithm, send data packets to base
It stands；
S06 wireless sensor network base station received data packet, in conjunction with optimization algorithm to the soil of arable farming in data packet
Humidity information data are further analyzed, convert, integrate, optimize and handle, and the data after optimization are sent to local prison
The host computers such as control terminal complete an environment information acquisition task.
S07 host computer carries out data analysis, judges whether the humidity information currently acquired reaches the optimal wet of plant growth
Degree returns to S01 such as nothing, and issuing control instruction makes irrigation sprinkler automatic job, until humidity reaches demand condition；Such as reach, returns
S01, issuing control instruction makes irrigation sprinkler stop operation, and acquisition soil humidity information task keeps executing.
On the other hand, the present invention provides a kind of operation sides for arable farming water-saving irrigation Internet of Things integrated system
Method, this method include：
S01 is in monitoring range by sensing node, control node, relay node, gateway and wireless sensor network base station
It is deployed on scheduled network site, and is powered on and initialized；
S02 wireless sensor network base station receives the control instruction data packet sent by local monitoring terminals, in conjunction with optimal
Control instruction data packet is sent to each leader cluster node, cluster head with optimal route transmission path by route transmission routing algorithm
Node receives sensing node and control node in forwarding data packet to cluster；
S03 sensing node and control node receive and parse through control instruction data packet, according to wanting for control instruction data packet
It asks and executes equipment regulation task or environment information acquisition task, if being passed in control instruction data packet comprising equipment regulation task
Feel node and control node is completed to regulate and control after executing equipment task, S01 is returned to, if in control instruction data packet including environmental information
Acquisition tasks then enter S04；
S04 sensing node acquire crop greenhouse production soil humidity information data, to soil humidity information data according to
Defined data frame format is transmitted, the cluster head section of cluster where soil humidity information data after processing are sent to itself
Point；Leader cluster node receives sensing node and sends treated soil humidity information data, and will with optimal route transmission path
It is sent to base station；
S05 wireless sensor network base station is to treated that soil humidity information data are parsed, integrate, analyze and excellent
Change, by treated, data are sent to local monitoring terminals；
S06 local monitoring terminals to treated, analyze by data, judges whether the humidity information currently acquired reaches
The optimum humidity of plant growth, control instruction is issued if not reaching optimum humidity makes irrigation sprinkler automatic job, until humidity
Reach demand condition；Otherwise issuing control instruction makes irrigation sprinkler stop operation, and acquisition soil humidity information task keeps executing.
In order to obtain best monitoring effect in monitoring region, the deployment for the sensing node in S01, the present invention is adopted
With a kind of fictitious force algorithm based on variable step, the algorithm steps are as follows：
(1) monitoring region areal model is established, it is assumed that radio sensor network monitoring region S is the rectangle of two-dimensional surface,
It is discretized as K grid, each grid is described using mesh point.The area of each grid is 1, such unit
Change, so that monitoring region is defined as the set being made of many mesh points：
C={ a (x1,y1),a(x2,y2),…,a(xk,yk)}
K is the number of mesh point, determines that this variable size needs the target and measurement accuracy requirement according to monitoring region
It determines, a (xi,yi) be mesh point in a two-dimensional plane coordinate parameters, wherein i=1,2,3 ..., K.
(2) node 0-1 disk sensor model is established, in the model, node static sensing range is with sensor node
Position is the center of circle, the perception radius rpBorder circular areas, perception area be π × rp 2。rpSize by sensor node from
The characteristic of body determines, for the specific aim of research, sets this value as a suitable constant r.Assuming that each sensor node s is placed
In position (xs,ys), for any point d, position is (xd,yd), the Euclidean distance of s~d is l (s, d), then d point is monitored by s point
To the relationship of probability and sensor node the perception radius r be
(3) fixed step size fictitious force algorithm model is established, which comprises the steps of：
(31) n mobile sensor node is denoted as by the two-dimensional plane coordinate system for establishing monitoring region in monitoring region
Set U is randomly dispersed in the large area target region of L*W.
U=(u1,u2,…,un)
Establish a coordinate system in the monitoring region, make region four apex coordinates be respectively (100,100), (L+100,
100), (W+100,100), (L+100, W+100), node uiCoordinate (xi,yi), i=1,2,3 ..., the perception radius rp。
(32) supposed premise of joints model is determined, a) all nodes are all moveable；B) all nodes have
Omnidirectional's sensor, and its sensing region is one using node as the circle in the center of circle；C) location information of all nodes is known；
D) the calculated mobile scheme of institute can perform effectively；E) all nodes is identical in quality.
(33) stress model of each node, each node u are establishediIt may be by the effect of 3 kinds of power：A) boundary is come from
Repulsion FiB；B) the gravitation F from grid nodeiD；C) other nodes u is come fromjGravitation or repulsion Fij.Third force it is big
It is small by two node uiWith ujThe distance between determine.Need to be arranged a distance threshold d hereinmax, then node uiSuffered
Resultant force FiFor
Wherein, the power F from other nodesijExpression formula be
In formula, dijIt is node uiWith node ujBetween Euclidean distance, αijIt is from node uiTo node ujDeflection；ta
And trIt is the coefficient of gravitation and repulsion respectively, when the distance between two nodes are less than threshold value dmaxWhen, the power being subject to is repulsion；
When greater than threshold value, the power being subject to is gravitation；When equal to threshold value, the power being subject to is 0.
(34) motion model for establishing the stress model that node is based in step (33), according to Newton mechanics law, node
After stress, an acceleration can be generated：
In formula, aiFor sensor node uiAcceleration, miFor sensor node uiQuality.
Sensor node uiMovement velocity be：
vi=aiti
At the same time in interval, the move distance d of nodeiIt is proportional to acceleration aiValue：
According to the realization process of traditional virtual power algorithm it is found that ideally, if the distance between two nodes ten
Divide closely, very big repulsion can be generated, cause node motion speed very fast.But in practical applications, the movement of each node
Speed has maximum speed limitation, and velocity amplitude viUsually constant, i.e.,：
vi=max_step
Sensor node uiVelocity amplitude, the moving step length μ of as each iteration nodei：
μi=vi
(4) by the fixed step size μ in step (34)i, change into the sigmoid letter of step factor μ i Yu iteration error e (t)
Number：
(5) the parameter value α and β in the sigmoid function in set-up procedure (4) reaches best effects, obtains and is directed to step
(1) the node deployment optimal algorithm of area monitoring area planar model.
In order to illustrate experiment effect of the present invention, Experimental comparison is carried out with other three kinds of algorithms, such as the and of Fig. 6,7,8
It is traditional virtual power algorithm, linear function variable step fictitious force algorithm, quadratic function variable step fictitious force algorithm respectively shown in 9
And the initial coverage condition of method of the present invention, node motion trajectory diagram and using monitoring region after corresponding algorithm
Coverage condition, by experiment, as shown in Figure 10, abscissa indicates that the number of iteration in experiment, ordinate indicate coverage rate,
Method of the present invention is more superior from coverage rate and performance indicator, can guarantee the later period convergence stability while,
Also can achieve the purpose that the coverage effect of equivalent amount within a short period of time is optimal, shorten obtain deployment strategy when
Between, monitoring coverage rate is improved, guarantees the comprehensive and integrality of monitoring data.
1 four kinds of algorithmic function performance indicator comparisons of table
Claims (10)
1. one kind is used for arable farming water-saving irrigation Internet of Things integrated system, which is characterized in that the system includes being used for crop temperature
Room cultivation wireless sensor network ad hoc network and node deployment module, the ad hoc network include wireless sensor network node,
Wireless sensor network base station is formed by ad hoc network；The wireless sensor network node include sensing node, control node,
Gateway, relay node；The node deployment module is perceived using a kind of fictitious force algorithm based on variable step for node static
The sensing node of range is disposed, and the fictitious force algorithm based on variable step is by establishing the two-dimensional surface mould of cultural area
The sensor model of type and node changes the moving step sizes of sensing node based on sigmoid function；
The wireless sensor network base station is the wireless sensor network node configuration identifier number, establishes hop count relation data
Library simultaneously carries out clustering election leader cluster node, the control that will be sent by local monitoring terminals to the wireless sensor network node
Director data packet processed is sent to each leader cluster node with optimal route transmission path；The sensing node acquires soil humidity information number
According to, and the information data is handled, the leader cluster node of cluster where information data after processing is sent to itself；It is described
Control node receives the control instruction data packet of the base station, and driving in real time executes equipment and monitors execution equipment state；Institute
It states relay node real-time reception and sends the data packet of the sensing node and control node transmission；The gateway real-time reception is simultaneously
The data packet for sending the network node transmissions, to the information in data packet carry out internetwork protocol conversion, Route Selection and
Data exchange, and data are sent to other network nodes by treated.
2. according to claim 1 be used for arable farming water-saving irrigation Internet of Things integrated system, which is characterized in that described to adopt
The sensing node is disposed with the fictitious force algorithm based on variable step, the realization step of the algorithm is：
(1) monitoring region areal model is established；If radio sensor network monitoring region S is the rectangle of two-dimensional surface, discrete
K grid is turned to, each grid is described using mesh point, and the area of each grid is 1, is defined as to monitor region
One set being made of many mesh points：
C={ a (x1,y1),a(x2,y2),…,a(xk,yk)}
Wherein, K is the number of mesh point, a (xi,yi) be mesh point in a two-dimensional plane coordinate parameters, i=1,2,3 ..., K；
(2) sensing node 0-1 disk sensor model is established；Node static sensing range is with sensing node position for circle
The heart, the perception radius rpBorder circular areas, perception area be π × rp 2, it is assumed that each sensing node s is placed on position (xs,ys),
For any point d, position is (xd,yd), the Euclidean distance of s to d is l (s, d), the then probability and sensing that d point is monitored by s point
Node perceived radius rpRelationship be：
(3) fixed step size fictitious force algorithm model is established, the fixation moving step length μ of each iteration node is obtainedi；
(4) change fixed moving step length μiFor step factor μi(t) with the sigmoid function of iteration error：
Wherein, e (t) is iteration error, and α and β are the parameter value in sigmoid function；Adjust the parameter value in sigmoid function
α and β is optimal to sensing node coverage effect.
3. according to claim 2 be used for arable farming water-saving irrigation Internet of Things integrated system, which is characterized in that the step
Suddenly it in (3), establishes fixed step size fictitious force algorithm model and includes the following steps：
(31) the two-dimensional plane coordinate system in monitoring region, sensing node u are establishediCoordinate (xi,yi), i=1,2 ..., n；
(32) stress model of each sensing node, each sensing node u are establishediBy the repulsion F from boundaryiB, come from
The gravitation F of grid nodeiDWith come from other nodes uj, the gravitation or repulsion F of j=1,2 ..., nij, a distance threshold is set
dmax, then sensing node uiSuffered resultant force FiFor：
Wherein, FijIt is expressed as：
Wherein, dijIt is sensing node uiWith sensing node ujBetween Euclidean distance, αijIt is from sensing node uiTo sensing node uj
Deflection, taAnd trIt is the coefficient of gravitation and repulsion respectively, when the distance between two sensing nodes are less than threshold value dmaxWhen, by
The power arrived is repulsion, and when being greater than threshold value, the power being subject to is gravitation；When equal to threshold value, the power being subject to is 0；
(33) after joints, an acceleration is generated：
Wherein, aiFor sensor node uiAcceleration, miFor sensor node uiQuality；
Sensor node uiMovement velocity be：
vi=aiti
At the same time in interval, the move distance d of nodeiIt is proportional to acceleration aiValue：
According to the realization process of traditional virtual power algorithm it is found that the movement speed of each node has maximum speed limitation, and speed
Value viUsually constant, i.e.,：
vi=max_step
Sensor node uiVelocity amplitude, the moving step length μ of as each iteration nodei：
μi=vi。
4. according to claim 3 be used for arable farming water-saving irrigation Internet of Things integrated system, which is characterized in that the step
Suddenly in (32), the precondition for establishing the stress model of each sensing node is：
All sensing nodes are all moveable；All sensing nodes have omnidirectional's sensor, and its sensing region be one with
Sensing node is the circle in the center of circle；The location information of all sensing nodes is known；The calculated mobile scheme of institute can have
Effect executes；All sensing nodes it is identical in quality.
5. according to claim 1 be used for arable farming water-saving irrigation Internet of Things integrated system, which is characterized in that the choosing
The method for lifting leader cluster node is the wireless sensor network base station according to hop count relational database, by the nothing in the ad hoc network
Line sensor network nodes are divided into N number of cluster, using the highest top n network node of distribution density as respective leader cluster node,
The leader cluster node nearest from oneself is added in remaining network node.
6. according to claim 1 be used for arable farming water-saving irrigation Internet of Things integrated system, which is characterized in that the system
System further includes irrigation sprinkler and track, and the irrigation sprinkler is used to guarantee plant growth in suitable soil moisture item to crop spraying
Under part, and realize the water-saving irrigation effect that water shortage is irrigated and do not sprayed excessively, the track is used for the walking road of the irrigation sprinkler
Diameter support, and guarantee all plants that the spray area of irrigation sprinkler can be allowed to cover greenhouse production of the length and width of the track.
7. the operation according to claim 1-6 based on for arable farming water-saving irrigation Internet of Things integrated system
Method, which is characterized in that this approach includes the following steps：
S01 is in monitoring range by sensing node, control node, relay node, gateway and wireless sensor network base station deployment
On scheduled network site, and it is powered on and initialized；
The base station S02 receives the control instruction data packet sent by local monitoring terminals, calculates in conjunction with optimal route transmission Path selection
Control instruction data packet is sent to each leader cluster node with optimal route transmission path by method, and leader cluster node receives forwarding data packet
Sensing node and control node in cluster；
S03 sensing node and control node receive and parse through control instruction data packet, are held according to the requirement of control instruction data packet
Row equipment regulates and controls task or environment information acquisition task, if regulating and controlling task comprising equipment in the control instruction data packet, passes
Feel node and control node is completed to regulate and control after executing equipment task, S01 is returned to, if in the control instruction data packet including environment
Information collection task then enters S04；
S04 sensing node acquires the soil humidity information data of crop greenhouse production, according to the rules to soil humidity information data
Data frame format processing, the leader cluster node of cluster where soil humidity information data after processing are sent to itself；The cluster head
Treated the soil humidity information data that node receives that the sensing node sends, and will with optimal route transmission path
It is sent to wireless sensor network base station；
Treated that soil humidity information data are parsed, integrate, analyze and excellent to described for S05 wireless sensor network base station
Change, by treated, data are sent to local monitoring terminals；
Treated that data are analyzed to described for local monitoring terminals described in S06, whether judges the humidity information currently acquired
The optimum humidity for reaching plant growth, control instruction is issued if not reaching optimum humidity makes irrigation sprinkler automatic job, until
Humidity reaches demand condition；Otherwise issuing control instruction makes irrigation sprinkler stop operation, and acquisition soil humidity information task holding is held
Row.
8. operation method according to claim 7, which is characterized in that the dispositions method of the sensing node includes following step
Suddenly：
(1) monitoring region areal model is established；If radio sensor network monitoring region S is the rectangle of two-dimensional surface, discrete
K grid is turned to, each grid is described using mesh point, and the area of each grid is 1, is defined as to monitor region
One set being made of many mesh points：
C={ a (x1,y1),a(x2,y2),…,a(xk,yk)}
Wherein, K is the number of mesh point, a (xi,yi) be mesh point in a two-dimensional plane coordinate parameters, i=1,2,3 ..., K；
(2) sensing node 0-1 disk sensor model is established；Node static sensing range is with sensing node position for circle
The heart, the perception radius rpBorder circular areas, perception area be π × rp 2, it is assumed that each sensing node s is placed on position (xs,ys),
For any point d, position is (xd,yd), the Euclidean distance of s to d is l (s, d), the then probability and sensing that d point is monitored by s point
Node perceived radius rpRelationship be：
(3) fixed step size fictitious force algorithm model is established, the fixation moving step length μ of each iteration node is obtainedi；
(4) change fixed moving step length μiFor step factor μi(t) with the sigmoid function of iteration error：
Wherein, e (t) is iteration error, and α and β are the parameter value in sigmoid function；Adjust the parameter value in sigmoid function
α and β is optimal to sensing node coverage effect.
9. according to claim 8 be used for arable farming water-saving irrigation Internet of Things integrated system, which is characterized in that the step
Suddenly it in (3), establishes fixed step size fictitious force algorithm model and includes the following steps：
(31) the two-dimensional plane coordinate system in monitoring region, sensing node u are establishediCoordinate (xi,yi), i=1,2 ..., n；
(32) stress model of each sensing node, each sensing node u are establishediBy the repulsion F from boundaryiB, come from
The gravitation F of grid nodeiDWith come from other nodes uj, the gravitation or repulsion F of j=1,2 ..., nij, a distance threshold is set
dmax, then sensing node uiSuffered resultant force FiFor：
Wherein, FijIt is expressed as：
Wherein, dijIt is sensing node uiWith sensing node ujBetween Euclidean distance, αijIt is from sensing node uiTo sensing node uj
Deflection, taAnd trIt is the coefficient of gravitation and repulsion respectively, when the distance between two sensing nodes are less than threshold value dmaxWhen, by
The power arrived is repulsion；When greater than threshold value, the power being subject to is gravitation；When equal to threshold value, the power being subject to is 0；
(33) after joints, an acceleration is generated：
Wherein, aiFor sensor node uiAcceleration, miFor sensor node uiQuality；
Sensor node uiMovement velocity be：
vi=aiti
At the same time in interval, the move distance d of nodeiIt is proportional to acceleration aiValue：
According to the realization process of traditional virtual power algorithm it is found that the movement speed of each node has maximum speed limitation, and speed
Value viUsually constant, i.e.,：
vi=max_step
Sensor node uiVelocity amplitude, the moving step length μ of as each iteration nodei：
μi=vi。
10. the operation method according to claim 9, which is characterized in that in the step (32), establish each
The stress model of sensing node need to meet the following conditions：
All sensing nodes are all moveable；All sensing nodes have omnidirectional's sensor, and its sensing region be one with
Sensing node is the circle in the center of circle；The location information of all sensing nodes is known；The calculated mobile scheme of institute can have
Effect executes；All sensing nodes it is identical in quality.
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Application publication date: 20181130 |