CN109862612A - Data collection and wireless charging method based on the planning of difunctional trolley movement routine - Google Patents
Data collection and wireless charging method based on the planning of difunctional trolley movement routine Download PDFInfo
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Abstract
The invention discloses a kind of data collections and wireless charging method based on the planning of difunctional trolley movement routine, the data parameters including obtaining target network；Construct utility function；Anchor point in selection target network；For the unique affiliated anchor point of all the sensors node distribution；Building DC-WCV cruises path；Difunctional trolley cruise to network and completes the data collection and wireless charging of network node according to the path of cruising the DC-WCV of building.This data collection and wireless charging method based on the planning of difunctional trolley movement routine provided by the invention, trolley path is limited by building utility function relevant to mobile energy consumption, simultaneously by choosing anchor point and by sensor node of system distribution to anchor point, it cruises path to construct DC-WCV, therefore the method for the present invention can effectively reduce the mobile energy consumption of DC-WCV, extend the lifetime of grid, and high reliablity.
Description
Technical field
Present invention relates particularly to a kind of data collections and wireless charging method based on the planning of difunctional trolley movement routine.
Background technique
Acquisition of information, transmitting, processing and utilization are the important components of e-manufacturing tool, and acquisition of information is even more
One of the important link that informationization is carried out.With electronic communication, computer networking technology, the wireless charging skill based on radio frequency
The rapid development of art, energy collection technology and data collection mode etc., wireless chargeable sensor network (wireless
Rechargeable sensor network, WRSN) in environmental monitoring, information transmission, home automation and traffic control
With more application, become one of the important means of monitoring environment and information data acquisition.However, sensor node is for leading to
The energy of letter is all from energy harvesting module and energy storage module, efficient data collection again with the node energy content of battery, network
Middle data transmission route by, Node distribution, link constraint and base station deployment position etc. be closely related, this makes data collection and nothing
Line charge electricity is always that the key of WRSN studies a question.
To solve the above problems, scholars are based on difunctional trolley simultaneous Data in recent years
Collection and Wireless Charging Vehicle (DC-WCV) has done a large amount of research, to extend network life
Phase reduces network energy consumption, lowers data collection delay." M.Zhao, J.Li, the and Y.Yang, " A of M.Zhao et al.
Framework of Joint Mobile Energy Replenishment and Data Gathering in Wireless
Rechargeable Sensor Networks,”IEEE Transactions on Mobile Computing,vol.13,
Data collection and wireless charging in WRSN are completed using a DC-WCV in no.12, pp.2689-2705, December 2014. "
Electricity research.For in network energy supplement and data gathering problem, article devise a kind of new WRSN frame.It is by DC-
WCV movement routine is divided into two types, charge path and data collecting path.Each performs its own functions for two paths, does not interfere with each other, and two
Seed type path replaces rotation.Weighted value of the article using minimum energy value within sensor node k-hop as the node, and will pass
The arrangement of sensor node weighted value descending, successively selects the sensor node with weight limit value as Anchor Point (AP
Point, anchor point).DC-WCV network of cruising is used as a cycle twice, is used for data collection for the first time, and trolley need to only access APs,
Data are reached AP by its sensor node in the form of multi-hop.Network of cruising for the second time is used for wireless charging, and DC-WCV is to transmission
The sensor node of energy request carries out wireless charging.Although this method considers sensor node energy when selecting convergent point
Amount factor, alleviates energy hotspot problem, while with circuit restriction collection delay issue.But two kinds of path wheel backcrossings
It replaces, DC-WCV is used only as single function trolley, undoubtedly cause biggish data collection delay and charging delay.B.H.Liu
Et al. " B.H.Liu, N.T.Nguyen, V.T.Pham, and Y.Lin, " Novel Methods for Energy
Charging and Data Collection in Wireless Rechargeable Sensor Networks,”
International Journal of Communication Systems,vol.30,no.5,pp.1-11,March
2017. " carry out data collection and energy supplement by more DC-WCVs for sensor node in WRSN.Article, which comprehensively considers, to be filled
Electrical distance, node electricity and the constraint of node buffer pool, are node serve to maximize net to dispatch minimal number of DC-WCVs
The network lifetime, and then propose periodical energy supplement and data gathering problem.Article is made by choosing a part of sensor node
It is anchor point to collect data in its coverage area, and trolley DC-WCV is moved at anchor point while collecting anchor point data, is small
Vehicle coverage area interior nodes supplement energy.Set forth herein three anchor point selection algorithms, are based on trellis algorithm, based on cut set respectively
Algorithm and based on circle intersection algorithm, then, passage path constraint condition be every feasible path distribute a DC-WCV to
It dispatches minimal number of mobile device and completes node data collection and energy supplement process.
But in existing research, the frequent only single consideration sensor node when determining network data collection anchor point APs
Energy, the factors such as coverage area or neighborhood node data, and the selection of APs, sensor node communication energy consumption is not only influenced, even more
DC-WCV movement routine length is influenced, and then influences data collection delay, influences overall performance of network.
Summary of the invention
The purpose of the present invention is to provide one kind can effectively reduce the mobile energy consumption of DC-WCV, extends the life of grid
The data collection and wireless charging method based on the planning of difunctional trolley movement routine of life phase and high reliablity.
This data collection and wireless charging method based on the planning of difunctional trolley movement routine provided by the invention, packet
Include following steps:
S1. the data parameters of target network are obtained；
S2. to minimize network energy consumption as target, utility function is constructed；
S3. the anchor point in selection target network；
It S4. is the unique affiliated anchor point of all the sensors node distribution in target network；
S5. the utility function constructed according to step S2, building DC-WCV cruise path；
S6. difunctional trolley cruises to network according to the path of cruising the DC-WCV that step S5 is constructed, to complete net
The data collection and wireless charging of network node.
To minimize network energy consumption as target described in step S2, utility function is constructed, specially with node battery
Energy, the DC-WCV energy content of battery, the constraint of node buffer pool, perception data deferred constraint and data flow are constrained to restrictive condition,
Construct the utility function about sensor node in sensitive zones and moving trolley DC-WCV energy consumption.
The utility function is specially used if minor function is utility function:
Constraint condition:
Lmin≤Lp≤Lmax
T≤D
In formula, EmoveFor the mobile energy consumption of DC-WCV in a wheel；Sensing is collected for DC-WCV in a wheel
The energy consumption of device node perceived data；It is the energy consumption that anchor point supplements energy for DC-WCV in a wheel；For
Energy consumption when DC-WCV is to node to be charged supplement energy；For the energy consumption of sensor node in a wheel
Value；| A | for when the anchor point number in front-wheel；| n | for the number of nodes of DC-WCV service in a wheel；η be DC-WCV be anchor point or
Energy supplement efficiency when energy is supplemented with charge node；T is the cycle length of a wheel, PiFor the specific consumption of node i；
Energy consumption when collecting data at sensor node i for DC-WCV；It is anchor for when DC-WCV is rested at anchor point i
The energy of point supplement；Indicate that DC-WCV is the energy value of node j to be charged supplement；LpIt cruises road for DC-WCV in a wheel
Electrical path length；LminExpression passes through | n | the shortest Hamilton cycle of a sensor node；LmaxFor connection | n | a sensor node
Longest circuit；NlFor sensor node quantity in network；x1jEnsure that DC-WCV accesses each sensor from base station every time
Node, 1 indicates base station；xj1Ensure that DC-WCV is eventually returned to base station from some sensor node；To indicate that node c's is defeated
Enter data flow；fi outFor node i output stream；Children (i) is the child node set of sensor node i；E′iFor sensing
Device node i current energy value；EDC-WCVFor the battery gross energy of DC-WCV；D is perception data delay constraint.
Anchor point in selection target network described in step S3, specially according to neighborhood section within the scope of sensor node k-hop
Point quantity and neighborhood node energy value calculate sensitive zones node weights, and successively selected according to weighted value sensor node as
Anchor point.
Anchor point in the selection target network specially selects anchor point using following steps:
A. node density ρ of the sensor node i within the scope of k-hop is calculated using following formulai:
N in formulax_hop(i) neighborhood node set is jumped in x for sensor node i,Connection
Matrix X indicates whether any two node i and j are reachable within k-hop in sensitive zones: if reachable, Xij=1, otherwise Xij=
0, while defining Xii=1；NlFor sensor node quantity in network；
B. the weight W of each sensor node is calculated using following formulai:
α is sensor node density proportion during calculate node weight, and 0≤α≤1 in formula；EiFor node i
Residual energy magnitude；E0For energy content of battery value minimum in the k-hop Neighbourhood set of node i andEjFor
Sensor node j energy value, XijIndicate whether sensor node i and j are reachable within k-hop, if reachable, Xij=1, otherwise
Xij=0；
C. anchor point is selected using following rule:
Rule 1: the weighted value of selected anchor point is the bigger the better；
Rule 2: the number of selected anchor point is The more the better；
Rule 3: the path L being made of selected anchor pointpIt cruises path L no more than the maximum being previously setTSP；
Rule 4: after selected anchor point, judge whether any sensor node in network in addition to anchor point can reach in k-hop
To any anchor point: if can achieve, the selected qualification of anchor point；If cannot reach, the sensor section that this cannot be reached
It clicks and does anchor point；
Rule 5: meet the utility function of step S2 building by the DC-WCV movement routine that selected volume anchor point is constituted.
It is the unique affiliated anchor point of all the sensors node distribution in target network, specially basis described in step S4
Distance and hop count of the sensor node apart from anchor point distribute unique affiliated anchor point for each node, so that node perceived number
It is minimum according to consuming energy when reaching at anchor point.
Described is the unique affiliated anchor point of all the sensors node distribution in target network, specially using following step
Rapid distribution anchor point:
A. to any sensor node in network in addition to anchor point, the sensor node is calculated at a distance from all anchor points,
And select distance minimum and the anchor point that is located in the sensing scope of the sensor node is as its affiliated anchor point, the sensor node
Father node be the anchor point, and by the sensor node node be added first nodes set；
B. to any sensor node in network in addition to anchor point and first nodes set, calculate the sensor node with
The distance of all the sensors node in first nodes set, and select distance minimum and be located at the sensor model of the sensor node
Father node of the first nodes as the sensor node in enclosing, and two-level node set is added in the sensor node；
C. it repeats the above steps, until all the sensors node in network has unique affiliated anchor point.
Building DC-WCV described in step S5 cruises path, specially under the premise of meeting utility function constraint condition,
The most short path of cruising of anchor point and base station in region is constructed by convex polygon: if DC-WCV receives section to be charged during cruising
Whether point charge request, trolley meet majorized function constraint condition after adding the node to be charged to path of cruising by calculating,
To determine whether service the node in DC-WCV epicycle.
The building DC-WCV cruises path, is specially cruised path using following steps building DC-WCV:
(1) under the premise of meeting utility function described in step S2, APs and base station in region are constructed by convex polygon
Most short path of cruising；
(2) it in any one wheel, makes the following judgment:
If the sensor node not in addition to anchor point sends charge request, DC-WCV cruises path as structure in step (1)
The most short path of cruising of anchor point and base station in the region built；
If there is the sensor node in addition to anchor point to send charge request, calculated first by the sensor node to be charged
In the region that inserting step (1) obtains in the most short path of cruising of anchor point and base station after, whether which meets step S2
The utility function: if satisfied, it is then most short for principle to be inserted into the distance increased newly after sensor node to be charged, it will be wait fill
The sensor node of electricity is inserted into the region constructed by step (1) in the most short path of cruising of anchor point and base station, is formed final
DC-WCV cruises path；Otherwise, then the sensor node to be charged is abandoned in the wheel, and in next round that this is to be charged
Sensor node be classified as the node that must be serviced, so that it is guaranteed that the sensor node to be charged can obtain in time energy benefit
It fills.
This data collection and wireless charging method based on the planning of difunctional trolley movement routine provided by the invention, leads to
It crosses building utility function relevant with mobile energy consumption to limit trolley path, while by selection anchor point and by sensor section
Point distributes to anchor point, cruises path to construct DC-WCV, therefore the method for the present invention can effectively reduce the shifting of DC-WCV
Kinetic energy consumption, extends the lifetime of grid, and high reliablity.
Detailed description of the invention
Fig. 1 is the method flow schematic diagram of the method for the present invention.
Fig. 2 is the applicable scene network diagram of the method for the present invention.
Fig. 3 is that the method for the present invention is cruised path L in DC-WCV maximumTSPAnchor point when=650 selects effect picture.
Fig. 4 is that the method for the present invention is cruised path L in DC-WCV maximumTSPAnchor point when=600 selects effect picture.
Fig. 5 is that the method for the present invention is cruised path L in DC-WCV maximumTSPData laser propagation effect figure when=650.
Fig. 6 is that the method for the present invention is cruised path L in DC-WCV maximumTSPData laser propagation effect figure when=600.
Specific embodiment
It is as shown in Figure 1 the method flow diagram of the method for the present invention: provided by the invention this mobile based on difunctional trolley
The data collection and wireless charging method of path planning, include the following steps:
S1. the data parameters of target network (structure is as shown in Figure 2) are obtained；
In NlIn the network area that a chargeable sensor node is distributed, each sensor node is equipped with a nothing
Heat input receiving device and an energy storage device, the RF energy so as to send DC-WCV are stored in energy storage device,
Data are perceived and transmitted for sensor node to use.DC-WCV is defined as that wireless energy transfer and perception data can be carried out simultaneously
The difunctional trolley collected.In each round, DC-WCV successively accesses anchor point or section to be charged in network using base station as origin and destination
Point collects data and supplement energy for anchor point, supplements energy for node to be charged.After one wheel, network anchor point is reselected,
Construct DC-WCV movement routine.Under the conditions of energy constraint, buffer pool constraint and data deferred constraint, the present invention is directed to design one
The efficient DC-WCV movement routine of item is to minimize network energy consumption.
S2. to minimize network energy consumption as target, utility function is constructed；Specially with the node energy content of battery, DC-
The WCV energy content of battery, the constraint of node buffer pool, perception data deferred constraint and data flow are constrained to restrictive condition, building about
The utility function of sensor node and moving trolley DC-WCV energy consumption in sensitive zones；It uses if minor function is effectiveness letter
Number:
Constraint condition:
Lmin≤Lp≤Lmax
T≤D
In formula, EmoveFor the mobile energy consumption of DC-WCV in a wheel；Sensing is collected for DC-WCV in a wheel
The energy consumption of device node perceived data；It is the energy consumption that anchor point supplements energy for DC-WCV in a wheel；For
Energy consumption when DC-WCV is to node to be charged supplement energy；For the energy consumption of sensor node in a wheel
Value；| A | for when the anchor point number in front-wheel；| n | for the number of nodes of DC-WCV service in a wheel；η be DC-WCV be anchor point or
Energy supplement efficiency when energy is supplemented with charge node；T is the cycle length of a wheel, PiFor the specific consumption of node i；Energy consumption when collecting data at sensor node i；To be rested at anchor point i as DC-WCV
When, for the energy of anchor point supplement；Indicate that DC-WCV is the energy value of node j to be charged supplement；LpFor DC-WCV in a wheel
It cruises path length；LminExpression passes through | n | the shortest Hamilton cycle of a sensor node；LmaxFor connection | n | a sensor
The longest circuit of node；NlFor sensor node quantity in network；x1jIt is each to ensure that DC-WCV is accessed from base station every time
Sensor node, 1 indicates base station；xj1Ensure that DC-WCV is eventually returned to base station from some sensor node；To indicate section
The input traffic of point c；fi outFor node i output stream；Children (i) is the child node set of sensor node i；Ei'
For sensor node i current energy value；EDC-WCVFor the battery gross energy of DC-WCV；D is perception data delay constraint；
Wherein, in utility function, first item, Section 2, Section 3 and Section 4 respectively indicate DC-WCV in a wheel and are used for
It is mobile, receive anchor point data, energy is supplemented for anchor point and be the energy that node to be charged supplements energy consumption, Section 5 indicates one
Sensor node is used for the gross energy perceived and sending and receiving data consumes in wheel；Therefore, utility function is all energy consumptions in network
Equipment one takes turns total power consumption；The target of the method for the present invention is by finding out the optimal path of all DC-WCVs to minimize net
Total power consumption in network；
In constraint condition, constraint condition 1 indicate DC-WCV path length constraint, it show trolley path need it is feasible and
For a connection circuit.Constraint condition 2 ensures in the region DC-WCV each sensor node in from base station to region.
Constraint condition 3 ensure that in the region that DC-WCV is eventually returned to base station from some node.Herein, 1 base station in network is indicated.About
Beam condition 4 indicates the data flow constraint of sensor node in network.For each node, the polymerization of child node set is inputted
Data flow is equal to the output stream of node plus the perception data stream of itself.The electricity of the expression sensor node of constraint condition 5
Pond energy constraint.To guarantee that node is not dead, the energy value of a wheel interior joint consumption will be consistently less than the energy equal to itself
The sum of the energy supplemented in amount and a wheel.Constraint condition 6 indicates the energy content of battery constraint of difunctional trolley DC-WCV；In i.e. one wheel
For DC-WCV for moving, the total energy consumption for receiving data and RF energy transmission will be no more than trolley gross energy always to ensure trolley
Always the case where base station supplement energy can be returned, do not appear in sensitive zones trolley depleted of energy during cruising.About
Beam condition 7 indicates data deferred constraint, i.e., DC-WCV is mobile in one wheel, when receiving data and supplement energy total consumption no more than saving
Point perception data delay；
S3. (as shown in Figure 3 and Figure 4, circle node indicates anchor point to the anchor point in selection target network, and black lines indicate
The movement routine being made of anchor point)；Specially according to neighborhood number of nodes within the scope of sensor node k-hop and neighborhood node energy
Value calculates sensitive zones node weights, and successively selects sensor node as anchor point according to weighted value；Include the following steps:
A. node density ρ of the sensor node i within the scope of k-hop is calculated using following formulai:
N in formulax_hop(i) neighborhood node set is jumped in x for sensor node i,Connection
Matrix X indicates whether any two node i and j are reachable within k-hop in sensitive zones: if reachable, Xij=1, otherwise Xij=
0, while defining Xii=1；NlFor sensor node quantity in network；
B. the weight W of each sensor node is calculated using following formulai:
α is sensor node density proportion during calculate node weight, and 0≤α≤1 in formula；EiFor node i
Residual energy magnitude；E0For energy content of battery value minimum in the k-hop Neighbourhood set of node i andEjFor
Sensor node j current energy value, XijIndicate whether sensor node i and j are reachable within k-hop, if reachable, Xij=1,
Otherwise Xij=0；
C. anchor point is selected using following rule:
Rule 1: the weighted value of selected anchor point is the bigger the better；
Rule 2: the number of selected anchor point is The more the better；
Rule 3: the path L being made of selected anchor pointpIt cruises path L no more than the maximum being previously setTSP；
Rule 4: after selected anchor point, judge whether any sensor node in network in addition to anchor point can reach in k-hop
To any anchor point: if can achieve, the selected qualification of anchor point；If cannot reach, the sensor section that this cannot be reached
It clicks and does anchor point；
Rule 5: meet the utility function of step S2 building by the DC-WCV movement routine that selected volume anchor point is constituted；
It S4. is the unique affiliated anchor point (as shown in Figure 5 and Figure 6) of all the sensors node distribution in target network；Tool
Body is the distance and hop count according to sensor node apart from anchor point, unique affiliated anchor point is distributed for each node, so that section
Energy consumption is minimum when point perception data reaches at anchor point；Specifically comprise the following steps:
A. to any sensor node in network in addition to anchor point, the sensor node is calculated at a distance from all anchor points,
And select distance minimum and the anchor point that is located in the sensing scope of the sensor node is as its affiliated anchor point, the sensor node
Father node be the anchor point, and by the sensor node node be added first nodes set；
B. to any sensor node in network in addition to anchor point and first nodes set, calculate the sensor node with
The distance of all the sensors node in first nodes set, and select distance minimum and be located at the sensor model of the sensor node
Father node of the first nodes as the sensor node in enclosing, and two-level node set is added in the sensor node；
C. it repeats the above steps, until all the sensors node in network has unique anchor point；
S5. the utility function constructed according to step S2, building DC-WCV cruise path；Specially meeting utility function about
Under the premise of beam condition, the most short path of cruising of anchor point and base station in region is constructed by convex polygon: if DC-WCV cruised
Node charge request to be charged is received in journey, trolley is excellent by whether meeting after the calculating addition node to be charged to path of cruising
Change function constraint condition, to determine whether service the node in DC-WCV epicycle；Specifically comprise the following steps:
(1) under the premise of meeting utility function described in step S2, APs and base station in region are constructed by convex polygon
Most short path of cruising；
(2) it in any one wheel, makes the following judgment:
If the sensor node not in addition to anchor point sends charge request, DC-WCV cruises path as structure in step (1)
The most short path of cruising of anchor point and base station in the region built；
If there is the sensor node in addition to anchor point to send charge request, calculated first by the sensor node to be charged
In the region that inserting step (1) obtains in the most short path of cruising of anchor point and base station after, whether which meets step S2
The utility function: if satisfied, it is then most short for principle to be inserted into the distance increased newly after sensor node to be charged, it will be wait fill
The sensor node of electricity is inserted into the region constructed by step (1) in the most short path of cruising of anchor point and base station, is formed final
DC-WCV cruises path；Otherwise, then the sensor node to be charged is abandoned in the wheel, and in next round that this is to be charged
Sensor node be classified as the node that must be serviced, so that it is guaranteed that the sensor node to be charged can obtain in time energy benefit
It fills；
S6. difunctional trolley cruises to network according to the path of cruising the DC-WCV that step S5 is constructed, to complete net
The data collection and wireless charging of network node.
Claims (9)
1. a kind of data collection and wireless charging method based on the planning of difunctional trolley movement routine, includes the following steps:
S1. the data parameters of target network are obtained；
S2. to minimize network energy consumption as target, utility function is constructed；
S3. the anchor point in selection target network；
It S4. is the unique affiliated anchor point of all the sensors node distribution in target network；
S5. the utility function constructed according to step S2, building DC-WCV cruise path；
S6. difunctional trolley cruises to network according to the path of cruising the DC-WCV that step S5 is constructed, to complete network section
The data collection and wireless charging of point.
2. the data collection and wireless charging method according to claim 1 based on the planning of difunctional trolley movement routine,
It is characterized in that utility function is constructed described in step S2 to minimize network energy consumption as target, specially with node electricity
Pond energy, the DC-WCV energy content of battery, the constraint of node buffer pool, perception data deferred constraint and data flow are constrained to limitation item
Part constructs the utility function about sensor node in sensitive zones and moving trolley DC-WCV energy consumption.
3. the data collection and wireless charging method according to claim 2 based on the planning of difunctional trolley movement routine,
It is characterized in that the utility function, specially uses if minor function is utility function:
Constraint condition:
Lmin≤Lp≤Lmax
T≤D
In formula, EmoveFor the mobile energy consumption of DC-WCV in a wheel；For DC-WCV collecting sensor section in a wheel
The energy consumption of point perception data；It is the energy consumption that anchor point supplements energy for DC-WCV in a wheel；For DC-
Energy consumption when WCV is to node to be charged supplement energy；For the energy consumption values of sensor node in a wheel；|
A | for when the anchor point number in front-wheel；| n | for the number of nodes of DC-WCV service in a wheel；η is that DC-WCV is that anchor point or band fill
Electrical nodes supplement energy supplement efficiency when energy；T is the cycle length of a wheel, PiFor the specific consumption of node i；For
Energy consumption when DC-WCV collects data at sensor node i；It is anchor point for when DC-WCV is rested at anchor point i
The energy of supplement；Indicate that DC-WCV is the energy value of node j to be charged supplement；LpIt cruises path for DC-WCV in a wheel
Length；LminExpression passes through | n | the shortest Hamilton cycle of a sensor node；LmaxFor connection | n | a sensor node is most
Long circuit；NlFor sensor node quantity in network；x1jEnsure that DC-WCV successively accesses each sensing from base station every time
Device node, 1 indicates base station；xj1Ensure that DC-WCV is eventually returned to base station from some sensor node；To indicate node c's
Input traffic；fi outFor node i output stream；Children (i) is the child node set of sensor node i；E′iTo pass
Sensor node i current energy value；EDC-WCVFor the battery gross energy of DC-WCV；D is perception data delay constraint.
4. the data collection and wireless charging method according to claim 1 based on the planning of difunctional trolley movement routine,
It is characterized in that the anchor point in selection target network described in step S3, specially according to neighborhood within the scope of sensor node k-hop
Number of nodes and neighborhood node energy value calculate sensitive zones node weights, and successively sensor node are selected to make according to weighted value
For anchor point.
5. the data collection and wireless charging method according to claim 4 based on the planning of difunctional trolley movement routine,
It is characterized in that the anchor point in the selection target network, specially selects anchor point using following steps:
A. node density ρ of the sensor node i within the scope of k-hop is calculated using following formulai:
N in formulax_hop(i) neighborhood node set is jumped in x for sensor node i,Connection matrix
X indicates whether any two node i and j are reachable within k-hop in sensitive zones: if reachable, Xij=1, otherwise Xij=0, together
Shi Dingyi Xii=1；NlFor sensor node quantity in network；
B. the weight W of each sensor node is calculated using following formulai:
α is sensor node density proportion during calculate node weight, and 0≤α≤1 in formula；EiFor the surplus of node i
Complementary energy magnitude；E0For energy content of battery value minimum in the k-hop Neighbourhood set of node i andEjFor sensing
Device node j energy value, XijIndicate whether sensor node i and j are reachable within k-hop: if reachable, Xij=1, otherwise Xij=
0；
C. anchor point is selected using following rule:
Rule 1: the weighted value of selected anchor point is the bigger the better；
Rule 2: the number of selected anchor point is The more the better；
Rule 3: the path L being made of selected anchor pointpIt cruises path L no more than the maximum being previously setTSP；
Rule 4: after selected anchor point, judge whether any sensor node in network in addition to anchor point can reach in k-hop and appoint
One anchor point: if can achieve, the selected qualification of anchor point；If cannot reach, which is selected
Do anchor point；
Rule 5: meet the utility function of step S2 building by the DC-WCV movement routine that selected volume anchor point is constituted.
6. the data collection and wireless charging method according to claim 1 based on the planning of difunctional trolley movement routine,
It is characterized in that being the unique affiliated anchor point of all the sensors node distribution in target network, specially root described in step S4
Distance and hop count according to sensor node apart from anchor point distribute unique affiliated anchor point for each node, so that node perceived
It consumes energy when data reach at anchor point minimum.
7. the data collection and wireless charging method according to claim 6 based on the planning of difunctional trolley movement routine,
It is characterized in that the unique affiliated anchor point of all the sensors node distribution in target network, specially using as follows
Step distributes anchor point:
A. to any sensor node in network in addition to anchor point, the sensor node is calculated at a distance from all anchor points, and is selected
The anchor point in the minimum and sensing scope positioned at the sensor node of distance is selected as its affiliated anchor point, the father of the sensor node
Node is the anchor point, and first nodes set is added in the sensor node node；
B. to any sensor node in network in addition to anchor point and first nodes set, the sensor node and level-one are calculated
The distance of all the sensors node in node set, and select distance minimum and be located in the ranges of sensors of the sensor node
Father node of the first nodes as the sensor node, and two-level node set is added in the sensor node；
C. it repeats the above steps, until all the sensors node in network has unique anchor point.
8. the data collection and wireless charging method according to claim 1 based on the planning of difunctional trolley movement routine,
The path it is characterized in that building DC-WCV described in step S5 cruises, specially in the premise for meeting utility function constraint condition
Under, the most short path of cruising of anchor point and base station in region is constructed by convex polygon: if DC-WCV is received during cruising wait fill
Electrical nodes charge request, whether trolley is by meeting majorized function constraint item after calculating the addition node to be charged to path of cruising
Part, to determine whether service the node in DC-WCV epicycle.
9. the data collection and wireless charging method according to claim 8 based on the planning of difunctional trolley movement routine,
It is specially cruised path using following steps building DC-WCV in the path it is characterized in that the building DC-WCV cruises:
(1) under the premise of meeting utility function described in step S2, APs and base station are constructed in region most by convex polygon
Short path of cruising；
(2) it in any one wheel, makes the following judgment:
If the sensor node not in addition to anchor point sends charge request, DC-WCV cruises path to construct in step (1)
The most short path of cruising of anchor point and base station in region；
If there is the sensor node in addition to anchor point to send charge request, calculates be inserted into the sensor node to be charged first
In the region that step (1) obtains in the most short path of cruising of anchor point and base station after, whether which meets described in step S2
Utility function:, will be to be charged if satisfied, then most short for principle to be inserted into the distance increased newly after sensor node to be charged
Sensor node is inserted into the region constructed by step (1) in the most short path of cruising of anchor point and base station, forms final DC-
WCV cruises path；Otherwise, then the sensor node to be charged is abandoned in the wheel, and in next round that this is to be charged
Sensor node is classified as the node that must be serviced, so that it is guaranteed that the sensor node to be charged can obtain energy benefit in time
It fills.
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