Charging method for mobile robot in wireless charging sensor network system

[0040] The present invention will be further described below in conjunction with the drawings. The following embodiments are only used to illustrate the technical solutions of the present invention more clearly, and cannot be used to limit the protection scope of the present invention.

[0041] A method for charging a mobile robot in a wireless charging sensor network system includes the following steps:

[0042] (1) First, build a wireless sensor network system, which includes base stations with multiple charging points, sensor nodes with wireless power receiving devices, and mobile robots with wireless charging capabilities.

[0043] In addition to processing the environment collected by the sensor nodes, the base station has access to Group mobile robot charging points and adopt the largest number of mobile robot configurations. This configuration allows mobile robots to be replaced even if there are mobile robots that cannot be in a dormant state due to malfunctions, which enhances the overall fault tolerance of the system.

[0044] In addition to collecting environmental data around the sensor node and routing it to the base station, the sensor node is also connected to the wireless power receiving device, which can be supplemented in time before the power consumption is exhausted, so that the node can collect data in the environment more persistently, and enhance Overall system robustness.

[0045] In addition to charging the sensor nodes on the path nodes according to the planned path, the mobile robot also routes its own consumption status, moving speed, and real-time location to the base station, so that the base station can recall and charge the mobile robot in time. Energy has not reached 0.05E robot (The energy of the robot), the hungry nodes near the path are charged to maximize the use of the energy of the mobile robot.

[0046] From the set of nodes in the wireless sensor network (N 1 , N 2 , N 3 ,...) together constitute the sensor network, the base station starts to receive the information of the nodes in the wireless sensor network, the information sent by each node to the base station is an information report, and the information report is composed of (N, C, B, L, T) , N represents the node number, C represents the collected environmental data, B represents the remaining power of the node, L represents the relative position of the node from the base station, and T represents the sending timestamp; at the same time, a wireless power receiving device is integrated in the node so that the node can perform Wireless power reception. The key to the wireless power receiving device lies in the battery power management circuit. In the process of charging the battery, in order to enhance the service life of the battery, the circuit will adjust the voltage and current in the charging process in real time, and obtain the power status according to the current voltage and current conditions. The information is sent to the mobile robot, and the mobile robot adjusts its power according to the current situation information.

[0047] According to the information sent by the sensor to the base station, an energy consumption model is established for all sensor nodes:

[0048] According to T in wireless sensor network 1 Time to T 2 The energy consumption speed V at the moment,

[0049] V = B 1 - B 2 T 2 - T 1 ,

[0050] Obtain the energy consumption rate of all nodes in the system, refresh it every minute, and obtain the energy consumption model of all nodes in the system.

[0051] At the same time, according to the position of the sensor node relative to the base station, the speed of the energy consumption of the sensor node, the priority of the sensor node in the network, and the remaining power of the sensor node, the charging priority of the sensor node is rated to obtain a priority list.

[0052] The charging priority rating is as follows:

[0053] The base station obtains the network topology diagram according to the message chain sent back by the nodes in the wireless sensor network during networking. According to the network topology, the node at the network topology terminal has the lowest priority, and the more routing connections established with the node, The higher the priority of the node, the priority P of each node is obtained, and the charging characteristic analysis set (L, P, B, V) of the node is obtained.

[0054] Priority rating, the key lies in the necessity of the location of the node and the number of nodes connected to the node. The necessity of the location of the node is in the area that needs to be collected, according to the results of the area division, the location of each node is obtained. The area at which if it is in the area, the number of nodes is N <30 is the necessity of setting the node, and the node is indispensable. The base station obtains the network topology diagram according to the message chain sent back when the node is in the network, and thus obtains the number of connection routes N of all nodes link , N link 5, the routing connection is high, the level is 3; 5>N link 3, in the number of routing connections, the level is 2; when N link When <3, the number of routing links is low, and the level is 1. When the necessity of the node is indispensable, the priority level is priority=rank+2. Where rank is the node connection level.

[0055] (2) Secondly, according to the distribution of sensor nodes and the number of nodes that a single mobile robot can charge, divide different charging areas;

[0056] Such as figure 1 As shown, the division of the charging area in the above step (2) is performed according to the following steps:

[0057] (a). In the wireless charging sensor network system, the total number of nodes is N, the number of nodes responsible for charging for each mobile robot is 50≤M<80, and the number of regions divided by the system is K,

[0058] (b) Get the variance δ of the energy consumption speed of all nodes within ten minutes after the establishment of the network, when δ> 1.2, select As the number of regions divided by the network; when δ <1.2, select As the number of regions divided by the network;

[0059] (c) Get the corresponding K value, and configure K mobile robots.

[0060] (3) Finally, according to the priority list obtained in step (1), a list of nodes to be charged is generated, and a closed path is generated according to the position of the node in the list, and the mobile robot charges the sensor node according to the generated closed path.

[0061] Such as figure 2 As shown, the charging process in the above step (3) is specifically as follows:

[0062] (a) According to the node's remaining energy B, the average energy consumption rate of the node from the beginning of work is The energy level of the node to maintain normal operation is B 1 , The waiting time to be charged is

[0063] (b) The position of all nodes in the wireless sensor network relative to the base station is (L 1 , L 2 , L 3 …), the charging time limit of all nodes is (t 1 , T 2 , T 3 …), get the mapping of all node positions and the charging time limit, and sort from small to large according to the size of the charging time limit, and get the mapping of the node with the smallest charging time limit as (L n ,t min ), the moving speed of the mobile robot is v, the arrival time of the mobile robot , Start to start the charging function of the mobile robot, and start to move to charge the sensor nodes;

[0064] The loss of the robot movement for the first time is e 1 , The cost of charging the first node is E 1 , The current remaining energy of the robot is B m , The loss of the robot charging the node is (E 1 , E 2 , E 3 …), when the robot is going to charge the node, the loss in movement is (e 1 , E 2 , E 3 …), the cost of completing a round of charging is E loss =(E 1 +e 1 )+(E 2 +e 2 )+(E 3 +e 3 )...;

[0065] (c). Perform positive and negative relationship analysis on the factors in the charging characteristic analysis set (L, P, B, V) to obtain the charging characteristic value of the node. The relationship between the charging characteristic value and the charging characteristic analysis set is val is the urgency of charging, the larger the value, the higher the urgency of charging;

[0066] Corresponding to the node number, there is a set of val values ​​(val 1 , Val 2 , Val 3 …), get the list to be charged, the first column is the number of the val value, and the next four columns are (V, P, L, B);

[0067] Operate the charging list:

[0068] Filter out node energy B in the list Nodes <20% E, get the corresponding set, where E is the node battery capacity;

[0069] In this set, the V and P values ​​of all elements of the set are multiplied, sorted according to the order from largest to smallest, and the order of charging is obtained. Then, according to the value of L, the path is from near to far, and then from far. And near path planning, a closed path is obtained, and the closed path algorithm is as follows:

[0070] The current energy value of the node is E, the moving time and charging time of the mobile robot to complete a loop path charging is called a cycle T, the node charging saturation is 2.2VT+E, and the energy loss for charging each node is obtained e = 2.2VT, η is the efficiency of the robot charging the node; the path is (l 1 +l 2 +l 3 …+l n ), the total charge loss E is thus obtained loss , The energy of the robot is E robot , When there is E loss <0.95E robot , According to the result of the closed path algorithm, start charging the node.

[0071] The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principles of the present invention, several improvements and modifications can be made. These improvements and modifications It should also be regarded as the protection scope of the present invention.