CN115460543B - Distributed annular fence coverage method, device and storage device - Google Patents
Distributed annular fence coverage method, device and storage device Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
- H04W4/022—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences with dynamic range variability
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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Abstract
The invention provides a distributed annular fence coverage method, equipment and storage equipment, wherein a landmark L1 is placed on the circumference of an annular target area, an intelligent body with the number of 0 and no mobility is placed at the landmark L1, and n movable intelligent bodies with the numbers of 1-n are randomly distributed around the landmark L1; obtaining virtual circle centers and corresponding virtual radiuses of the No. 1-n intelligent agents, calculating to obtain positions and azimuth angles of the No. 1-n intelligent agents relative to the corresponding virtual circle centers, obtaining a first speed component and a second speed component, and fitting to obtain speeds; moving the intelligent body according to the speed and the azimuth angle; judging whether the effective monitoring range of all the intelligent agents is completely covered around the circumference of the annular target area, the beneficial effects of the invention are as follows: the fence coverage and detection capability are improved, the stability and universality of the motion control algorithm under different conditions are enhanced, and the possibility of applying the fence coverage algorithm on some hardware is provided.
Description
Technical Field
The invention relates to the field of intelligent body coverage, in particular to a distributed annular fence coverage method, equipment and storage equipment.
Background
Based on analysis of the development conditions at home and abroad, the fence coverage is a valuable research topic, and the fence coverage is generally divided into a closed type fence coverage and an open type fence coverage, and the open type fence coverage is more applied in practice. However, with the development of the age, the requirements of people on the closed fence are also increasing. In practice, the monitoring range of the fence coverage is found to be not completely banded. Such as monitoring whether a wild animal enters the feeding point because the direction of entry cannot be determined, a circular fence is required around the feeding field. The annular fence has many advantages of large monitoring area, strong leak detection capability and the like compared with a single strip fence in many cases, so that the design of the annular fence coverage algorithm still has great research value and significance at present.
The technical scheme provides a solution to the problems of low fence coverage rate, loopholes in detection capability and the like in the prior art, and provides the possibility of applying a fence coverage algorithm to some hardware.
Disclosure of Invention
Aiming at the problems of low coverage rate of the fence, loopholes in detection capability and the like in the prior art, the invention provides a distributed annular fence coverage method, equipment and storage equipment, which enhance the stability and universality of a motion control algorithm under different conditions and provide the possibility of applying the fence coverage algorithm to some hardware. Through improving the strip fence coverage algorithm, a novel annular fence coverage control mathematical model is firstly established, and then a corresponding motion control algorithm is designed, so that the intelligent body moves to a target area rapidly and efficiently. According to the invention, the coverage of the boundary of the circular target area is realized through a small amount of communication among the intelligent agents, and when a target event passes through the area, the occurrence of the event can be timely perceived. Finally, the feasibility of the design of the annular fence coverage control algorithm is verified at the hardware level, and the algorithm is proved to be capable of effectively running theoretically and smoothly in hardware. It is illustrated that the algorithm may thereafter perform the work of overlay control on more hardware of some devices such as intelligent carts, drones etc. A distributed annular fence covering method mainly comprises the following steps:
S1: placing a landmark L1 on the circumference of an annular target area, placing an intelligent agent with the number 0 and no mobility at the landmark L1, wherein n movable intelligent agents with the numbers 1-n are randomly distributed around the landmark L1;
S2: combining the communication range of each intelligent agent to obtain the virtual circle centers and the corresponding virtual radiuses of the No. 1-n intelligent agents:
s3: calculating the positions and azimuth angles of the No. 1-n intelligent agents relative to the corresponding virtual circle centers according to the virtual circle centers and the virtual radii, and then obtaining a first speed component and a second speed component;
S4: fitting according to the first speed component and the second speed component to obtain a speed;
S5: moving the intelligent body according to the obtained speed and azimuth;
s6: and judging whether the effective monitoring range of all the intelligent agents is completely covered around the circumference of the annular target area, if so, ending, and if not, returning to the step S2.
A storage device stores instructions and data for implementing a distributed annular fence overlay method.
A distributed annular barrier covering apparatus comprising: a processor and the storage device; the processor loads and executes instructions and data in the storage device for implementing a distributed annular barrier coverage method.
The technical scheme provided by the invention has the beneficial effects that: the fence coverage and detection capability are improved, the stability and universality of the motion control algorithm under different conditions are enhanced, and the possibility of applying the fence coverage algorithm on some hardware is provided.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a distributed annular barrier coverage method in an embodiment of the invention.
Fig. 2 is a schematic diagram of MATLAB simulation experiments in which (a) represents the movement positions of all agents when k=20; (b) The graph shows the movement positions of all agents when k=40; (c) The graph shows the movement positions of all agents when k=60; (d) The graph shows the movement positions and initial positions of all agents when k=80 (black dots represent the initial positions of all agents).
FIG. 3 is a schematic view of azimuth angle in an embodiment of the present invention.
FIG. 4 is a schematic diagram of the operation of a hardware device in an embodiment of the invention.
Detailed Description
For a clearer understanding of technical features, objects and effects of the present invention, a detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.
The embodiment of the invention provides a distributed annular fence coverage method, equipment and storage equipment. In this embodiment, the intelligent agent refers to a device with sensing, communication, calculation and movement capabilities, and through complete coverage of the effective monitoring range of the intelligent agent to the target area, real-time monitoring of foreign matters inside and outside the target area can be achieved, coverage of the boundary of the target area is achieved, and when a target event passes through the target area, occurrence of the event can be timely perceived. For example, it is possible to monitor that foreign matter outside the target area is about to enter the target area and foreign matter within the target area is about to leave the target area.
According to the determined target covered by the distributed annular fence, the target in the embodiment is an annular target area, and the following operations are specifically performed:
S1: placing a landmark L1 (shown as a black square in fig. 2) on the circumference of an annular target area (shown as a big circle in fig. 2), placing an intelligent body with no moving capability and number 0 at the landmark L1, wherein the intelligent body number 0 has known the real circle center position and the radius of the annular target area, n movable intelligent bodies with numbers 1-n are randomly distributed around the landmark L1, and the intelligent bodies 1-n cannot know the real circle center position and the radius of the annular target area;
S2: in order for each agent to determine the size of the radius of the annular target area, a virtual center is defined for each agent Z 0 (kT) =c, where C is the true center of the annular target area, and in combination with the communication range of each agent (i.e. the small circle area in fig. 2), the virtual center of the 1-n number of agents and the corresponding virtual radius are obtained according to formulas (1) and (2):
The calculation formula of the virtual circle center is as follows:
Wherein Z i ((k+1) T) represents the virtual center of the i-th agent at (k+1) T, i=1, 2,..n, k represents the time points in the discrete time domain, T represents the time interval between the time points, Z i (kT) represents the virtual center of the j-th agent at kT, and w j represents the weight of the j-th agent. For the agent 0, the weight is w 0, the weight can be set by oneself, and the closer to the landmark, the larger the weight value is.
Defining an areaTo represent the communication area of agent i (as indicated by the middle circle in fig. 2). Within D i (kT), the set of agents present is N i, readily available N i:＝{pj∈Di }. U { i }, where j noteqi, j = 0,1,2,... N i represents the sum of the number of agents present in D i (kT).
The update rule of the virtual (ideal) radius of the intelligent agent is as follows:
Wherein R i ((k+1) T) represents the virtual radius of the ith agent at (k+1) T, and R i (kT) represents the virtual radius of the jth agent at kT.
S3: acquiring the positions of the No. 1-n intelligent agents relative to the corresponding virtual circle centers and the azimuth angles shown in FIG. 3(The azimuth angle takes the positive direction of the x axis as a datum line), and a first speed component and a second speed component are respectively calculated according to the azimuth angle;
The positions of the virtual circle centers corresponding to the 1-n intelligent agents can be obtained through the sensor monitoring function of the intelligent agents, or obtained through monitoring by other sensors, or obtained through calculation of a formula (3):
pi((k+1)T)＝pi(kT)+vi(kT)Θi(kT)T,i＝1,2,...,n (3)
Wherein the method comprises the steps of Is the position of agent i, p i ((k+1) T) represents the position of the i-th agent at (k+1) T, p i (kT) represents the position of the i-th agent at kT,/>Representing heading measured from the counterclockwise direction of the x-axis,/>Wherein/>Indicating the azimuth of the ith agent at the kT time,/>V i (kT) represents the speed of the ith agent at kT,/>Representing the resulting velocity component one,/>A speed variable, two, representing a radius perpendicular to the agent itself.
Azimuth angleThe calculation formula is as follows:
Wherein, phau, v is a self-defined operation, and Z i (kT) represents the virtual center of the ith agent at the kT moment.
Wherein u and v are operation variables and have no practical meaning, and are obtained through a formula (4), and a new row vector with two elements is obtained after subtracting two-dimensional coordinates in the formula (4), and the corresponding row vector is u and v.
Calculating according to formula (5) to obtain a first velocity component (scalar)
Wherein F i (kT) represents the actual radius of the ith agent at the kT moment, and F i(kT)＝||Zi(kT)-pi (kT) I,The F i→F0,F0 will be caused to represent the true radius of the annular target area, which enables the movement of the agent over the circumference of the annular target area.
Calculating a velocity variable II perpendicular to its radius according to equation (6)
Let a, b e N i (kT), and q i,a(kT)＜0＜qi,b (kT), where a, b may not both be present.
Q i,j (kT) is a set variable determined by the communication range between agents, which satisfies the following equation:
To counteract the effect of the period on the stability of the algorithm, an angle selector is set such that q i,j (kT) satisfies the following relationship:
the purpose is to make-pi be less than or equal to q i,j (kT) be less than or equal to pi.
S4: fitting according to the first speed component and the second speed component to obtain a speed;
s5: respectively moving the intelligent agents according to the calculated speed and azimuth angle;
s6: and judging whether the effective monitoring range of all the agents is completely covered around the circumference of the annular target area, if so, ending the flow as shown in (d) in fig. 4, and if not, returning to the step S2 to perform the moving operation of the agents.
The ZigBee hardware equipment can be used as an agent node, codes are designed and burnt into hardware through software, position data of the nodes are imported into drawing software to be represented in a graphical mode, and experimental verification is completed.
Zigbee is a wireless communication technology name that has the characteristics of close range, low complexity, low power consumption, low data rate, low cost, etc. There are many applications in the fields of automatic control and remote control, enabling embedded applications on a variety of devices. Fig. 3 is a schematic diagram of a ZigBee wireless network protocol layer. ZigBee devices fall into three categories: the Coordinator (Coordinator) is responsible for starting the whole network, is the first device of the network, the main function of the Router (Router) is to allow other devices to join the network, assist the terminal devices to communicate, the terminal devices (END DEVICE) have no specific responsibility for maintaining the network structure, can sleep or wake up, and generally have smaller requirements on storage space.
The feasibility of the design of the annular fence coverage control algorithm is verified at the hardware level, and the algorithm is proved to be capable of effectively running theoretically and being smoothly realized on hardware. It is illustrated that the algorithm can thereafter carry out the work of overlay control on more hardware of some devices such as intelligent carts, drones etc.
Referring to fig. 4, fig. 4 is a schematic working diagram of a hardware device according to an embodiment of the present invention, where the hardware device specifically includes: a distributed annular fence overlay device 401, a processor 402, and a storage device 403.
Distributed annular barrier cover apparatus 401: the one distributed annular barrier coverage apparatus 401 implements the one distributed annular barrier coverage method.
Processor 402: the processor 402 loads and executes instructions and data in the memory device 403 for implementing the one distributed annular barrier coverage method.
Storage device 403: the storage device 403 stores instructions and data; the storage device 403 is configured to implement the distributed annular barrier coverage method.
The beneficial effects of the invention are as follows: the fence coverage and detection capability are improved, the stability and universality of the motion control algorithm under different conditions are enhanced, and the possibility of applying the fence coverage algorithm on some hardware is provided.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (8)
1. A distributed annular fence coverage method, characterized in that: determining an annular target area covered by a cloth annular fence, and setting a landmark L1 and a plurality of intelligent agents, wherein the method specifically comprises the following steps of:
S1: placing a landmark L1 on the circumference of an annular target area, placing an intelligent agent with the number 0 and no mobility at the landmark L1, wherein n movable intelligent agents with the numbers 1-n are randomly distributed around the landmark L1;
S2: combining the communication range of each intelligent agent to obtain the virtual circle centers and the corresponding virtual radiuses of the No. 1-n intelligent agents:
s3: calculating the positions and azimuth angles of the No. 1-n intelligent agents relative to the corresponding virtual circle centers according to the virtual circle centers and the virtual radii, and then obtaining a first speed component and a second speed component;
S4: fitting according to the first speed component and the second speed component to obtain a speed;
S5: moving the intelligent body according to the obtained speed and azimuth;
s6: and judging whether the effective monitoring range of all the intelligent agents is completely covered around the circumference of the annular target area, if so, ending, and if not, returning to the step S2.
2. A distributed annular barrier coating method according to claim 1, wherein: in step S2, the calculation formula of the virtual circle center and the corresponding virtual radius of the No. 1-n intelligent agent is as follows:
Virtual circle center:
Wherein Z i ((k+1) T) represents the virtual center of the i-th agent at (k+1) T, i=1, 2,., n, k represent time points in the discrete time domain, T represents the time interval between the time points, Z i (kT) represents the virtual center of the j-th agent at kT, and w j represents the weight of the j-th agent;
virtual radius:
Wherein R i ((k+1) T) represents the virtual radius of the ith agent at (k+1) T, and R i (kT) represents the virtual radius of the jth agent at kT.
3. A distributed annular barrier coating method according to claim 1, wherein: in step S3, the positions of the No. 1-n intelligent agents relative to the corresponding virtual circle centers are obtained through the monitoring function of the sensors of the intelligent agents or through monitoring of other sensors.
4. A distributed annular barrier coating method according to claim 2, wherein: in the step S3, the positions of the No. 1-n intelligent agents relative to the corresponding virtual circle centers are obtained through calculation of a formula (3):
pi((k+1)T)＝pi(kT)+vi(kT)Θi(kT)T,i＝1,2,...,n (3)
Wherein the method comprises the steps of Is the position of agent i, p i ((k+1) T) represents the position of the i-th agent at (k+1) T, p i (kT) represents the position of the i-th agent at kT,/>Representing heading measured from the counterclockwise direction of the x-axis,/>Wherein/> Representing the velocity component one, v i (kT) represents the velocity of the ith agent at the kT time.
5. A distributed annular barrier coating method according to claim 2, wherein: in the step S3 of the process,
Calculating according to formula (5) to obtain a velocity component I
Wherein F i (kT) represents the actual radius of the agent i, F i(kT)＝||Zi(kT)-pi(kT)||,Zi (kT) represents the virtual center of the jth agent at the kT moment, and p i (kT) represents the position of the ith agent at the kT moment;
calculating according to formula (6) to obtain a velocity variable II perpendicular to the velocity variable II
Q i,j (kT) is a set variable determined by the communication range between agents, which satisfies the following equation:
and/> Indicating azimuth angles of the ith and jth agents, respectively.
6. A distributed annular barrier coating method according to claim 2, wherein: in step S4, the fitting speed is:
Fitting to obtain a speed;
and/> Representing a speed variable two and a speed variable one, respectively.
7. A memory device, characterized by: the storage device storing instructions and data for implementing the distributed annular barrier coverage method of any of claims 1 to 6.
8. A distributed annular barrier coating apparatus, characterized by: comprising the following steps: a processor and a storage device; the processor loads and executes instructions and data in the storage device for implementing the distributed annular barrier coverage method of any of claims 1-6.
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