CN111030256B - Wireless sensor network charging method, device and storage medium - Google Patents

Wireless sensor network charging method, device and storage medium Download PDF

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CN111030256B
CN111030256B CN201911416429.8A CN201911416429A CN111030256B CN 111030256 B CN111030256 B CN 111030256B CN 201911416429 A CN201911416429 A CN 201911416429A CN 111030256 B CN111030256 B CN 111030256B
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charging
node
nodes
area
sequence
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CN111030256A (en
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林凡
张秋镇
彭陶峰
周芳华
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GCI Science and Technology Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The invention discloses a wireless sensor network charging method, equipment and a storage medium, wherein a plurality of areas are obtained by dividing a set range of a wireless sensor network, the areas are sequenced according to the initial residual electric quantity of nodes in each area, the energy consumption of the equipment and the residual electric quantity of the nodes when a charging device fully charges all the nodes in the area one by one according to the sequence in the area sequence are iteratively updated, when the energy consumption of the equipment is just less than or equal to the maximum energy storage of the charging device which is determined in advance, or when the residual electric quantity of any node is just greater than a preset threshold value, the iterative updating of the energy consumption of the equipment and the residual electric quantity is stopped, an area set which needs to be charged is determined, so that the nodes with low initial residual electric quantity are preferentially charged, the conditions that the nodes fail due to the low residual electric quantity in the charging process and the charging device stops working due to the fact that the consumed electric quantity is greater than the maximum energy storage of the charging device in the charging process are avoided, and the normal operation of the wireless sensor network is ensured.

Description

Wireless sensor network charging method, device and storage medium
Technical Field
The present invention relates to the field of wireless sensor networks, and in particular, to a method, an apparatus, and a storage medium for charging a wireless sensor network.
Background
The use of the wireless sensor network is a trend of current network development, and the battery power consumption speed and the replacement difficulty of equipment or components in the wireless sensor network, such as intelligent inspection equipment, become main problems at present. The network energy limits the normal operation of equipment such as intelligent inspection equipment and the development of wireless sensor networks.
The existing charging scheduling technology divides a network area into different cells, when the residual electric quantity of nodes in the cells is lower than a set threshold value, state information of the nodes is sent to a cluster head node in a cluster where the nodes are located, the cluster head node forwards the information to a SenCar node through a base station, the SenCar node judges the cell to which the SenCar node belongs according to the state information of the nodes, determines the charging priority level of the cells and the nodes according to the state, the position and the residual electric quantity of the nodes in the cells, and finally determines the charging scheduling order of the nodes.
However, the existing charging scheduling technology does not consider the power consumption of the charging device and the power consumption of the node in the charging process, so that the charging process may occur that the power consumed by the charging device is greater than the maximum stored energy of the charging device and stops working or the node fails due to too low residual power.
Disclosure of Invention
In view of the foregoing problems, an object of the present invention is to provide a wireless sensor network charging method, device and storage medium, which can fully consider the power consumption of a charging device and the power consumption of a node during a charging process, and avoid a situation that the charging device stops working due to the power consumption being greater than its maximum stored energy or the node fails due to too low remaining power during the charging process.
In a first aspect, an embodiment of the present invention provides a wireless sensor network charging method, including:
dividing a set range of a wireless sensor network into a plurality of areas; wherein, one of the regions respectively comprises a plurality of nodes;
acquiring initial residual electric quantity of all nodes in the set range;
sequencing all the nodes in the set range one by one according to the initial residual electric quantity to obtain a node sequence;
correspondingly sequencing all the regions according to the node sequences to obtain region sequences; in the region sequence, the sequence of each region is determined according to the node with the lowest initial residual capacity;
obtaining the charging efficiency of each node according to the charging distance of each node and the maximum working efficiency of the charging equipment; the charging distance of any node is the distance from the node to the central point of the area where the node is located, and the charging equipment is used for moving to the central point of the area to fully charge all the nodes of the area;
iteratively updating the device energy consumption and the residual electric quantity of the nodes when the charging device fully charges all the nodes in the region one by one according to the sequence in the region sequence according to the initial residual electric quantity and the charging efficiency of each node; the device energy consumption refers to the sum of charging electric energy consumed for charging the node after the charging device starts working and mobile electric energy consumed in the moving process;
and when the energy consumption of the equipment is just less than or equal to the maximum energy storage of the charging equipment which is determined in advance, or when the residual electric quantity of any node is just greater than a preset threshold value, stopping iteratively updating the energy consumption of the equipment and the residual electric quantity, and determining the region set which needs to be charged.
Compared with the prior art, the embodiment of the invention has the beneficial effects that:
the method comprises the steps of obtaining a plurality of areas by dividing a set range of a wireless sensor network, sequencing the areas according to initial residual electric quantity of nodes in each area, iteratively updating equipment energy consumption and residual electric quantity of the nodes when charging equipment fully charges all the nodes in the area one by one according to the sequence in the area sequence, stopping iteratively updating the equipment energy consumption and the residual electric quantity when the equipment energy consumption is just less than or equal to the maximum energy storage of the predetermined charging equipment or when the residual electric quantity of any node is just greater than a preset threshold value, determining an area set needing to be charged, enabling the node with low initial residual electric quantity to be charged preferentially, and avoiding the situations that the node fails due to excessively low residual electric quantity in the charging process and the charging equipment stops working due to the fact that the consumed electric quantity of the charging equipment is greater than the maximum energy storage of the charging equipment, and the normal operation of the wireless sensor network is ensured.
As a modification of the above, the shape of the region is a regular hexagon, and the side length thereof is a predetermined maximum charging distance of the charging device.
Compared with the prior art, the embodiment of the invention has the beneficial effects that:
and by using a regular hexagon as the shape of the region and using the maximum charging distance of the charging equipment as the side length of the charging equipment, the area of each region is maximized while the equipment at the central point of the region can charge all nodes in the region.
As an improvement of the above solution, the obtaining of the charging efficiency of each node according to the charging distance of each node and the maximum operating efficiency of the charging device includes:
calculating the charging efficiency of node i using formula one:
Ui＝α*f(di) (formula one)
Wherein, UiRepresents the charging efficiency of node i, a represents the maximum operating efficiency, diRepresents said charging distance of node i, the value of f (di) and said charging distance d of node iiIs inversely proportional.
As an improvement of the above scheme, iteratively updating, according to the initial remaining power amount and the charging efficiency of each node, the device power consumption and the remaining power amounts of the nodes when the charging device fully charges all the nodes in the area one by one according to the sequence in the area sequence includes:
the charging period duration defined as the charging of the mth zone in the zone sequence is Tm，TmExpressed by the formula two:
Tm＝tround+tm(formula two)
Wherein, when m is 1, troundRepresents the time consumed by the charging equipment from a starting point to the central point of the first area in the area sequence when m is>1 time, troundRepresents the time required for the charging equipment to consume from the center point of the (m-1) th area to the center point of the m-th area in the area sequence, tmExpressed as the time it takes for all nodes in the mth of the regions in the sequence of regions to be fully charged,
Figure BDA0002351305470000041
j represents the total number of nodes in the mth of the regions in the sequence of regions, tiRepresents the time required for the charging device to fully charge node i in the mth of the areas;
and updating the energy consumption of the equipment by using a formula III:
Econ,m＝Echarge,m+Emove,m(formula three)
Wherein E iscon,mRepresenting the power consumption of the device over m charging cycles,
Figure BDA0002351305470000042
Figure BDA0002351305470000043
Echarge,mrepresenting the charging power consumed by the charging device over m charging cycles, j representing the total number of nodes in the mth of the zones in the sequence of zones, EmaxRepresenting the amount of power at which the node is fully charged,
Figure BDA0002351305470000044
represents the remaining capacity of node i over (m-1) of said charging cycles, Emove,m＝v*L(m,Am)，Emove,mThe function L () is obtained by a greedy algorithm and represents the time consumed by the charging equipment in the moving process after m charging cycles.
As an improvement of the above scheme, iteratively updating, according to the initial remaining power amount and the charging efficiency of each node, the device power consumption and the remaining power amounts of the nodes when the charging device fully charges all the nodes in the area one by one according to the sequence in the area sequence includes:
and iteratively updating the residual capacity of the node by using a formula four:
Figure BDA0002351305470000045
wherein the content of the first and second substances,
Figure BDA0002351305470000051
the method includes the steps that when m charging cycles pass, the residual capacity of a node i is represented, lambda represents whether the charging equipment is full of power for the node i in the m-th charging cycle, if yes, lambda is 1, and the current residual capacity E of the node i is obtainedi,preAnd according to Ei,pre、EmaxAnd UiThe time t consumed to fully charge node i is calculatediIf not, λ is 0, Ai(t) represents the power at which the node operates in the area in which node i is located,
Figure BDA0002351305470000052
and the electric quantity consumed by the node i at the m-th charging period ending moment is shown.
As an improvement of the above scheme, when the device energy consumption is just less than or equal to a predetermined maximum energy storage of the charging device, or when the remaining capacity of any node is just greater than a preset threshold, stopping iteratively updating the device energy consumption and the remaining capacity, and determining an area set to be charged includes:
defining k as the number of elements of the area set, namely the number of the areas needing to be charged;
when in use
Figure BDA0002351305470000053
And (E)charge,m-1+Emove,m-1)≤EmcIf the residual electric quantity of any node i is judged
Figure BDA0002351305470000054
Or judge (E)charge,m+Emove,m)>EmcK is taken to be (m-1), and the set of regions is determined to be fully charged regions for (m-1) charging cycles, where EmcRepresenting the maximum stored energy, EminRepresenting the preset threshold.
As an improvement of the above solution, after determining the set of areas that need to be charged, the method further includes:
and planning a path of the charging equipment by an elastic band algorithm.
As an improvement of the above scheme, the performing path planning on the charging device by using an elastic band algorithm includes:
determining a coordinate system of a plane where an area set needing to be charged is located;
determining coordinates of a center point of each region in the set of regions in the coordinate system;
and (3) a simultaneous formula five, a formula six and a formula seven, updating coordinate values of adjacent nodes on the elastic band, and updating the value of the energy EE of the elastic band:
EE＝-ξ*K*∑i ln(∑jφ(|xi-yi|，K))+ω∑j|Δyj+1|2(formula five)
Δyj＝ξ∑i wij(xi-yi)+ωK[yi+1-yi-(yj-yi-1)](formula six)
wij＝φ(|xi-yi|，K)/∑kφ(|xi-yiI, K) (formula seven)
Wherein EE is the energy of the elastic band, xi and omega are respectively a predetermined elastic strength coefficient and a preset tension strength coefficient, K is a predetermined length parameter, and the function phi (| x)i-yi| x followed by | K)i-yiThe value of | is increased and monotonically decreased when | xi-yiWhen | is greater than K, the function φ (| x)i-yiI, K) tends to be 0, xiCoordinates of a center point, y, representing a region i of the set of regionsiCoordinate, Δ y, representing a neighboring node j on the elastic bandj＝yj-yi-1，ΔyjRepresenting the distance, w, of two adjacent elastic band nodesijRepresenting the proximity of the center point of the area i to the neighboring node j;
when the value of the elastic band energy EE reaches the minimum value, stopping updating the coordinate values of the adjacent nodes, and taking the current coordinate values of the adjacent nodes as the final coordinates of the adjacent nodes;
and determining a charging path of the charging equipment according to the coordinates of the charging center and the final coordinates of the adjacent nodes.
Compared with the prior art, the embodiment of the invention has the beneficial effects that:
the charging equipment is subjected to path planning by using an elastic band algorithm, so that the set range of the wireless sensor network can be rapidly charged, and unnecessary electric quantity consumption is reduced.
In a second aspect, an embodiment of the present invention provides a wireless sensor network charging apparatus, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor implements the wireless sensor network charging method according to any one of the first aspects when executing the computer program.
In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, which includes a stored computer program, where when the computer program runs, a device in which the computer-readable storage medium is located is controlled to perform the wireless sensor network charging method according to any one of the first aspect.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of a charging method for a wireless sensor network according to a first embodiment of the present invention;
fig. 2 is a block diagram of a charging device for a wireless sensor network according to a second embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a charging method for a wireless sensor network according to a first embodiment of the present invention includes the following steps:
s11, dividing the established range of the wireless sensor network into a plurality of areas; wherein, one of the regions respectively comprises a plurality of nodes;
in the embodiment of the invention, the node is the end of the wireless sensing network, which can be intelligent inspection equipment, divides the established range into a plurality of areas, charges the areas as units and is convenient for planning the whole charging process.
S12, acquiring initial residual electric quantity of all nodes in the set range;
s13, sequencing all the nodes in the set range one by one according to the initial residual electric quantity to obtain a node sequence;
in the embodiment of the invention, all the nodes in the set range are sequenced one by one according to the initial residual electric quantity from low to high.
S14, correspondingly sequencing all the regions according to the node sequences to obtain region sequences; in the region sequence, the sequence of each region is determined according to the node with the lowest initial residual capacity;
in the embodiment of the present invention, the region corresponding to each node is read one by one from the first node of the node sequence to the last node of the node sequence, and is recorded in sequence until all regions in the predetermined range are read, and the repeatedly read regions are deleted, and only the top one of the regions is reserved, so as to obtain the region sequence.
S15, obtaining the charging efficiency of each node according to the charging distance of each node and the maximum working efficiency of the charging equipment; the charging distance of any node is the distance from the node to the central point of the area where the node is located, and the charging equipment is used for moving to the central point of the area to fully charge all the nodes of the area;
in the embodiment of the invention, the charging efficiency of the node is reduced along with the increase of the charging distance of the node and does not exceed the maximum working efficiency of the charging equipment, and after the charging equipment moves to the central point of the area, all the nodes in the area are fully charged, so that the management is convenient.
S16, iteratively updating, according to the initial remaining power and the charging efficiency of each node, the device power consumption and the remaining power of the nodes when the charging device fully charges all the nodes in the area one by one according to the sequence in the area sequence; the device energy consumption refers to the sum of charging electric energy consumed for charging the node after the charging device starts working and mobile electric energy consumed in the moving process;
in the embodiment of the present invention, assuming that the charging device is to fully charge all nodes in the first one of the regions in the sequence of regions, the time when the charging device starts to operate is set to t1Setting the charging device to be a time t when all nodes in the first region in the sequence of regions are fully charged2Then at t2At the moment, the residual capacity of any node in the set range is updated to be the initial residual capacity minus the residual capacity at t1To t2The difference obtained for the amount of power consumed at a moment in time if it is in the first of said zones in said sequence of zones, i.e. it is at t1To t2At the moment, once the charging device is fully charged, the remaining capacity is added to the capacity charged by the charging device based on the difference, and the setting is performedWith spare power, it is updated from zero to t1To t2The sum of the mobile electric energy which needs to be consumed from the starting point to the central point of the first area in the area sequence and the charging electric energy which is consumed when all the nodes in the first area in the area sequence are fully charged in the moment; setting the charging device to be fully charged for all nodes in a second one of the zones in the sequence of zones at time t, assuming that the charging device is to be fully charged for all nodes in the second one of the zones in the sequence of zones3Then at t3At the moment, the residual capacity of any node in the set range is updated to be t2Time residual capacity is subtracted at t2To t3The difference obtained for the amount of power consumed at a moment in time if it is in the second of said zones in said sequence of zones, i.e. it is at t2To t3At the moment, once the charging device is fully charged, the remaining capacity is added to the capacity charged by the charging device on the basis of the difference, and the power consumption of the device is t2The energy consumption of the equipment at the moment is updated to be t2To t3The sum of the mobile power that needs to be consumed from the center point of the first one of the regions in the sequence of regions to the center point of the second one of the regions in the sequence of regions at a time and the charging power that is consumed when all the nodes in the second one of the regions in the sequence of regions are fully charged.
And S17, when the energy consumption of the equipment is just less than or equal to the maximum energy storage of the charging equipment which is determined in advance, or when the residual electric quantity of any node is just greater than a preset threshold value, stopping iteratively updating the energy consumption of the equipment and the residual electric quantity, and determining an area set which needs to be charged.
The method comprises the steps of obtaining a plurality of areas by dividing a set range of a wireless sensor network, sequencing the areas according to initial residual electric quantity of nodes in each area, iteratively updating equipment energy consumption and residual electric quantity of the nodes when charging equipment fully charges all the nodes in the area one by one according to the sequence in the area sequence, stopping iteratively updating the equipment energy consumption and the residual electric quantity when the equipment energy consumption is just less than or equal to the maximum energy storage of the predetermined charging equipment or when the residual electric quantity of any node is just greater than a preset threshold value, determining an area set needing to be charged, enabling the node with low initial residual electric quantity to be charged preferentially, and avoiding the situations that the node fails due to excessively low residual electric quantity in the charging process and the charging equipment stops working due to the fact that the consumed electric quantity of the charging equipment is greater than the maximum energy storage of the charging equipment, and the normal operation of the wireless sensor network is ensured.
In an alternative embodiment, the area is in the shape of a regular hexagon, and the side length of the area is a predetermined maximum charging distance of the charging device.
In the embodiment of the invention, the shape of the regions is set to be regular hexagon, so that the regions are arranged in a honeycomb manner, the honeycomb structure is an optimal topological structure covering a two-dimensional plane, the regions can be closely adjacent to each other, the area of each region is maximized, the side length of each region is the maximum charging distance of the charging equipment, which is determined in advance, the distance from the central point of any one region to one vertex of the region, namely the farthest distance from the central point to any point in the region, is equal to the maximum charging distance, and the charging equipment can charge all nodes in the region.
In an optional embodiment, the obtaining the charging efficiency of each node according to the charging distance of each node and the maximum operating efficiency of the charging device includes:
calculating the charging efficiency of node i using formula one:
Ui＝α*f(di) (formula one)
Wherein, UiRepresents the charging efficiency of node i, a represents the maximum operating efficiency, diRepresents said charging distance of node i, the value of f (di) and said charging distance d of node iiIs inversely proportional.
In the embodiment of the present invention, the numeric area of f (di) is (0, 1).
In an optional embodiment, the iteratively updating, according to the initial remaining power amount and the charging efficiency of each node, the device power consumption and the remaining power amounts of the nodes when the charging device fully charges all the nodes in the area one by one according to the sequence in the area sequence includes:
the charging period duration defined as the charging of the mth zone in the zone sequence is Tm，TmExpressed by the formula two:
Tm＝tround+tm(formula two)
Wherein, when m is 1, troundRepresents the time consumed by the charging equipment from a starting point to the central point of the first area in the area sequence when m is>1 time, troundRepresents the time required for the charging equipment to consume from the center point of the (m-1) th area to the center point of the m-th area in the area sequence, tmExpressed as the time it takes for all nodes in the mth of the regions in the sequence of regions to be fully charged,
Figure BDA0002351305470000111
j represents the total number of nodes in the mth of the regions in the sequence of regions, tiRepresents the time required for the charging device to fully charge node i in the mth of the areas;
and updating the energy consumption of the equipment by using a formula III:
Econ,m＝Echarge,m+Emove,m(formula three)
Wherein E iscon,mRepresenting the power consumption of the device over m charging cycles,
Figure BDA0002351305470000112
Figure BDA0002351305470000113
Echarge,mrepresenting the charging power consumed by the charging device over m charging cycles, j representing the m-th in the sequence of regionsTotal number of nodes in the area, EmaxRepresenting the amount of power at which the node is fully charged,
Figure BDA0002351305470000114
represents the remaining capacity of node i over (m-1) of said charging cycles, Emove,m＝v*L(m,Am)，Emove,mThe function L () is obtained by a greedy algorithm and represents the time consumed by the charging equipment in the moving process after m charging cycles.
In the embodiment of the invention, the device energy consumption of the charging device in the whole process of charging the nodes, including the energy consumption in the process of moving the charging device and the energy consumption for charging the nodes, is fully considered, and the charging device is ensured to be fully charged for the nodes in the selected area set needing to be charged.
In an optional embodiment, the iteratively updating, according to the initial remaining power amount and the charging efficiency of each node, the device power consumption and the remaining power amounts of the nodes when the charging device fully charges all the nodes in the area one by one according to the sequence in the area sequence includes:
and iteratively updating the residual capacity of the node by using a formula four:
Figure BDA0002351305470000121
wherein the content of the first and second substances,
Figure BDA0002351305470000122
the method includes the steps that when m charging cycles pass, the residual capacity of a node i is represented, lambda represents whether the charging equipment is full of power for the node i in the m-th charging cycle, if yes, lambda is 1, and the current residual capacity E of the node i is obtainedi,preAnd according to Ei,pre、EmaxAnd UiThe time t consumed to fully charge node i is calculatediIf not, λ is 0, Ai(t) represents the power at which the node operates in the area in which node i is located,
Figure BDA0002351305470000123
and the electric quantity consumed by the node i at the m-th charging period ending moment is shown.
In an optional embodiment, when the device energy consumption is just less than or equal to a predetermined maximum energy storage of the charging device, or when a remaining energy of any node is just greater than a preset threshold, stopping iteratively updating the device energy consumption and the remaining energy, and determining a set of areas that need to be charged includes:
defining k as the number of elements of the area set, namely the number of the areas needing to be charged;
when in use
Figure BDA0002351305470000124
And (E)charge,m-1+Emove,m-1)≤EmcIf the residual electric quantity of any node i is judged
Figure BDA0002351305470000125
Or judge (E)charge,m+Emove,m)>EmcK is taken to be (m-1), and the set of regions is determined to be fully charged regions for (m-1) charging cycles, where EmcRepresenting the maximum stored energy, EminRepresenting the preset threshold.
In an optional embodiment, after determining the set of regions that need to be charged, the method further includes:
and planning a path of the charging equipment by an elastic band algorithm.
In the embodiment of the present invention, a path of the charging device is planned through an elastic band algorithm, that is, a closed loop similar to an elastic band is constructed on a plane where the predetermined range is located, the closed loop passes through a starting point of the charging device and center points of all regions in the region set, and a certain number of neighboring nodes are further arranged above the closed loop, the neighboring nodes are used for minimizing a local path, an energy function is given, so that the point on the "elastic band" is subjected to two forces, one is an attractive force of the center points of the regions in the region set, and the other is a tensile force of the neighboring nodes, coordinates and the number of the neighboring nodes are changed, so that when a value of the energy function reaches a minimum value, coordinates of each neighboring node are determined, and an optimal path is obtained.
In an optional embodiment, the path planning for the charging device through the elastic band algorithm includes:
determining a coordinate system of a plane where an area set needing to be charged is located;
determining coordinates of a center point of each region in the set of regions in the coordinate system;
and (3) a simultaneous formula five, a formula six and a formula seven, updating coordinate values of adjacent nodes on the elastic band, and updating the value of the energy EE of the elastic band:
EE＝-ξ*K*∑i ln(∑jφ(|xi-yi|，K))+ω∑j|Δyj+1|2(formula five)
Δyj＝ξ∑i wij(xi-yi)+ωK[yi+1-yi-(yj-yi-1)](formula six)
wij＝φ(|xi-yi|，K)/∑kφ(|xi-yiI, K) (formula seven)
Wherein EE is the energy of the elastic band, xi and omega are respectively a predetermined elastic strength coefficient and a preset tension strength coefficient, K is a predetermined length parameter, and the function phi (| x)i-yi| x followed by | K)i-yiThe value of | is increased and monotonically decreased when | xi-yiWhen | is greater than K, the function φ (| x)i-yiI, K) tends to be 0, xiCoordinates of a center point, y, representing a region i of the set of regionsjCoordinate, Δ y, representing a neighboring node j on the elastic bandj＝yj-yj-1，ΔyjRepresenting two adjacent projectilesDistance of sexual ribbon node, wijRepresenting the proximity of the center point of the area i to the neighboring node j;
when the value of the elastic band energy EE reaches the minimum value, stopping updating the coordinate values of the adjacent nodes, and taking the current coordinate values of the adjacent nodes as the final coordinates of the adjacent nodes;
and determining a charging path of the charging equipment according to the coordinates of the charging center and the final coordinates of the adjacent nodes.
In the embodiment of the invention, the charging equipment is subjected to path planning by using the elastic band algorithm, so that the charging equipment can rapidly charge the areas in the area set, and unnecessary electric quantity consumption is reduced.
Referring to fig. 2, it is a block diagram of a wireless sensor network charging device according to a second embodiment of the present invention, and as shown in fig. 2, the wireless sensor network charging device includes: at least one processor 11, such as a CPU, at least one network interface 14 or other user interface 13, a memory 15, at least one communication bus 12, the communication bus 12 being used to enable connectivity communications between these components. The user interface 13 may optionally include a USB interface, and other standard interfaces, wired interfaces. The network interface 14 may optionally include a Wi-Fi interface as well as other wireless interfaces. The memory 15 may comprise a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 15 may optionally comprise at least one memory device located remotely from the aforementioned processor 11.
In some embodiments, memory 15 stores the following elements, executable modules or data structures, or a subset thereof, or an expanded set thereof:
an operating system 151, which contains various system programs for implementing various basic services and for processing hardware-based tasks;
and (5) a procedure 152.
Specifically, the processor 11 is configured to call the program 152 stored in the memory 15 to execute the wireless sensor network charging method according to the foregoing embodiment, for example, step S11 shown in fig. 1.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of instruction segments of a computer program capable of performing specific functions, and the instruction segments are used for describing the execution process of the computer program in the wireless sensor network charging device.
The wireless sensor network charging device can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing devices. The wireless sensor network charging device may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that the schematic diagram is merely an example of a wireless sensor network charging device and does not constitute a limitation of a wireless sensor network charging device, and may include more or fewer components than those shown, or some components in combination, or different components.
The Processor 11 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, and the processor 11 is a control center of the wireless sensor network charging device, and various interfaces and lines are used to connect various parts of the entire wireless sensor network charging device.
The memory 15 may be used to store the computer programs and/or modules, and the processor 11 implements various functions of the wireless sensor network charging device by running or executing the computer programs and/or modules stored in the memory and invoking data stored in the memory. The memory 15 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. Further, the memory 15 may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
Wherein, the integrated module/unit of the wireless sensor network charging device can be stored in a computer readable storage medium if it is implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
A third embodiment of the present invention provides a computer-readable storage medium, which includes a stored computer program, where when the computer program runs, a device in which the computer-readable storage medium is located is controlled to execute the wireless sensor network charging method according to any one of the first embodiments.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims (8)

1. A wireless sensor network charging method is characterized by comprising the following steps:
dividing a set range of a wireless sensor network into a plurality of areas; wherein, one of the regions respectively comprises a plurality of nodes;
acquiring initial residual electric quantity of all nodes in the set range;
sequencing all the nodes in the set range one by one according to the initial residual electric quantity to obtain a node sequence;
correspondingly sequencing all the regions according to the node sequences to obtain region sequences; in the region sequence, the sequence of each region is determined according to the node with the lowest initial residual capacity;
obtaining the charging efficiency of each node according to the charging distance of each node and the maximum working efficiency of the charging equipment; the charging distance of any node is the distance from the node to the central point of the area where the node is located, and the charging equipment is used for moving to the central point of the area to fully charge all the nodes of the area;
iteratively updating the device energy consumption and the residual electric quantity of the nodes when the charging device fully charges all the nodes in the region one by one according to the sequence in the region sequence according to the initial residual electric quantity and the charging efficiency of each node; the device energy consumption refers to the sum of charging electric energy consumed for charging the node after the charging device starts working and mobile electric energy consumed in the moving process;
when the energy consumption of the equipment is just less than or equal to the maximum energy storage of the charging equipment which is determined in advance, or when the residual electric quantity of any node is just greater than a preset threshold value, stopping iteratively updating the energy consumption of the equipment and the residual electric quantity, and determining an area set which needs to be charged;
the obtaining the charging efficiency of each node according to the charging distance of each node and the maximum working efficiency of the charging device includes:
calculating the charging efficiency of node i using formula one:
Ui＝α*f(di) (formula one)
Wherein, UiRepresents the charging efficiency of node i, a represents the maximum operating efficiency, diRepresents said charging distance of node i, the value of f (di) and said charging distance d of node iiIs inversely proportional to the value of (d);
the iteratively updating, according to the initial remaining power amount and the charging efficiency of each node, the device power consumption and the remaining power amounts of the nodes when the charging device fully charges all the nodes in the area one by one according to the sequence in the area sequence includes:
defining the charging period duration of the m & ltth & gt region charging in the region sequence as Tm，TmExpressed by the formula two:
Tm＝tround+tm(formula two)
Wherein, when m is 1, troundRepresents the time consumed by the charging equipment from a starting point to the central point of the first area in the area sequence, and when m is more than 1, troundRepresents the time required for the charging equipment to consume from the center point of the (m-1) th area to the center point of the m-th area in the area sequence, tmExpressed as the time it takes for all nodes in the mth of the regions in the sequence of regions to be fully charged,
Figure RE-FDA0003099688720000021
j represents the total number of nodes in the mth of the regions in the sequence of regions, tiRepresents the time required for the charging device to fully charge node i in the mth of the areas;
and updating the energy consumption of the equipment by using a formula III:
Econ，m＝Echarge，m+Emove，m(formula three)
Wherein E iscon，mRepresenting the power consumption of the device over m charging cycles,
Figure RE-FDA0003099688720000022
Echarge，mrepresenting the charging power consumed by the charging device over m charging cycles, j representing the total number of nodes in the mth of the zones in the sequence of zones, EmaxRepresenting the amount of power at which the node is fully charged,
Figure RE-FDA0003099688720000023
represents the remaining capacity of node i over (m-1) of said charging cycles, Emove，m＝v*L(m，Am)，Emove，mThe function L () is obtained by a greedy algorithm and represents the time consumed by the charging equipment in the moving process after m charging cycles.
2. The charging method for the wireless sensor network according to claim 1, wherein the shape of the region is a regular hexagon, and the side length of the region is a predetermined maximum charging distance of the charging device.
3. The method according to claim 1, wherein the iteratively updating, according to the initial remaining power and the charging efficiency of each node, the device power consumption and the remaining power of the nodes when the charging device is fully charged for all nodes in the area one by one according to the sequence in the area sequence comprises:
and iteratively updating the residual capacity of the node by using a formula four:
Figure RE-FDA0003099688720000024
wherein the content of the first and second substances,
Figure RE-FDA0003099688720000025
the method includes the steps that when m charging cycles pass, the residual capacity of a node i is represented, lambda represents whether the charging equipment is full of power for the node i in the m-th charging cycle, if yes, lambda is 1, and the current residual capacity E of the node i is obtainedi，preAnd according to Ei，pre、EmaxAnd UiThe time t consumed to fully charge node i is calculatediIf not, λ is 0, Ai(t) represents the power at which the node operates in the area in which node i is located,
Figure RE-FDA0003099688720000026
and the electric quantity consumed by the node i at the m-th charging period ending moment is shown.
4. The charging method for the wireless sensor network according to claim 3, wherein when the device energy consumption is just less than or equal to a predetermined maximum energy storage of the charging device, or when the remaining capacity of any node is just greater than a preset threshold, stopping iteratively updating the device energy consumption and the remaining capacity, and determining the set of areas needing to be charged comprises:
defining k as the number of elements of the area set, namely the number of the areas needing to be charged;
when in use
Figure RE-FDA0003099688720000031
And (E)charge,m-1+Emove,m-1)≤EmcIf the residual electric quantity of any node i is judged
Figure RE-FDA0003099688720000032
Or judge (E)charge,m+Emove,m)>EmcK is taken to be (m-1), and the set of regions is determined to be fully charged regions for (m-1) charging cycles, where EmcRepresenting the maximum stored energy, EminRepresenting the preset threshold.
5. The charging method for the wireless sensor network according to any one of claims 1 to 4, wherein after determining the set of areas needing to be charged, the method further comprises:
and planning a path of the charging equipment by an elastic band algorithm.
6. The charging method for the wireless sensor network according to claim 5, wherein the path planning for the charging device through the elastic band algorithm comprises:
determining a coordinate system of a plane where an area set needing to be charged is located;
determining coordinates of a center point of each region in the set of regions in the coordinate system;
and (3) a simultaneous formula five, a formula six and a formula seven, updating coordinate values of adjacent nodes on the elastic band, and updating the value of the energy EE of the elastic band:
EE＝-ξ*K*∑iln(∑jφ(|xi-yi|,K))+ω∑j|Δyj+1|2(formula five)
Δyj＝ξ∑iwij(xi-yj)+ωK[yj+1-yj-(yj-yj-1)](formula six)
wij＝φ(|xi-yj|,K)/∑kφ(|xi-yjI, K) (formula seven)
Wherein EE is elastic band energyThe quantity, xi and omega are respectively a predetermined elasticity intensity coefficient and a preset tension intensity coefficient, K is a predetermined length parameter, and the function phi (| x)i-yi| x followed by | K)i-yiThe value of | is increased and monotonically decreased when | xi-yiWhen | is greater than K, the function φ (| x)i-yiI, K) tends to be 0, xiCoordinates of a center point, y, representing a region i of the set of regionsjCoordinate, Δ y, representing a neighboring node j on the elastic bandj＝yj-yj-1，ΔyjRepresenting the distance, w, of two adjacent elastic band nodesijRepresenting the proximity of the center point of the area i to the neighboring node j;
when the value of the elastic band energy EE reaches the minimum value, stopping updating the coordinate values of the adjacent nodes, and taking the current coordinate values of the adjacent nodes as the final coordinates of the adjacent nodes;
and determining a charging path of the charging equipment according to the coordinates of the charging center and the final coordinates of the adjacent nodes.
7. A wireless sensor network charging device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the wireless sensor network charging method according to any one of claims 1 to 6 when executing the computer program.
8. A computer-readable storage medium, comprising a stored computer program, wherein when the computer program runs, the computer-readable storage medium controls a device to execute the wireless sensor network charging method according to any one of claims 1 to 6.
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