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Energy-saving method of security robot system based on edge calculation

A robotic system and edge computing technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as differences in time delay sensitivity and reduce energy consumption

Active Publication Date: 2021-04-30
SUZHOU UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The computing tasks that different devices need to process are very different in their sensitivity to time delays.

Method used

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  • Energy-saving method of security robot system based on edge calculation
  • Energy-saving method of security robot system based on edge calculation
  • Energy-saving method of security robot system based on edge calculation

Examples

Experimental program
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Effect test

Embodiment 1

[0025] create a like figure 1 In the security robot system model shown, there are m security robot SDs in the security robot system, and each security robot intelligently selects an edge server to offload computing tasks. m express.

[0026] In order to reduce the local computing delay, the computing task SD in the security robot m Divided into S m and Two parts: The computing task offloaded to the edge server through the wireless network transmission technology TDMA is S m The computing tasks completed locally by the security robot are The user adopts the TDMA transmission method. In the security robot, different security robots transfer the task load (M represents the total number of robot terminals) migrate to the edge server group through time division multiple access (TDMA), let N={1,2,3...M}; as figure 1 shown. The present invention uses g k Denotes the channel power gain from user to edge server k. For demonstration purposes, we assume that the k edge server...

Embodiment 2

[0065] The present invention verifies the performance of the proposed algorithm in the case of 3 security robots (SD) and 3 edge servers in an intelligent system. The present invention establishes a 3-ES scenario, in which three edge servers are respectively located at (500,0), (-500,0) and (0,500). At the same time, the security robots are randomly distributed in the intelligent buildings. The security robots are located in the center of the circle formed by the three edge servers. The three security robots (SD) are randomly distributed in a circle with a radius of 10, and are generated according to the distance model. The continuous channel power gain from SD to ES is {g i} i∈I ={5.7672*10 -7 , 6.5859*10 -7 , 8.7035*10 -7}. Bandwidth W=8MHz, n 0 =10 -8 . The present invention sets the computing speed of the server to μ=15bit / s.

[0066] figure 2 shows the linear search on t in the top-level algorithm, with The values ​​are (4,6,8)bits, (6,8,10)bits, (8,10,12)bit...

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Abstract

The invention discloses an energy-saving method of a security robot system based on edge calculation. The method solves the problem of non-convex optimization based on a linear search algorithm, obtains the optimal transmission duration and the minimum overhead of total energy when a security robot can obtain the minimum energy consumption, then calculates and shunts the energy-intensive calculation tasks of the security robot in an intelligent building by using Time Division Multiple Access (TDMA) and Edge Calculation (EC), and proposes the joint optimization of multiple security robots, TDMA transmission and calculation resource allocation, thereby minimizing the total energy consumption of the security robot in the intelligent building to complete the tasks under the delay limitation required by the security robot.

Description

technical field [0001] The invention relates to the technical field of security robot systems, in particular to an energy-saving method for security robot systems based on edge computing. Background technique [0002] Since the release of the first patrol robot in China in 2016 by Zhongzhi Science and Technology Robotics has sparked heated public discussions, it has been almost five years since security robots entered the public's field of vision. The security robot itself has a wealth of sensors, such as ultra-clear visible cameras, thermal imagers, 150° wide-angle industrial advanced cameras, temperature acquisition sensors, obstacle avoidance stereo cameras, laser radar, etc. These sensors are performing various complex tasks all the time. Energy-intensive computing tasks, due to the limitation of its own computing power in the security robot, it will generate considerable energy consumption when processing these complex computing tasks, which is contrary to the green ene...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J11/00
CPCB25J11/00B25J9/16
Inventor 周沐春吴征天付保川江保平
Owner SUZHOU UNIV OF SCI & TECH
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