CN115017704A - Covering method and system for sensing insect pest key area coupled by dynamic and static nodes - Google Patents
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Abstract
The invention relates to the technical field of wireless sensor networks, in particular to a covering method and a system for sensing insect pest key areas by coupling dynamic and static nodes, wherein the method comprises the following steps: acquiring a mobile sensing node position, an obstacle position, a static sensing node position and an insect pest key area position; determining a first repulsive force field generated by an obstacle and the total repulsive force of a mobile sensing node subjected to the obstacle; determining a second repulsive force potential field generated by the static sensing node and the total repulsive force of the static sensing node on the mobile sensing node; determining a third gravitational potential field generated by the pest key area and the gravitation of the mobile sensing node to the pest key area; determining resultant force received by the mobile sensing node during movement; and finishing the dynamic and static node coupling coverage facing the sensing of the forest pest key areas based on the guidance of resultant force. By adopting the method and the device, resource waste caused by repeated coverage of the sensing node can be effectively avoided, and thus a cooperative coverage task of dynamic and static node coupling is completed.
Description
Technical Field
The invention relates to the technical field of wireless sensor networks, in particular to a covering method and a system for sensing insect pest key areas by coupling dynamic and static nodes.
Background
Forest resources are an important component of natural resources, but forest insect damage seriously threatens the development of forest health. At present, the main pest sensing modes generally have the problems of limited sensing range, low image resolution, lagging data acquisition and the like. Due to the characteristics of high flexibility, low cost, large scale and the like, the sensor network has huge development and application prospects and can meet the requirements of rapid, accurate and efficient forest insect damage. The sensing coverage of forest pests embodies nondestructive indexes of detection and sensing of a sensor to a coverage area, information distribution conditions of a task area and a coverage model of a mobile sensing node are comprehensively considered, the method is one of key performances of a sensor network, is also a basic premise of effective deployment of the sensor network, and is one of hot problems of current sensor network research on how to improve the effective coverage of the sensor to the task area.
The mobile sensing nodes have more advantages in the aspects of storage capacity, information observation capacity, calculation capacity, communication capacity, adaptability and the like, so that the mobile sensing nodes can accurately sense related tasks in real time, and the method has important significance for rapidly dealing with forest pest occurrence and forest accurate management. However, the sensing coverage of forest insect pests has a bottleneck problem in the operation of a sensing system of forest insect pests due to the requirements of complex forest growth characteristics, large scale, high coverage precision requirement and the like.
Existing coverage deployment research generally requires precise global information guidance, manual participation, and a relatively ideal and simple deployment environment, and the adaptability, robustness and cooperativity of a static sensor are weak. Because most of the covering tasks are to randomly distribute a large number of static sensing nodes in various areas, and carry out data acquisition on environments, designated targets or events. However, the energy of the static sensing nodes is insufficient or the static sensing nodes are damaged maliciously, so that coverage holes appear in the coverage network, and the coverage networks cannot communicate with each other, so that the task completion time is increased unnecessarily, and the redundancy of the system is increased. And the dynamic sensor is arranged, so that the sensing node is likely to be repeatedly covered, and resource waste is caused.
Disclosure of Invention
In order to solve the technical problems in the prior art, the embodiment of the invention provides a covering method and a system for sensing insect pest key areas by coupling dynamic and static nodes. The technical scheme is as follows:
on one hand, the method is realized by a coverage system for sensing the pest key areas coupled by the dynamic and static nodes, and comprises the following steps:
acquiring a mobile sensing node position, an obstacle position, a static sensing node position and an insect pest key area position;
determining a first repulsive force field generated by an obstacle according to the position of the mobile sensing node and the position of the obstacle, and determining the total repulsive force of the mobile sensing node by the obstacle according to the first repulsive force field;
determining a second repulsive force potential field generated by the static sensing node according to the position of the mobile sensing node and the position of the static sensing node, and determining the total repulsive force of the mobile sensing node by the static sensing node according to the second repulsive force potential field;
determining a third gravitational potential field generated by the pest key area according to the position of the mobile sensing node and the position of the pest key area, and determining the gravitational force of the mobile sensing node on the pest key area according to the third repulsive potential field;
determining resultant force applied to the mobile sensing node during movement according to the total repulsive force of the mobile sensing node to the obstacle, the total repulsive force of the mobile sensing node to the static sensing node and the attractive force of the mobile sensing node to the pest key area;
and finishing the dynamic and static node coupling coverage facing the sensing of the forest pest key areas based on the guidance of the resultant force.
Optionally, the determining, according to the position of the mobile sensing node and the position of the obstacle, a first repulsive force field generated by the obstacle, and determining, according to the first repulsive force field, a total repulsive force of the mobile sensing node against the obstacle, includes:
determining a first repulsive potential field generated by an obstacle according to the position of the mobile sensing node, the position of the obstacle and the following formula (1):
wherein k is r Representing the proportional gain coefficient of the repulsive force potential field, q n Representing a mobile sensing node S n Position of (a), q 0 Indicates the position of the obstacle O, d (q) n ,q 0 ) Representing a mobile sensing node S n Euclidean distance from the obstacle O, d 0 Representing obstacle O to mobile sensing node S n The influence distance of (c);
mobile sensing node S n The repulsive force by the obstacle O is expressed as:
wherein the content of the first and second substances,
represents a gradient;
when the mobile sensing node S n Simultaneously located in the influence range of n obstacles, and moving the sensing node S n Subject to obstaclesThe total repulsion is expressed as:
optionally, the determining, according to the position of the mobile sensing node and the position of the static sensing node, a second repulsive force potential field generated by the static sensing node, and determining, according to the second repulsive force potential field, a total repulsive force of the mobile sensing node from the static sensing node, includes:
determining a second repulsive force potential field generated by the static sensing node according to the mobile sensing node position, the static sensing node position and a formula (4):
wherein k is r Representing the proportional gain coefficient of the repulsive force potential field, q n Representing a mobile sensing node S n Position of (a), q s Representing static sensors S s Position of (a), d (q) n ,q s ) Representing a mobile sensing node S n And static sensing node S s Euclidean distance between them, l d Representing a mobile sensing node S n And static sensing node S s A desired distance therebetween;
then the mobile sensing node S n Statically sensed node S s The repulsive force of (a) is expressed as:
wherein the content of the first and second substances,
represents a gradient; when moving sensing node S n Simultaneously located in the influence range of n static sensing nodes, and moving the sensing nodesS n The total repulsive force of the static sensing nodes is as follows:
optionally, the determining, according to the position of the mobile sensing node and the position of the pest key area, a third gravitational potential field generated by the pest key area, and determining, according to the third repulsive potential field, a gravitational force of the mobile sensing node on the pest key area, includes:
determining a third gravitational potential field generated by the pest key area according to the mobile sensing node position, the pest key area position and a formula (7):
wherein k is a Representing the proportional gain coefficient of the gravitational potential field, q n Representing a mobile sensing node S n Position of (a), q g Represents the central point position of the pest key area, d (q) n ,q g ) Representing the euclidean distance between the two;
mobile sensing node S n The received gravitation is a negative gradient of the gravitation potential field, and then the sensing node S is moved n The gravity of the pest-affected focal area is expressed as:
wherein the content of the first and second substances,
the gradient is indicated.
Optionally, the determining, according to a total repulsive force of the mobile sensing node from an obstacle, a total repulsive force of the mobile sensing node from a static sensing node, and an attractive force of the mobile sensing node from an insect-attacked key area, a resultant force received by the mobile sensing node during movement includes:
determining the resultant force received by the mobile sensing node during movement according to the total repulsive force of the mobile sensing node to the obstacle, the total repulsive force of the mobile sensing node to the static sensing node, the attractive force of the mobile sensing node to the pest key area and a formula (10):
wherein the content of the first and second substances,
representing a mobile sensing node S n Total repulsive force by obstacle, F a Representing a mobile sensing node S n The force of the attraction to which the robot is subjected,
representing a mobile sensing node S n Total repulsive force received.
On the other hand, a coverage system for sensing the pest key areas coupled by the dynamic and static nodes is provided, and the system is applied to a coverage method for sensing the pest key areas coupled by the dynamic and static nodes, and comprises mobile sensing nodes and data processing equipment, wherein:
the mobile sensing node is used for sending the position of the mobile sensing node to the data processing equipment in real time; completing dynamic and static node coupling coverage facing forest pest key area perception based on the guidance of the resultant force;
the data processing equipment is used for acquiring a mobile sensing node position, an obstacle position, a static sensing node position and an insect pest key area position; determining a first repulsive force field generated by an obstacle according to the position of the mobile sensing node and the position of the obstacle, and determining the total repulsive force of the mobile sensing node by the obstacle according to the first repulsive force field; determining a second repulsive force potential field generated by the static sensing node according to the position of the mobile sensing node and the position of the static sensing node, and determining the total repulsive force of the mobile sensing node by the static sensing node according to the second repulsive force potential field; determining a third gravitational potential field generated by the pest key area according to the position of the mobile sensing node and the position of the pest key area, and determining the gravitational force of the mobile sensing node on the pest key area according to the third repulsive potential field; and determining resultant force applied by the mobile sensing node during movement according to the total repulsive force of the mobile sensing node to the obstacle, the total repulsive force of the mobile sensing node to the static sensing node and the attractive force of the mobile sensing node to the pest key area.
Optionally, the data processing apparatus is further configured to:
determining a first repulsive potential field generated by an obstacle according to the position of the mobile sensing node, the position of the obstacle and the following formula (1):
wherein k is r Representing the proportional gain coefficient of the repulsive force potential field, q n Representing a mobile sensing node S n Position of (a), q 0 Indicates the position of the obstacle O, d (q) n ,q 0 ) Representing a mobile sensing node S n Euclidean distance from the obstacle O, d 0 Representing obstacle O to mobile sensing node S n The influence distance of (c);
mobile sensing node S n The repulsive force by the obstacle O is expressed as:
wherein the content of the first and second substances,
represents a gradient;
when moving sensing node S n Simultaneously located in the influence range of n obstacles, and moving the sensing node S n The total repulsion by the obstacle is expressed as:
optionally, the data processing apparatus is further configured to:
determining a second repulsive force potential field generated by the static sensing node according to the mobile sensing node position, the static sensing node position and a formula (4):
wherein k is r Representing the proportional gain coefficient of the repulsive force potential field, q n Representing a mobile sensing node S n Position of (a), q s Representing static sensors S s Position of (a), d (q) n ,q s ) Representing a mobile sensing node S n And static sensing node S s Euclidean distance between them, l d Representing a mobile sensing node S n And static sensing node S s A desired distance therebetween;
then the mobile sensing node S n Statically sensed node S s The repulsive force of (a) is expressed as:
wherein the content of the first and second substances,
represents a gradient; when moving sensing node S n Simultaneously within the influence range of n static sensing nodes, moving the sensing node S n Total repulsive force of the node subjected to static state sensing is：
Optionally, the data processing apparatus is further configured to:
determining a third gravitational potential field generated by the pest key area according to the mobile sensing node position, the pest key area position and a formula (7):
wherein k is a Representing the proportional gain coefficient of the gravitational potential field, q n Representing a mobile sensing node S n Position of (a), q g Represents the central point position of the pest key area, d (q) n ,q g ) Representing the euclidean distance between the two;
mobile sensing node S n The received gravitation is a negative gradient of the gravitation potential field, and then the sensing node S is moved n The gravity of the pest-affected focal area is expressed as:
wherein the content of the first and second substances,
the gradient is indicated.
Optionally, the data processing apparatus is further configured to:
determining the resultant force received by the mobile sensing node during movement according to the total repulsive force of the mobile sensing node to the obstacle, the total repulsive force of the mobile sensing node to the static sensing node, the attractive force of the mobile sensing node to the pest key area and a formula (10):
wherein the content of the first and second substances,
representing a mobile sensing node S n Total repulsive force by obstacle, F a Representing a mobile sensing node S n The force of the attraction to which the robot is subjected,
representing a mobile sensing node S n Total repulsive force received.
In another aspect, a data processing device is provided, which includes a processor and a memory, where the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the coverage method for pest focal region sensing of the above dynamic and static node coupling.
In another aspect, a computer-readable storage medium is provided, in which at least one instruction is stored, and the at least one instruction is loaded and executed by a processor to implement the coverage method for pest focal region sensing of dynamic and static node coupling.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
the embodiment of the invention provides a covering method for insect pest key area perception by coupling dynamic and static nodes. The covering method uses a gradient descent method, and then the mobile sensing node is enabled to move forward along the negative gradient direction according to the potential energy of the barriers, the static sensing node and each position in the pest key area in the forest, so that the mobile sensing node can rapidly reach the pest key area, and the covering task of the pest area is rapidly completed. The covering method provided by the invention has the advantages of high efficiency, accuracy, wide adaptability and the like, and can complete the cooperative covering of the forest pest key area based on the coupling of the dynamic and static nodes to a great extent, thereby avoiding resource waste caused by blind covering of the mobile sensing nodes in a covering task and having great effects on the sensing of the current pest situation and the accurate management of the forest.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below 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 flowchart of a coverage method for sensing an insect pest key area by coupling dynamic and static nodes according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of initial deployment of a static sensing node and an obstacle according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a repulsive force generated by an obstacle according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a repulsive force generated by a static sensing node according to an embodiment of the present invention.
Fig. 5 is a schematic drawing of the gravity generated by a pest focal area according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a resultant force of a repulsive force generated by an obstacle, a repulsive force generated by a static sensing node, and an attractive force generated by an insect-pest key area according to an embodiment of the present invention.
Fig. 7 is a coverage schematic diagram of a mobile sensing node for sensing an insect pest focal area according to an embodiment of the present invention.
Fig. 8 is a block diagram of a coverage system for sensing an insect pest key area by coupling dynamic and static nodes according to an embodiment of the present invention.
Fig. 9 is a schematic structural diagram of a data processing apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention provides a covering method for sensing an insect pest key area by coupling dynamic and static nodes. As shown in fig. 1, a flow chart of a coverage method for sensing an insect pest focal region by coupling dynamic nodes and static nodes, a processing flow of the method may include the following steps:
In a possible implementation manner, the mobile sensing node can send the position of the mobile sensing node to the data processing device in real time through a wireless network during the traveling and moving process, and the position of the mobile sensing node can be in a three-dimensional coordinate form. The mobile sensing node and the static sensing node are both sensors in the sensor network.
The obstacle and the static sensing node are deployed in advance and are fixed, a deployment schematic diagram can be shown in fig. 2, the position of the obstacle can be obtained and stored in advance, and the form of the position of the obstacle can be a three-dimensional coordinate form; the static sensing node position can be obtained and stored in advance, and the form of the static sensing node position can be a three-dimensional coordinate form.
The positions of the pest emphasis areas can be acquired and stored in advance, and the positions of the pest emphasis areas can be in a three-dimensional coordinate form.
And 102, determining a first repulsive force field generated by the obstacle according to the position of the mobile sensing node and the position of the obstacle, and determining the total repulsive force of the mobile sensing node to the obstacle according to the first repulsive force field.
In a possible implementation, the mobile sensing node S n When a covering task of sensing an insect pest key area is carried out, collision of obstacles is faced in a path planning process, so that dynamic uncertain threats are generated on the safety of tasks executed by mobile sensing nodes in order to prevent the mobile sensing nodes from colliding with the obstacles, and thus, the implementation of the inventionThe influence of obstacles in a forest pest sensing area on path planning of the mobile sensing node is considered, and the obstacle avoidance capability of the mobile sensing node is improved. The repulsive force potential field generated by the obstacle is constructed in the environment where the mobile sensing node is located, and a schematic diagram of the repulsive force generated by the obstacle can be shown in fig. 3.
Alternatively, a specific determination manner for determining the total repulsive force of the mobile sensing node by the obstacle may be as follows:
determining a first repulsive potential field generated by the obstacle according to the position of the mobile sensing node, the position of the obstacle and the following formula (1):
wherein k is r Representing the proportional gain coefficient of the repulsive force potential field, q n Representing a mobile sensing node S n Position of (a), q 0 Indicates the position of the obstacle O, d (q) n ,q 0 ) Representing a mobile sensing node S n Euclidean distance from the obstacle O, d 0 Representing obstacle O to mobile sensing node S n The influence distance of (c);
mobile sensing node S n The repulsive force by the obstacle O is expressed as:
wherein the content of the first and second substances,
represents a gradient;
when moving sensing node S n Simultaneously located in the influence range of n obstacles, and moving the sensing node S n The total repulsion by the obstacle is expressed as:
and 103, determining a second repulsive force potential field generated by the static sensing node according to the position of the mobile sensing node and the position of the static sensing node, and determining the total repulsive force of the mobile sensing node from the static sensing node according to the second repulsive force potential field.
In a possible implementation, the mobile sensing node S n When path planning is carried out, in order to avoid the mobile sensing node from repeatedly covering the area where the static sensing nodes are deployed, the detected static sensing node S is detected s Perceived as being aware of the movement of the node S n The rejection effect is generated, because the areas where the static sensing nodes exist already can effectively complete pest sensing if the nodes do not fail, and therefore resource waste caused by repeated coverage of the mobile nodes is avoided. Therefore, the embodiment of the invention couples the mobile sensing node with the static sensing node, thereby well avoiding the influence caused by the failure of the static sensing node, avoiding the resource waste caused by the repeated coverage of the sensing node and further improving the completion efficiency of the coverage task. The repulsive force generated by the static sensing node can be schematically shown in fig. 4.
Optionally, a specific determination manner for determining the total repulsive force of the static sensing node to the mobile sensing node may be as follows:
determining a second repulsive force potential field generated by the static sensing node according to the mobile sensing node position, the static sensing node position and a formula (4):
wherein k is r Representing the proportional gain coefficient of the repulsive force potential field, q n Representing a mobile sensing node S n Position of (a), q s Representing static sensing nodes S s Position of (a), d (q) n ,q s ) Representing a mobile sensing node S n And static sensing node S s Euclidean distance between l d Representing a mobile sensing node S n And static sensing nodeS s A desired distance therebetween;
then the mobile sensing node S n Statically sensed node S s The repulsive force of (a) is expressed as:
wherein the content of the first and second substances,
represents a gradient; when the mobile sensing node S n Simultaneously within the influence range of n static sensing nodes, moving the sensing node S n The total repulsion experienced was:
and 104, determining a third gravitational potential field generated by the pest key area according to the position of the mobile sensing node and the position of the pest key area, and determining the gravitational force of the mobile sensing node on the pest key area according to the third repulsive potential field.
In a possible implementation, the mobile sensing node S n When the sensing task of the insect pest area is completed, the insect pest area is attracted by the important area of the insect pest. Because the severity of insect damage is represented by the height of information distribution of the area to be covered, the insect damage is more serious, and in order to prevent further propagation of insect damage more quickly, more mobile sensing nodes need to be deployed to complete sensing of the current insect damage situation. Thus, the mobility aware node S n The smaller the distance from the region of interest of the pest, the smaller the attraction force, and vice versa. Therefore, the embodiment of the invention can be suitable for sensing coverage of the key areas of the insect pests, has the advantages of high efficiency, accuracy, wide adaptability and the like, and plays a great role in sensing the current situation of the insect pests and managing the forest accurately. A schematic drawing of the gravitational forces generated by the region of insect focus can be seen in fig. 5.
Optionally, determining the gravitation of the mobile sensing node to the pest key area includes:
determining a third gravitational potential field generated by the pest key area according to the mobile sensing node position, the pest key area position and a formula (7):
wherein k is a Representing the proportional gain coefficient, q, of the gravitational potential field n Representing a mobile sensing node S n Position of (a), q g Represents the central point position of the pest key area, d (q) n ,q g ) Representing the euclidean distance between the two;
then the mobile sensing node S n The gravitational force experienced is a negative gradient of the gravitational potential field, expressed as:
wherein the content of the first and second substances,
the gradient is indicated.
And 105, determining the resultant force applied to the mobile sensing node during movement according to the total repulsive force of the mobile sensing node to the obstacle, the total repulsive force of the mobile sensing node to the static sensing node and the attractive force of the mobile sensing node to the pest-damaged key area.
In a possible implementation manner, after the repulsive force generated by the obstacle, the repulsive force generated by the static sensing node, and the attractive force generated by the pest emphasis area are calculated according to the above steps 102 and 104, the resultant force of the repulsive force generated by the obstacle, the repulsive force generated by the static sensing node, and the attractive force generated by the pest emphasis area can be determined, and the resultant force diagram is shown in fig. 6. The resultant force of the repulsive force generated by the obstacle, the repulsive force generated by the static sensing node and the attractive force generated by the pest key area is the resultant force received by the mobile sensing node during movement, and the specific determination mode can be as follows:
determining the resultant force received by the mobile sensing node when the mobile sensing node moves according to the first repulsive force field, the second repulsive force field, the third repulsive force field and a formula (10):
wherein the content of the first and second substances,
representing a mobile sensing node S n Total repulsive force by obstacle, F a Representing a mobile sensing node S n The gravity of the key areas of the insect pests,
representing a mobile sensing node S n Subject to the total repulsive force of the static sensing nodes.
And 106, completing dynamic and static node coupling coverage facing forest pest key area perception based on guidance of resultant force.
In a possible implementation, the mobile sensing node S n At resultant force F T Under the guidance of (2), the obstacle can be effectively avoided, and the area where the static sensing node is deployed is avoided. Finally, the mobile sensing node S is enabled n And rapidly reaching an insect pest key area to complete the cooperative coverage task of dynamic and static node coupling. Mobile sensing node S n A coverage map for accomplishing pest focus area sensing can be seen in fig. 7.
The embodiment of the invention provides a covering method for insect pest key area perception by coupling dynamic and static nodes. The covering method uses a gradient descent method, and then the mobile sensing node is enabled to move forward along the negative gradient direction according to the potential energy of the barriers, the static sensing node and each position in the pest key area in the forest, so that the mobile sensing node can rapidly reach the pest key area, and the covering task of the pest area is rapidly completed. The covering method provided by the invention has the advantages of high efficiency, accuracy, wide adaptability and the like, and can complete the cooperative covering of the forest pest key area based on the coupling of the dynamic and static nodes to a great extent, thereby avoiding resource waste caused by blind covering of the mobile sensing nodes in a covering task and having great effects on the sensing of the current pest situation and the accurate management of the forest.
Fig. 8 is a block diagram illustrating a dynamic and static node coupled pest focal area aware coverage system according to an exemplary embodiment. The system is applied to a coverage method of pest key area perception of dynamic and static node coupling, referring to fig. 8, the system comprises a mobile perception node 810 and a data processing device 820, wherein:
the mobile sensing node 810 is configured to send a mobile sensing node location to the data processing device in real time; completing dynamic and static node coupling coverage facing to forest pest key area perception based on the guidance of the resultant force;
the data processing device 820 is used for acquiring a mobile sensing node position, an obstacle position, a static sensing node position and an insect pest key area position; determining a first repulsive force field generated by an obstacle according to the position of the mobile sensing node and the position of the obstacle, and determining the total repulsive force of the mobile sensing node by the obstacle according to the first repulsive force field; determining a second repulsive force potential field generated by the static sensing node according to the position of the mobile sensing node and the position of the static sensing node, and determining the total repulsive force of the mobile sensing node by the static sensing node according to the second repulsive force potential field; determining a third gravitational potential field generated by the pest key area according to the position of the mobile sensing node and the position of the pest key area, and determining the gravitational force of the mobile sensing node on the pest key area according to the third repulsive potential field; and determining resultant force applied by the mobile sensing node during movement according to the total repulsive force of the mobile sensing node to the obstacle, the total repulsive force of the mobile sensing node to the static sensing node and the attractive force of the mobile sensing node to the pest key area.
Optionally, the data processing apparatus 820 is further configured to:
determining a first repulsive potential field generated by the obstacle according to the position of the mobile sensing node, the position of the obstacle and the following formula (1):
wherein k is r Representing the proportional gain coefficient of the repulsive force potential field, q n Representing a mobile sensing node S n Position of (a), q 0 Indicates the position of the obstacle O, d (q) n ,q 0 ) Representing a mobile sensing node S n Euclidean distance from the obstacle O, d 0 Representing obstacle O to mobile sensing node S n The influence distance of (c);
mobile sensing node S n The repulsive force by the obstacle O is expressed as:
wherein the content of the first and second substances,
represents a gradient;
when moving sensing node S n Simultaneously located in the influence range of n obstacles, and moving the sensing node S n The total repulsion by the obstacle is expressed as:
optionally, the data processing apparatus 820 is further configured to:
determining a second repulsive force potential field generated by the static sensing node according to the mobile sensing node position, the static sensing node position and a formula (4):
wherein k is r Represents the proportional gain coefficient, q, of the repulsive potential field n Representing a mobile sensing node S n Position of (a), q s Representing static sensors S s Position of (a), d (q) n ,q s ) Representing a mobile sensing node S n And static sensing node S s Euclidean distance between l d Representing a mobile sensing node S n And static sensing node S s A desired distance therebetween;
then the mobile sensing node S n Statically sensed node S s The repulsive force of (a) is expressed as:
wherein, the first and the second end of the pipe are connected with each other,
represents a gradient; when moving sensing node S n Simultaneously within the influence range of n static sensing nodes, moving the sensing node S n The total repulsive force of the static sensing nodes is as follows:
optionally, the data processing apparatus 820 is further configured to:
determining a third gravitational potential field generated by the pest key area according to the mobile sensing node position, the pest key area position and a formula (7):
wherein k is a Representing the proportional gain coefficient of the gravitational potential field, q n Representing a mobile sensing node S n Position of (a), q g Represents the central point position of the pest key area, d (q) n ,q g ) Representing the euclidean distance between the two;
mobile sensing node S n The received gravitation is a negative gradient of the gravitation potential field, and then the sensing node S is moved n The gravity of the pest-affected focal area is expressed as:
wherein the content of the first and second substances,
the gradient is indicated.
Optionally, the data processing apparatus 820 is further configured to:
determining the resultant force of the mobile sensing node during movement according to the total repulsive force of the mobile sensing node to the obstacle, the total repulsive force of the mobile sensing node to the static sensing node, the attractive force of the mobile sensing node to the pest key area and a formula (10):
wherein, the first and the second end of the pipe are connected with each other,
representing a mobile sensing node S n Total repulsive force by obstacle, F a Representing a mobile sensing node S n The force of the attraction to which the robot is subjected,
representing a mobile sensing node S n Total repulsive force received.
The embodiment of the invention provides a covering method for insect pest key area perception by coupling dynamic and static nodes. The covering method uses a gradient descent method, and then the mobile sensing node is enabled to move forward along the negative gradient direction according to the potential energy of the barriers, the static sensing node and each position in the pest key area in the forest, so that the mobile sensing node can rapidly reach the pest key area, and the covering task of the pest area is rapidly completed. The covering method provided by the invention has the advantages of high efficiency, accuracy, wide adaptability and the like, and can complete the cooperative covering of the forest pest key area based on the coupling of the dynamic and static nodes to a great extent, thereby avoiding resource waste caused by blind covering of the mobile sensing nodes in a covering task and having great effects on the sensing of the current pest situation and the accurate management of the forest.
Fig. 9 is a schematic structural diagram of a data processing device 900 according to an embodiment of the present invention, where the data processing device 900 may generate relatively large differences due to different configurations or performances, and may include one or more processors (CPUs) 901 and one or more memories 902, where the memory 902 stores at least one instruction, and the at least one instruction is loaded and executed by the processor 901 to implement the steps of the above dynamic and static node-coupled pest emphasis area sensing coverage method.
In an exemplary embodiment, a computer readable storage medium, such as a memory, including instructions executable by a processor in a terminal, is also provided for performing the above-described dynamic and static node-coupled pest focal area-aware coverage method. For example, the computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A coverage method for sensing pest key areas coupled by dynamic and static nodes is characterized by comprising the following steps:
acquiring a mobile sensing node position, an obstacle position, a static sensing node position and an insect pest key area position;
determining a first repulsive force field generated by an obstacle according to the position of the mobile sensing node and the position of the obstacle, and determining the total repulsive force of the mobile sensing node by the obstacle according to the first repulsive force field;
determining a second repulsive force potential field generated by the static sensing node according to the position of the mobile sensing node and the position of the static sensing node, and determining the total repulsive force of the mobile sensing node by the static sensing node according to the second repulsive force potential field;
determining a third gravitational potential field generated by the pest key area according to the position of the mobile sensing node and the position of the pest key area, and determining the gravitational force of the mobile sensing node on the pest key area according to the third repulsive potential field;
determining resultant force applied to the mobile sensing node during movement according to the total repulsive force of the mobile sensing node to the obstacle, the total repulsive force of the mobile sensing node to the static sensing node and the attractive force of the mobile sensing node to the pest key area;
and finishing the dynamic and static node coupling coverage facing the sensing of the forest pest key areas based on the guidance of the resultant force.
2. The method according to claim 1, wherein the determining a first repulsive potential field generated by an obstacle according to the position of the mobile sensing node and the position of the obstacle, and determining the total repulsive force of the mobile sensing node by the obstacle according to the first repulsive potential field comprises:
determining a first repulsive potential field generated by an obstacle according to the position of the mobile sensing node, the position of the obstacle and the following formula (1):
wherein k is r Representing the proportional gain coefficient of the repulsive force potential field, q n Representing a mobile sensing node S n Position of (a), q 0 Indicates the position of the obstacle O, d (q) n ,q 0 ) Representing a mobile sensing node S n Euclidean distance from the obstacle O, d 0 Representing obstacle O to mobile sensing node S n The influence distance of (c);
mobile sensing node S n The repulsive force by the obstacle O is expressed as:
wherein the content of the first and second substances,
represents a gradient;
when moving sensing node S n Simultaneously located in the influence range of n obstacles, and moving the sensing node S n The total repulsion by the obstacle is expressed as:
3. the method according to claim 2, wherein the determining a second repulsive potential field generated by a static sensing node according to the mobile sensing node position and the static sensing node position, and determining a total repulsive force of the mobile sensing node by the static sensing node according to the second repulsive potential field, comprises:
determining a second repulsive force potential field generated by the static sensing node according to the mobile sensing node position, the static sensing node position and a formula (4):
wherein k is r Represents the proportional gain coefficient, q, of the repulsive potential field n Representing a mobile sensing node S n Position of (a), q s Representing static sensors S s Position of (a), d (q) n ,q s ) Representing a mobile sensing node S s And static sensing node S s Euclidean distance between l d Representing a mobile sensing node S n And static sensing node S s A desired distance therebetween;
then the mobile sensing node S n Statically sensed node S s The repulsive force of (a) is expressed as:
wherein the content of the first and second substances,
represents a gradient; when moving sensing node S n Simultaneously within the influence range of n static sensing nodes, moving the sensing node S n The total repulsive force of the static sensing nodes is as follows:
4. the method according to claim 3, wherein the determining of the third gravitational potential field generated by the pest focal area according to the mobile sensing node position and the pest focal area position and the determining of the gravitational force of the mobile sensing node by the pest focal area according to the third repulsive potential field comprise:
determining a third gravitational potential field generated by the pest key area according to the mobile sensing node position, the pest key area position and a formula (7):
wherein k is a Representing the proportional gain coefficient of the gravitational potential field, q n Representing a mobile sensing node S n Position of (a), q g Represents the central point position of the pest key area, d (q) n ,q g ) Representing the euclidean distance between the two;
mobile sensing node S n The received gravitation is a negative gradient of the gravitation potential field, and then the sensing node S is moved n The gravity of the pest-affected focal area is expressed as:
wherein the content of the first and second substances,
the gradient is indicated.
5. The method according to claim 4, wherein the determining, according to the total repulsive force of the mobile sensing node from the obstacle, the total repulsive force of the mobile sensing node from the static sensing node, and the attractive force of the mobile sensing node from the pest-attacked important area, the resultant force applied to the mobile sensing node during the movement comprises:
determining the resultant force received by the mobile sensing node during movement according to the total repulsive force of the mobile sensing node to the obstacle, the total repulsive force of the mobile sensing node to the static sensing node, the attractive force of the mobile sensing node to the pest key area and a formula (10):
wherein the content of the first and second substances,
representing a mobile sensing node S n Total repulsive force by obstacle, F a Representing a mobile sensing node S n The force of the attraction to which the robot is subjected,
representing a mobile sensing node S n Total repulsive force received.
6. A coverage system for pest key area perception of dynamic and static node coupling is characterized in that the system comprises a mobile perception node and a data processing device, wherein:
the mobile sensing node is used for sending the position of the mobile sensing node to the data processing equipment in real time; completing dynamic and static node coupling coverage facing to forest pest key area perception based on the guidance of the resultant force;
the data processing equipment is used for acquiring the positions of the mobile sensing nodes, the positions of the obstacles, the positions of the static sensing nodes and the positions of the insect pest key areas; determining a first repulsive force field generated by an obstacle according to the position of the mobile sensing node and the position of the obstacle, and determining the total repulsive force of the mobile sensing node by the obstacle according to the first repulsive force field; determining a second repulsive force potential field generated by the static sensing node according to the position of the mobile sensing node and the position of the static sensing node, and determining the total repulsive force of the mobile sensing node by the static sensing node according to the second repulsive force potential field; determining a third gravitational potential field generated by the pest key area according to the position of the mobile sensing node and the position of the pest key area, and determining the gravitational force of the mobile sensing node on the pest key area according to the third repulsive potential field; and determining resultant force applied by the mobile sensing node during movement according to the total repulsive force of the mobile sensing node to the obstacle, the total repulsive force of the mobile sensing node to the static sensing node and the attractive force of the mobile sensing node to the pest key area.
7. The system of claim 6, wherein the data processing device is further configured to:
determining a first repulsive potential field generated by an obstacle according to the position of the mobile sensing node, the position of the obstacle and the following formula (1):
wherein k is r Representing the proportional gain coefficient of the repulsive force potential field, q n Representing a mobile sensing node S n Position of (a), q 0 Indicates the position of the obstacle O, d (q) n ,q 0 ) Representing a mobile sensing node S n Euclidean distance from the obstacle O, d 0 Representing obstacle O to mobile sensing node S n The influence distance of (c);
mobile sensing node S n The repulsive force by the obstacle O is expressed as:
wherein the content of the first and second substances,
represents a gradient;
when moving sensing node S n Simultaneously located in the influence range of n obstacles, and moving the sensing node S n The total repulsive force by an obstacle is expressed as:
8. the system of claim 7, wherein the data processing device is further configured to:
determining a second repulsive force potential field generated by the static sensing node according to the mobile sensing node position, the static sensing node position and a formula (4):
wherein k is r Represents the proportional gain coefficient, q, of the repulsive potential field n Representing a mobile sensing node S n Position of (a), q s Representing static sensors S s Position of (a), d (q) n ,q s ) Representing a mobile sensing node S n And static sensing node S s Euclidean distance between l d Representing a mobile sensing node S n And static sensing node S s A desired distance therebetween;
then the mobile sensing node S n Statically sensed node S s The repulsive force of (a) is expressed as:
wherein the content of the first and second substances,
represents a gradient; when moving sensing node S n Simultaneously within the influence range of n static sensing nodes, moving the sensing node S n The total repulsive force of the static sensing nodes is as follows:
9. the system of claim 8, wherein the data processing device is further configured to:
determining a third gravitational potential field generated by the pest key area according to the mobile sensing node position, the pest key area position and a formula (7):
wherein k is a Representing the proportional gain coefficient of the gravitational potential field, q n Representing a mobile sensing node S n Position of (a), q g Represents the central point position of the pest key area, d (q) n ,q g ) Representing the euclidean distance between the two;
mobile sensing node S n The received gravitation is a negative gradient of the gravitation potential field, and then the sensing node S is moved n The gravity of the pest-affected focal area is expressed as:
wherein the content of the first and second substances,
the gradient is indicated.
10. The system of claim 9, wherein the data processing device is further configured to:
determining the resultant force received by the mobile sensing node during movement according to the total repulsive force of the mobile sensing node to the obstacle, the total repulsive force of the mobile sensing node to the static sensing node, the attractive force of the mobile sensing node to the pest key area and a formula (10):
wherein the content of the first and second substances,
representing a mobile sensing node S n Total repulsive force by obstacle, F a Representing a mobile sensing node S n The force of the attraction to which the robot is subjected,
representing a mobile sensing node S n Total repulsion force.
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