A wireless sensor network charging system and method based on a patrol robot

Abstract

The application provides a wireless sensor network charging system and method based on a patrol robot. First, the application acquires information about the patrol robot, the sensor node and the pipe gallery, designs the pipe gallery monitoring point and the patrol robot hovering position, and takes the motion trajectory of the patrol robot as an optimization variable. Second, the application respectively calculates the distance between the sensor node and the patrol robot, the instantaneous power transmission power, and then calculates the received power of the sensor node when hovering and moving and the single transmission task cycle duration. On the basis of designing the lower bound convex function of the received power of the sensor node, the application further constructs the convex optimization problem of each iteration. Finally, the optimal trajectory of the patrol robot is obtained by solving the successive iteration convex optimization algorithm. The application reduces the power overflow to the greatest extent on the premise of meeting the minimum power demand of the sensor node, and achieves the purpose of minimizing the single transmission task cycle of the patrol robot.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of wireless rechargeable sensor networks, and particularly relates to a wireless sensor network charging system and method based on a patrol robot. BACKGROUND

[0002] In recent years, with the miniaturization and repeated reduction of energy consumption of electronic devices, sensors have been widely used. Sensors can be flexibly deployed in various complex environments, and with the self-organizing network function given to sensor nodes, sensors can collect and transmit sensing information in time through wireless communication. Traditional sensor nodes are equipped with batteries for power supply, but due to the wide distribution of sensor nodes and the large number of involved nodes, it is cumbersome and has a huge task to replace the batteries regularly. There are three solutions to solve the power problem of wireless sensor networks: energy saving, power collection and wireless charging. The energy saving method often sacrifices network performance, and the node will eventually fail due to power consumption, which does not fundamentally solve the problem. The common methods of power collection include collecting solar energy, wind energy and thermal energy. Since the pipe gallery is generally buried underground or under the sea, the available natural resources are scarce, so in the application scenario of urban underground pipe gallery, the wireless charging method becomes the best choice to prolong the life of the wireless sensor network in the pipe gallery.

[0003] The pipe gallery is centrally laid with various pipelines, such as natural gas pipelines, power cables, water supply pipelines, heating pipelines, sewage treatment pipelines, etc., which provide a large number of basic services for the city and have become the lifeline of the city. The construction and maintenance cost of the pipe gallery is huge, and if a disaster occurs, the loss is large and the harm is serious, so real-time monitoring of the state of the pipe gallery has high economic value. A large number of sensors of various types are usually arranged in the pipe gallery to form a large-scale sensor network. The environment in the pipe gallery is complex, and there are many data indicators that need to be monitored in real time, and the total amount of data transmitted by the sensors is large, and the energy consumption is also large. The energy consumption problem has become a challenge that must be faced for the normal operation of the wireless sensor network in the pipe gallery. The pipe gallery can be tens of kilometers long, the environment is complex, and the space is relatively cramped after wiring, so it is not convenient for personnel to move around. Replacing the batteries of a large number of sensors has high labor cost, personnel are not safe, and the replacement efficiency is low. The use of wireless rechargeable sensor networks will greatly reduce the maintenance cost.

[0004] The features of the wireless rechargeable sensor network in the pipe gallery are that: firstly, if the periodic fixed-point and fixed-time charging method is used, the charging cycle is too long if the charging time of the node reaches the predetermined charging time when the inspection robot leaves the tunnel, which is not conducive to prolonging the life of the entire sensor network. Secondly, considering the cost, personnel safety and environmental complexity, manual charging is also not feasible. Thirdly, various types of sensors are usually arranged in the pipe gallery, such as temperature sensors, humidity sensors, flammable and explosive gas sensors, and toxic gas sensors, or some nodes use integrated sensors, resulting in different node energy consumption rates, and it is not reasonable to take the same charging time. That is, the wireless sensor network charging in the pipe gallery needs a wireless mobile charging scheme that can charge multiple types of densely distributed sensors on demand and minimize the time period to solve the energy consumption problem of sensors in the pipe gallery.

[0005] The traditional scheme strategy of using a charging robot to transmit power to multiple types of sensors is that the charging robot finds the sensor closest to the current position, goes to the closest position to charge, and then goes to the next sensor position after the sensor reaches the required power. This scheme does not fully consider the omnidirectional nature of the charger, and when transmitting power to subsequent sensors, the received power of the completed sensor will overflow to a certain extent, causing waste of time and power cost.

[0006] At the present stage, the motion transmission strategy of the charging robot is improved to minimize the cycle, and the charging robot passes through the densely distributed sensors at low speed and passes through the places without sensors or with sparse sensors at high speed. The speed of the charging robot at each position is designed. This scheme fully considers the omnidirectional nature of the charging method and can solve the power overflow problem of the traditional strategy. The shortcomings of this scheme are obvious, and the algorithm adaptability is low. It is extremely challenging to solve the continuous trajectory design problem with an infinite number of variables such as the speed at any position, and there is no low-complexity general solution method at home and abroad. SUMMARY

[0007] In order to solve the above technical problems, the present application provides a wireless sensor network charging system and method based on an inspection robot.

[0008] The technical scheme of the system of the present application is a wireless sensor network charging system based on an inspection robot, comprising:

[0009] an inspection robot and a plurality of sensor nodes;

[0010] The inspection robot and the plurality of sensor nodes are connected in sequence;

[0011] Lay a track inside the pipe gallery, and place the inspection robot on the track to move;

[0012] Fixing multiple sensor nodes at different positions inside the pipe gallery;

[0013] The sensor node set, the monitoring point position set, the initial hovering position set of the inspection robot, the initial hovering time set of the inspection robot are constructed, and the motion trajectory of the inspection robot is taken as an optimization variable to be solved;The distance from each monitoring point to each sensor node, the distance from the inspection robot at each initial hovering position to each sensor node, the instantaneous power transmission power of each sensor node when the inspection robot is located at each monitoring point, the instantaneous power transmission power of each sensor node when the inspection robot is located at each initial hovering position, the total hovering time of the inspection robot, and the total moving time of the inspection robot are calculated in turn.

[0014] The technical scheme of the method of the application is a wireless sensor network charging method based on an inspection robot, and the specific steps are as follows:

[0015] Step 1: Set the starting point and the ending point of the inspection robot, evenly divide the pipe gallery between the starting point and the ending point of the inspection robot into multiple monitoring points, obtain the position, power demand, initial power, average power consumption, and vertical distance from the track of each sensor node.

[0016] Step 2: Construct a sensor node set, construct a monitoring point position set according to the positions of the multiple monitoring points, construct an initial hovering position set of the inspection robot according to multiple initial hovering positions of the inspection robot, construct an initial hovering time set of the inspection robot according to the corresponding initial hovering times of the multiple initial hovering positions of the inspection robot, and take the motion trajectory of the inspection robot as an optimization variable to be solved.

[0017] Step 3: Calculate the distance from each monitoring point to each sensor node, the distance from the inspection robot at each initial hovering position to each sensor node, the instantaneous power transmission power of each sensor node when the inspection robot is located at each monitoring point, the instantaneous power transmission power of each sensor node when the inspection robot is located at each initial hovering position, the total hovering time of the inspection robot, and the total moving time of the inspection robot in turn.

[0018] Step 4: Calculate the total power received by each sensor node during the hovering time of the inspection robot and the total power received by each sensor node during the moving time of the inspection robot. Calculate the cycle length of a single transmission task of the inspection robot based on the total hovering time and total moving time of the inspection robot.

[0019] Step 5: Sequentially construct the power transmission requirement constraints for each sensor node, the lower bound convex function of the power transmission of the inspection robot to each sensor node at each hovering position for each iteration, the lower bound convex function of the total power received by each sensor node within the single transmission task cycle of the inspection robot for each iteration, and the trajectory optimization objective of the inspection robot for each iteration, and further construct the convex optimization problem for each iteration.

[0020] Step 6: Solve the convex optimization problem for each iteration using the successive iterative convex optimization algorithm to obtain the optimal trajectory of the inspection robot. The inspection robot moves on the track of the pipe gallery according to the optimal trajectory to achieve wireless charging of multiple sensor nodes.

[0021] Preferably, the sensor node set in step 2 includes: a set of sensor node locations, a set of sensor node power requirements, a set of sensor node initial power levels, and a set of sensor node vertical distances from the track.

[0022] The set of locations of the sensor nodes is as follows:

[0023]

[0024] in, Number the sensor. Represents the set of locations of all sensor nodes. Indicates the number of sensor nodes. Indicates the first The location of each sensor node;

[0025] The power requirements of the sensor nodes are as follows:

[0026]

[0027] in, Number the sensor. This represents the set of power requirements for all sensor nodes. Indicates the number of sensor nodes. Indicates the first Power requirements of each sensor node;

[0028] The initial power set of the sensor nodes is:

[0029]

[0030] in, Number the sensor. This represents the initial set of electrical charges for all sensor nodes. Indicates the number of sensor nodes. Indicates the first The initial power of each sensor node;

[0031] The set of vertical distances between the sensor nodes and the track is:

[0032]

[0033] in, Number the sensor. This represents the set of heights of all sensor nodes from the track. Indicates the number of sensor nodes. Indicates the first The height of each sensor node from the track;

[0034] The set of monitoring point locations mentioned in step 2 is as follows:

[0035]

[0036] in, Number the monitoring points. For the number of monitoring points, For the first The location of each monitoring point This is the set of monitoring point locations;

[0037] The initial hovering position set of the inspection robot mentioned in step 2 is as follows:

[0038]

[0039] in, Number the hovering position. This represents the number of hover positions. The first inspection robot An initial hover position, This represents the initial hovering position set of the inspection robot;

[0040] The initial hovering time set of the inspection robot mentioned in step 2 is as follows:

[0041]

[0042] in, Number the hovering position. This represents the number of hover positions. Indicates that the inspection robot is in the first Initial hover time at each initial hover position This represents the set of initial hover times for the inspection robot;

[0043] The motion trajectory of the inspection robot described in step 2 is reconstructed by the intermittent hovering forward structure into an equivalent trajectory that hovers at the initial hovering position for an initial duration and moves at a constant speed at the maximum speed between hovering positions.

[0044] Preferably, step 3 involves calculating the distance from each monitoring point to each sensor node as follows:

[0045]

[0046] in, Number the sensor nodes. Indicates the number of sensor nodes. Number the monitoring points. The number of monitoring points, For the first The location of each monitoring point For the first The location of each sensor node. For the first The vertical distance of each sensor node from the track. For the first The monitoring point to the first The distance between sensor nodes.

[0047] Step 3 describes calculating the distance from the inspection robot to each sensor node at each initial hovering position:

[0048]

[0049] in, Number the sensor nodes. Indicates the number of sensor nodes. Indicates the initial hover position number. This indicates the number of initial hover positions. The first inspection robot An initial hover position, For the first The location of each sensor node. For the first The vertical distance of each sensor node from the track. For the inspection robot in the first The initial hover position to the first The distance between sensor nodes;

[0050] The instantaneous power transmitted by the inspection robot to each sensor node when the inspection robot is at each monitoring point is calculated as:

[0051]

[0052] wherein, is the sensor node number, denotes the number of sensor nodes, is the monitoring point number, is the number of monitoring points, is the transmission gain constant per unit distance, is the constant RF power of the inspection robot, is the distance from the th monitoring point to the th sensor node, is the instantaneous power transmitted by the inspection robot to the th sensor node when the inspection robot is at the th monitoring point;

[0053] The instantaneous power transmitted by the inspection robot to each sensor node when the inspection robot is at each initial initialization hover position is calculated as:

[0054]

[0055] wherein, is the sensor node number, denotes the number of sensor nodes, denotes the number of initialization hover positions, is the transmission gain constant per unit distance, is the constant RF power of the inspection robot, is the distance from the th initialization hover position to the th sensor node, is the instantaneous power transmitted by the inspection robot to the th sensor node when the inspection robot is at the th initial initialization hover position;

[0056] The total hover time of the inspection robot in Step 3 is calculated as:

[0057]

[0058] wherein, is the initialization hover position number, denotes the number of initialization hover positions, is the hover time of the inspection robot at the th initialization hover position, total hovering time of the inspection robot;

[0059] The total moving time of the inspection robot calculated in step 3 is defined as:

[0060]

[0061] wherein, is the total duration of the moving time period of the inspection robot, is the maximum speed of the inspection robot, is the starting point of the inspection robot, is the ending point of the inspection robot, denotes the two-dimensional norm calculation.

[0062] As a preference, the total amount of power received by each sensor node when the inspection robot is located in the hovering time calculated in step 4 is:

[0063]

[0064] wherein, is the sensor node number, denotes the number of sensor nodes, is the initialization hovering position number, denotes the number of initialization hovering positions, is the hovering time of the inspection robot at the th initialization hovering position, is the instantaneous transmission power of the th sensor node when the inspection robot is at the th initialization hovering position, is the total amount of power received by the th sensor node when the inspection robot is located in the hovering time;

[0065] The total amount of power received by each sensor node when the inspection robot is located in the moving time period calculated in step 4 is:

[0066]

[0067] wherein, is the sensor node number, denotes the number of sensor nodes, is the monitoring point number, is the number of monitoring points, is the instantaneous transmission power when the inspection robot is located between the th monitoring point and the th sensor node, is the maximum speed of the inspection robot, is the the position of the monitoring point, the first the total amount of electricity received by the sensor node at the monitoring point during the movement time period, denotes a two-dimensional norm calculation;

[0068] The single transmission task cycle duration of the inspection robot calculated in step 4 is:

[0069]

[0070] wherein, is the initialization hover position number, denotes the number of initialization hover positions, is the hover time of the inspection robot at the first is the maximum speed of the inspection robot, is the starting position of the inspection robot, is the end position of the inspection robot, is the single transmission task cycle duration of the inspection robot, denotes a two-dimensional norm calculation; As a preferred, the electricity transmission demand constraint of each sensor node in step 5 is defined as:

[0071]

[0072] wherein,

[0073] is the sensor node number, denotes the number of sensor nodes, is the initial electricity of the first is the total amount of electricity received by the sensor node at the monitoring point during the hover time, is the total amount of electricity received by the sensor node at the monitoring point during the movement time period, is the average power consumption of the first is the single transmission task cycle duration of the inspection robot, is the electricity demand of the first

[0074] The lower bound convex function of each iteration of the transmission electricity of each sensor node of the inspection robot at each hover position in step 5 is specifically as follows:

[0075] ​​​​​​

[0076]

[0077]

[0078]

[0079]

[0080] in, Number the hovering position. Indicates the number of hover positions. Number the sensor nodes. Indicates the number of sensor nodes. For the inspection robot located at the first When hovering at the first position... Instantaneous power transmission power of each sensor node, The first inspection robot One hovering position For the first inspection robot Hover position parameters for the next iteration Indicates the first The location of each sensor node. For the first inspection robot Hovering time at each hovering position For the first inspection robot The hover time parameter for the next iteration. For the first r The inspection robot in the next iteration The hovering position is related to the first The first convex approximation parameter of the sensor For the first r The inspection robot in the next iteration The hovering position is related to the first The second convex approximation parameter of the sensor, For the first r The inspection robot in the next iteration The hovering position is related to the first The third convex approximation parameter of the sensor, The first r The inspection robot in the next iteration The hovering position is related to the first The fourth convex approximation parameter of the sensor, For the inspection robot in the first r The iteration of the ... One hovering position For the inspection robot in the first r The iteration of the ... a hovering time, a lower bound convex function of the transmission power of the first sensor node by the inspection robot at the first hovering position in the first iteration; a hovering time, k a lower bound convex function of the transmission power of the first sensor node by the inspection robot at the first hovering position in the first iteration; r a hovering time, a lower bound convex function of the transmission power of the first sensor node by the inspection robot at the first hovering position in the first iteration; a derivative value of the function a derivative value of the function

[0081] Step 5: constructing a lower bound convex function of each iteration of the total received power of each sensor node within the single transmission task cycle time length of the inspection robot, specifically as follows:

[0082]

[0083] wherein, is the hovering position number, is the sensor number, represents the number of sensor nodes, is the first hovering position of the inspection robot, is the coordinate of the first sensor, is the hovering time at the first hovering position of the inspection robot, is the lower bound convex function of the transmission power of the first sensor node by the inspection robot at the first hovering position in the first iteration, is the lower bound convex function of the transmission power of the first sensor node by the inspection robot at the first hovering position in the first iteration; is the lower bound convex function of the transmission power of the first sensor node by the inspection robot at the first hovering position in the first iteration; is the lower bound convex function of the transmission power of the first sensor node by the inspection robot at the first hovering position in the first iteration; r is the lower bound convex function of the transmission power of the first sensor node by the inspection robot at the first hovering position in the first iteration; is the lower bound convex function of the transmission power of the first sensor node by the inspection robot at the first hovering position in the first iteration; k is the lower bound convex function of the transmission power of the first sensor node by the inspection robot at the first hovering position in the first iteration; is the lower bound convex function of the transmission power of the first sensor node by the inspection robot at the first hovering position in the first iteration; k is the lower bound convex function of the transmission power of the first sensor node by the inspection robot at the first hovering position in the first iteration; r Step 5: constructing a lower bound convex function of each iteration of the total received power of each sensor node within the single transmission task cycle time length of the inspection robot, specifically as follows:

[0084]

[0085]

[0086] wherein, is the single transmission task cycle time length of the inspection robot in the first iteration, is the hovering position set of the inspection robot, is the hovering time set of the inspection robot, is the minimum value of the single transmission task cycle time length of the inspection robot in each iteration calculated with as the variable;

[0087] ​​The convex optimization problem of each iteration is further constructed in Step 5, specifically as follows:

[0088]

[0089] wherein, is the sensor number, represents the number of sensor nodes, is the hovering position set of the inspection robot, is the hovering time set of the inspection robot, is the initial power of the th sensor node, is the total received power of the th sensor node in the single transmission task cycle duration of the inspection robot in the th iteration, is the total received power of the th sensor node when the inspection robot is in the motion time period, is the average power consumption of the th sensor node, is the single transmission task cycle duration of the inspection robot in the th iteration, is the power requirement of the th sensor node, is the minimum value of the single transmission task cycle duration of the inspection robot in each iteration calculated by taking as the variable;

[0090] The solution of the convex optimization problem in Step 5 is wherein, is the hovering position set obtained by the th iteration solution of the inspection robot, which is also the hovering position parameter of the lower bound convex function of the th iteration of the inspection robot, is the hovering time set obtained by the th iteration solution of the inspection robot, which is also the hovering time parameter of the lower bound convex function of the th iteration of the inspection robot;

[0091] As a preferred, the solution of the convex optimization problem in each iteration according to the successive iteration convex optimization algorithm in Step 6 is specifically as follows:

[0092] Step 6.1: Randomly initialize the initial iteration trajectory point set and hovering time set of the inspection robot , and the initial optimal solution set ;

[0093] wherein, an initial hovering position set for the inspection robot, an initial hovering time set for the inspection robot, an optimal hovering position set for the inspection robot, an optimal hovering time set for the inspection robot, set an iteration threshold and an iteration number ; calculate the initial single transmission task cycle time length of the inspection robot according to step 3 ;

[0094] Step 6.2: according to the iteration trajectory point set and the hovering time set , the lower bound convex function of each iteration of the transmission power of the inspection robot at each hovering position to each sensor node is constructed according to step 5 , and the lower bound convex function of each iteration of the total received power of each sensor node within the single transmission task cycle time length of the inspection robot is further constructed ;

[0095] wherein, is the hovering position set output value of the iteration of the inspection robot or the initial hovering position set of the inspection robot, and the lower bound convex function of each iteration of the transmission power of the inspection robot at each hovering position to each sensor node is constructed according to step 5 at the hovering position parameter of the iteration, is the hovering time set output value of the iteration of the inspection robot or the initial hovering time set of the inspection robot, and the lower bound convex function of each iteration of the transmission power of the inspection robot at each hovering position to each sensor node is constructed according to step 5 at the hovering time parameter of the iteration;

[0096] Step 6.3: solve the convex problem of the iteration according to step 5 by a convex optimization method, to obtain the hovering position solution and hovering time solution of the inspection robot of the iteration and the single transmission task cycle time length task time of the inspection robot of the iteration ;

[0097] wherein, is the hovering position set output value of the iteration of the inspection robot or the initial hovering position set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering position parameter of the first iteration of the inspection robot is output, and the iteration is stopped. the initial hovering position set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering position parameter of the first iteration of the inspection robot is output, and the iteration is stopped. the initial hovering time set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is output, and the iteration is stopped. the initial hovering time set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is output, and the iteration is stopped. the initial hovering time set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is output, and the iteration is stopped. the initial hovering time set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is output, and the iteration is stopped. the initial hovering time set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is output, and the iteration is stopped. the initial hovering time set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is output, and the iteration is stopped.

[0098] Step 6.4: if , the iteration is stopped, and the optimal trajectory of the inspection robot is output ; otherwise, the iteration is stopped. , , jump to step 6.2.

[0099] wherein, is the single transmission task cycle time length of the inspection robot for the first iteration, is the initial hovering position set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering position parameter of the first iteration of the inspection robot is output, and the iteration is stopped. is the initial hovering position set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering position parameter of the first iteration of the inspection robot is output, and the iteration is stopped. is the initial hovering time set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is output, and the iteration is stopped. is the initial hovering time set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is output, and the iteration is stopped. is the initial hovering time set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is output, and the iteration is stopped. is the initial hovering time set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is output, and the iteration is stopped. is the initial hovering time set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is output, and the iteration is stopped. is the initial hovering time set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is output, and the iteration is stopped. is the initial hovering time set of the inspection robot, and the lower bound convex function of the transmission electric quantity of each sensor node of the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is output, and the iteration is stopped. is the optimal hovering position set output value of the inspection robot, is the optimal hovering time set output value of the inspection robot, is the iteration threshold set in the iteration process, is the iteration number.

[0100] The present application has the advantages that:

[0101] In view of the deficiencies of the existing pipe gallery sensor system periodic power maintenance strategy, aiming at the on-demand charging demand of the pipe gallery sensor, the application provides a wireless charging strategy based on a pipe gallery inspection robot, which aims to reduce sensor power overflow and improve the power transmission efficiency of the inspection robot. The application reduces the single transmission task cycle of the inspection robot as much as possible under the premise of meeting the power demand of the sensor, and proposes a specific design of the inspection robot trajectory based on the intermittent hovering (SHM) structure and a specific trajectory solving scheme based on the continuous convex approximation algorithm, striving to minimize the single transmission task cycle of the inspection robot under the premise of meeting the power demand of the pipe gallery sensor system.

[0102] The application provides a large-scale sensor network charging strategy for urban pipe gallery laying based on an inspection robot. The charging strategy is that the inspection robot charges the sensor nodes on demand by using wireless electric wave, obtains the system parameters of each sensor and the inspection robot, models the power transmission system composed of the sensor and the inspection robot, designs a motion scheme of the inspection robot based on the intermittent hovering (SHM) structure, and realizes on-demand charging of the sensor nodes. The problem is solved by taking the power demand of each sensor as a constraint and minimizing the single transmission task cycle of the inspection robot as a target, and finally an efficient task trajectory of the single transmission task cycle of the robot is obtained. The task trajectory of the inspection robot minimizes the power overflow to the greatest extent under the premise of meeting the minimum power demand of the sensor nodes, and achieves the purpose of minimizing the single transmission task cycle of the inspection robot. BRIEF DESCRIPTION OF DRAWINGS

[0103] Figure 1 : method flowchart of the embodiment of the application;

[0104] Figure 2 : working schematic diagram of the inspection robot in the pipe gallery during wireless charging of the embodiment of the application;

[0105] Figure 3 : one-dimensional working diagram of the inspection robot wireless charging of the embodiment of the application;

[0106] Figure 4 : intermittent hovering forward structure diagram of the embodiment of the application. DETAILED DESCRIPTION

[0107] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the application.

[0108] In specific implementation, the method provided by the technical scheme of the present application can be automatically run by a computer software technology, and the system device of the method, such as a computer readable storage medium storing the corresponding computer program of the technical scheme of the present application and a computer device including the running of the corresponding computer program, should also be within the protection scope of the present application.

[0109] The technical scheme of the system of the embodiment of the present application is a wireless sensor network charging system based on a patrol robot, comprising:

[0110] a patrol robot and a plurality of sensor nodes;

[0111] The patrol robot and the plurality of sensor nodes are sequentially connected;

[0112] A track is laid along the inside of the pipe gallery, and the patrol robot is placed on the track to move;

[0113] The plurality of sensor nodes are fixed at different positions inside the pipe gallery.

[0114] The model of the patrol robot is USR urban underground pipe gallery robot, which is produced by Shenzhen Schroeder Industrial Group Co., Ltd.;

[0115] The model of the sensor node is BWM826 high-precision tilt angle sensor, which has been applied to Nantong Binjiang 220kV GIL pipe gallery.

[0116] A sensor node set, a monitoring point position set, an initialization hovering position set of the patrol robot, and an initialization hovering time set of the patrol robot are constructed, and the movement trajectory of the patrol robot is taken as an optimization variable to be solved; the distance from each monitoring point to each sensor node, the distance from the patrol robot at each initialization hovering position to each sensor node, the instantaneous power transmission power of each sensor node when the patrol robot is located at each monitoring point, the instantaneous power transmission power of each sensor node when the patrol robot is located at each initialization hovering position, the total hovering time of the patrol robot, and the total moving time of the patrol robot are sequentially calculated; the total power received by each sensor node when the patrol robot is located in the hovering time and the total power received by each sensor node when the patrol robot is located in the moving time are calculated, and the single transmission task cycle duration of the patrol robot is calculated according to the total hovering time of the patrol robot and the total moving time of the patrol robot; a convex optimization problem of each iteration is constructed; the convex optimization problem of each iteration is solved according to the successive iteration convex optimization algorithm to obtain the optimal trajectory of the patrol robot.

[0117] The following will be combined Figures 1 to 4 The technical scheme of the method of the embodiment of the present application is a wireless sensor network charging method based on a patrol robot, and the specific steps are as follows:

[0118] Figure 1 The step flow diagram of the embodiment of the application is shown. Step one includes setting the starting point, the ending point, the monitoring point, obtaining the position of the sensor node, the power requirement, the initial power, the average power consumption, the vertical distance from the track, step two includes constructing the sensor node set, constructing the monitoring point set, constructing the initial hovering position set of the inspection robot, constructing the initial hovering time set of the inspection robot, step three includes calculating the distance from the monitoring point to the sensor node, the instantaneous power transmission of the inspection robot at the monitoring point to the sensor node, calculating the distance from the hovering position to the sensor node, the instantaneous power transmission of the inspection robot to the sensor node at the hovering position, calculating the total hovering time and the total moving time of the inspection robot, step four includes calculating the total power received by the sensor node when the inspection robot is at the hovering and moving positions, calculating the period length of the single transmission task of the inspection robot, step five includes constructing the power requirement constraint of the sensor node, constructing the lower bound convex function of the power received by the sensor node in the single transmission period in each iteration, constructing the convex optimization problem in each iteration, step six includes solving the convex optimization problem in each iteration in sequence to obtain the optimal trajectory of the inspection robot.

[0119] Step 1: setting the starting point and the ending point of the inspection robot, evenly dividing the pipe gallery between the starting point and the ending point of the inspection robot into multiple monitoring points, obtaining the position, power requirement, initial power, average power consumption, and vertical distance from the track of each sensor node;

[0120] Figure 2 The working schematic diagram of the wireless charging of the inspection robot in the pipe gallery of the embodiment of the application is shown, wherein 1 represents various sensor nodes in the pipe gallery, 2 represents the inspection robot, and 3 represents the track of the inspection robot.

[0121] Figure 3 The one-dimensional working diagram of the wireless charging of the inspection robot of the embodiment of the application is shown. The inspection robot moves along the track, starts from the starting point, moves to the first hovering position , then moves in sequence until it moves to the hovering position , and finally moves to the ending point. The sensor nodes are distributed in the pipe gallery. The inspection robot performs omnidirectional wireless power transmission to all the sensor nodes.

[0122] Step 2: constructing the sensor node set, constructing the monitoring point position set according to the positions of the multiple monitoring points, constructing the initial hovering position set of the inspection robot according to the multiple initial hovering positions of the inspection robot, constructing the initial hovering time set of the inspection robot according to the corresponding initial hovering times at the multiple initial hovering positions of the inspection robot, and solving the motion track of the inspection robot as the optimization variable;

[0123] The set of sensor nodes in step 2 includes: a set of positions of the sensor nodes, a set of power requirements of the sensor nodes, a set of initial power of the sensor nodes, a set of vertical distances of the sensor nodes to the orbit,

[0124] The set of positions of the sensor nodes is:

[0125]

[0126] wherein, is a sensor number, represents a set of positions of all sensor nodes, represents a number of sensor nodes, represents a position of the th sensor node;

[0127] The set of power requirements of the sensor nodes is:

[0128]

[0129] wherein, is a sensor number, represents a set of power requirements of all sensor nodes, represents a number of sensor nodes, represents a power requirement of the th sensor node;

[0130] The set of initial power of the sensor nodes is:

[0131]

[0132] wherein, is a sensor number, represents a set of initial power of all sensor nodes, represents a number of sensor nodes, represents an initial power of the th sensor node;

[0133] The set of vertical distances of the sensor nodes to the orbit is:

[0134]

[0135] wherein, is a sensor number, represents a set of heights of all sensor nodes to the orbit, represents a number of sensor nodes, represents a height of the th sensor node to the orbit;

[0136] The set of monitoring point positions is:

[0137]

[0138] wherein, is a monitoring point number, is a monitoring point quantity, is a position of the th monitoring point, is the set of monitoring point positions;

[0139] The set of initialization hovering positions of the inspection robot is:

[0140]

[0141] wherein, is a hovering position number, is a hovering position quantity, is the th initialization hovering position of the inspection robot, is the set of initialization hovering positions of the inspection robot;

[0142] The set of initialization hovering times of the inspection robot is:

[0143]

[0144] wherein, is a hovering position number, is a hovering position quantity, is the initialization hovering time of the inspection robot at the th initialization hovering position, is the set of initialization hovering times of the inspection robot;

[0145] The motion trajectory of the inspection robot in step 2 is reconstructed by the intermittent hovering advancing structure into an equivalent trajectory of hovering at the initial hovering position for an initialization duration and moving at a maximum speed between the hovering positions;

[0146] Step 3: sequentially calculate the distance from each monitoring point to each sensor node, the distance from the inspection robot at each initialization hovering position to each sensor node, the instantaneous power transmission power of each sensor node when the inspection robot is at each monitoring point, the instantaneous power transmission power of each sensor node when the inspection robot is at each initial hovering position, the total hovering time of the inspection robot, and the total moving time of the inspection robot;

[0147] Figure 4The diagram shown is a simplified representation of the intermittent hovering forward movement structure according to an embodiment of the present invention, where solid dots represent the starting point, hovering position, and ending point of the inspection robot. The first inspection robot The inspection robot hovers at maximum speed between two adjacent hovering positions. Linear motion. Hollow dots represent sensor nodes, where... Indicates the first One sensor node, For the first The vertical distance of each sensor node from the track.

[0148] Step 3 involves calculating the distance from each monitoring point to each sensor node as follows:

[0149]

[0150] in, Number the sensor nodes. Indicates the number of sensor nodes. Number the monitoring points. The number of monitoring points, For the first The location of each monitoring point For the first The location of each sensor node. For the first The vertical distance of each sensor node from the track. For the first The monitoring point to the first The distance between sensor nodes.

[0151] Step 3 describes calculating the distance from the inspection robot to each sensor node at each initial hovering position:

[0152]

[0153] in, Number the sensor nodes. Indicates the number of sensor nodes. Indicates the initial hover position number. This indicates the number of initial hover positions. The first inspection robot An initial hover position, For the first The location of each sensor node. For the first The vertical distance of each sensor node from the track. For the inspection robot in the first The initial hover position to the first The distance between sensor nodes;

[0154] Step 3 describes calculating the instantaneous power transmission to each sensor node when the inspection robot is located at each monitoring point:

[0155]

[0156] in, Number the sensor nodes. Indicates the number of sensor nodes. Number the monitoring points. For the number of monitoring points, The transmission gain constant per unit distance. The constant RF power of the inspection robot is the product of the transmission gain constant per unit distance and the constant RF power of the inspection robot. , For the first The monitoring point to the first The distance between sensor nodes, When the inspection robot is located at the first At the first monitoring point, the first Instantaneous power transmission power of each sensor node;

[0157] The instantaneous power transmission from the inspection robot to each sensor node when it is at each initial hovering position, as described in step 3, is:

[0158]

[0159] in, Number the sensor nodes. Indicates the number of sensor nodes. This indicates the number of initial hover positions. The transmission gain constant per unit distance. The constant RF power of the inspection robot is the product of the transmission gain constant per unit distance and the constant RF power of the inspection robot. , For the inspection robot in the first The initial hover position to the first The distance between sensor nodes, For the inspection robot located at the first When the initial initial hover position is reached, the number of hover positions is... Instantaneous power transmission power of each sensor node;

[0160] In step 3, the total hovering time of the inspection robot is calculated as follows:

[0161]

[0162] wherein, is the initialization hover position number, represents the number of initialization hover positions, is the hover time of the inspection robot at the initialization hover position, is the total hover time of the inspection robot;

[0163] The total movement time of the inspection robot calculated in step 3 is defined as:

[0164]

[0165] wherein, is the total duration of the movement period of the inspection robot, is the maximum speed of the inspection robot, is the starting point of the inspection robot, is the end point of the inspection robot, represents the two-dimensional norm calculation.

[0166] Step 4: Calculate the total amount of power received by each sensor node when the inspection robot is in the hover time, the total amount of power received by each sensor node when the inspection robot is in the movement period, and the single transmission task cycle duration of the inspection robot according to the total hover time of the inspection robot and the total movement time of the inspection robot;

[0167] The calculation of the total amount of power received by each sensor node when the inspection robot is in the hover time in step 4 is:

[0168]

[0169] wherein, is the sensor node number, represents the number of sensor nodes, is the initialization hover position number, represents the number of initialization hover positions, is the hover time of the inspection robot at the initialization hover position, is the total amount of power received by the first sensor node when the inspection robot is in the hover time, is the instantaneous transmission power of the first sensor node by the inspection robot at the initialization hover position,

[0170] The calculation of the total amount of power received by each sensor node when the inspection robot is in the movement period in step 4 is: ​​​​​

[0171]

[0172] wherein, is the sensor node number, represents the number of sensor nodes, is the monitoring point number, is the number of monitoring points, is the instantaneous transmission power when the inspection robot is located between the th monitoring point and the th sensor node, is the maximum speed of the inspection robot, is the location of the th monitoring point, is the total amount of electricity received by the th sensor node during the movement time period when the inspection robot is located, represents the two-dimensional norm calculation;

[0173] The calculation of the single transmission task cycle duration of the inspection robot in step 4 is:

[0174]

[0175] wherein, is the initialization hover position number, represents the number of initialization hover positions, is the hover time of the inspection robot at the th initialization hover position, is the maximum speed of the inspection robot, is the starting position of the inspection robot, is the end position of the inspection robot, is the single transmission task cycle duration of the inspection robot, represents the two-dimensional norm calculation;

[0176] Step 5: sequentially build the electricity transmission demand constraint of each sensor node, the lower bound convex function of the transmission electricity of the inspection robot at each hover position for each sensor node for each iteration, the lower bound convex function of the total received electricity of each sensor node within the single transmission task cycle duration of the inspection robot for each iteration, and the trajectory optimization objective of the inspection robot for each iteration, further build the convex optimization problem for each iteration;

[0177] The electricity transmission demand constraint of each sensor node in step 5 is defined as:

[0178]

[0179] wherein, is the sensor node number, Indicates the number of sensor nodes. For the first Initial power of each sensor node, For the first The total amount of electricity received by each sensor node during the hovering time of the inspection robot. For the first The total power received by each sensor node during the time the inspection robot is in motion. For the first Average power consumption of each sensor node This refers to the cycle time of a single transmission task for the inspection robot. For the first Power requirements of each sensor node;

[0180] Step 5 describes constructing a lower bound convex function for each iteration of the power transmission of the inspection robot to each sensor node at each hovering position, as follows:

[0181]

[0182]

[0183]

[0184]

[0185]

[0186] in, Number the hovering position. Indicates the number of hover positions. Number the sensor nodes. Indicates the number of sensor nodes. For the inspection robot located at the first When hovering at the first position... Instantaneous power transmission power of each sensor node, The first inspection robot One hovering position For the first inspection robot Hover position parameters for the next iteration Indicates the first The location of each sensor node. For the first inspection robot Hovering time at each hovering position For the first inspection robot The hover time parameter for the next iteration. For the first r The next iteration of the inspection robot in the first a first convex approximation parameter of the first sensor for the hovering position, a second convex approximation parameter of the first sensor for the hovering position, a third convex approximation parameter of the first sensor for the hovering position, r a fourth convex approximation parameter of the first sensor for the hovering position, a first hovering position of the inspection robot at the first iteration, a second hovering position of the inspection robot at the first iteration, a third hovering position of the inspection robot at the first iteration, r a fourth hovering position of the inspection robot at the first iteration, a first hovering time of the inspection robot at the first iteration, a second hovering time of the inspection robot at the first iteration, a third hovering time of the inspection robot at the first iteration, r a fourth hovering time of the inspection robot at the first iteration, a first hovering position of the inspection robot at the second iteration, a second hovering position of the inspection robot at the second iteration, a first hovering position of the inspection robot at the third iteration, r a second hovering position of the inspection robot at the third iteration, a first hovering position of the inspection robot at the fourth iteration, a second hovering position of the inspection robot at the fourth iteration, r a first hovering time of the inspection robot at the fourth iteration, a second hovering time of the inspection robot at the fourth iteration, a first lower bound convex function of the transmission power of the first sensor node by the inspection robot at the first hovering position at the first iteration, a first lower bound convex function of the transmission power of the first sensor node by the inspection robot at the second hovering position at the first iteration, k a first lower bound convex function of the transmission power of the first sensor node by the inspection robot at the third hovering position at the first iteration, r a first lower bound convex function of the transmission power of the first sensor node by the inspection robot at the fourth hovering position at the first iteration; a derivative value of the function with respect to ;

[0187] Step 5: constructing the lower bound convex function of the total received power of each sensor node in each iteration within the single transmission task cycle of the inspection robot, as follows:

[0188]

[0189] wherein, is the hovering position number, is the number of hovering positions, is the sensor number, represents the number of sensor nodes, is the first hovering position of the inspection robot, is the coordinate of the first sensor, is the hovering time at the first hovering position of the inspection robot, is the first hovering position of the inspection robot at the first iteration, is the second hovering position of the inspection robot at the first iteration, is the third hovering position of the inspection robot at the first iteration, is the fourth hovering position of the inspection robot at the first iteration, r is the first lower bound convex function of the transmission power of the first sensor node by the inspection robot at the first hovering position at the first iteration, is the first lower bound convex function of the transmission power of the first sensor node by the inspection robot at the second hovering position at the first iteration, kThe lower bound of the transmitted power of each sensor node is a convex function. For the first k During a single transmission task cycle, the inspection robot receives power at the point where it is hovering. r The lower bound convex function of the next iteration;

[0190] Step 5 describes the construction of the trajectory optimization objective for each iteration of the inspection robot, as follows:

[0191]

[0192] in, For the first The cycle time of a single transmission task for the inspection robot in the next iteration This is a set of hovering positions for the inspection robot. This is the set of hovering times for the inspection robot. For The minimum value of the single transmission task cycle time of the inspection robot in each iteration is calculated as a variable.

[0193] Step 5 further constructs the convex optimization problem for each iteration as follows:

[0194]

[0195] in, Number the sensor. Indicates the number of sensor nodes. This is a set of hovering positions for the inspection robot. This is the set of hovering times for the inspection robot. For the first Initial power of each sensor node, For the first The first sensor node receives the first portion of the total power during a single transmission task cycle of the inspection robot. The lower bound convex function of the nth iteration. For the first The total power received by each sensor node during the time the inspection robot is in motion. For the first Average power consumption of each sensor node For the first The cycle time of a single transmission task for the inspection robot in the next iteration For the first Power requirements of each sensor node For The minimum value of the single transmission task cycle time of the inspection robot in each iteration is calculated as a variable.

[0196] The solution to the convex optimization problem described in step 5 is ,in For the first inspection robot The set of hovering positions obtained in the nth iteration is also the set of the inspection robot's nth iteration. The hovering position parameter of the lower bound convex function in the next iteration. For the first inspection robot The set of hovering times obtained from the nth iteration is also the set of hovering times obtained by the inspection robot. The hovering time parameter of the lower bound convex function in the next iteration;

[0197] Step 6: Solve the convex optimization problem for each iteration using the successive iterative convex optimization algorithm to obtain the optimal trajectory of the inspection robot;

[0198] Step 6 describes solving the convex optimization problem for each iteration using the successive iterative convex optimization algorithm, as follows:

[0199] Step 6.1: Randomly initialize the initial iterative trajectory point set and hovering time set of the inspection robot. Initial optimal solution set ;

[0200] in, This is the initial hovering position set for the inspection robot. This represents the initial hovering time set of the inspection robot. This represents the set of optimal hovering positions for the inspection robot. Set an iteration threshold for the optimal hovering time set of the inspection robot. and number of iterations ; Calculate the initial single transmission task cycle duration of the inspection robot based on step 3. ;

[0201] Step 6.2: According to the first The set of trajectory points and the set of hovering times in the next iteration Step 5 involves constructing a lower bound convex function for each iteration of the electrical transmission power of the inspection robot to each sensor node at each hovering position. Furthermore, a lower bound convex function is constructed for each iteration of the total power received by each sensor node within the duration of a single transmission task cycle of the inspection robot. ;

[0202] in, For the first inspection robot The output value of the hover position set in the next iteration or the initial set of hovering positions of the inspection robot, and the lower bound convex function of the transmission energy of each sensor node by the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering position parameter of the first iteration of the inspection robot is outputted, and the hovering time parameter of the first iteration of the inspection robot is outputted , the initial set of hovering times of the inspection robot, and the lower bound convex function of the transmission energy of each sensor node by the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is outputted , the initial set of hovering times of the inspection robot, and the lower bound convex function of the transmission energy of each sensor node by the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is outputted ;

[0203] Step 6.3: the convex problem of the first iteration described in step 5 is solved by a convex optimization method, and the hovering position solution and the hovering time solution of the inspection robot of the first iteration are obtained , the single transmission task cycle time of the inspection robot of the first iteration ; ,

[0204] wherein, is the initial set of hovering positions of the inspection robot, and the lower bound convex function of the transmission energy of each sensor node by the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering position parameter of the first iteration of the inspection robot is outputted, and the hovering time parameter of the first iteration of the inspection robot is outputted , the initial set of hovering times of the inspection robot, and the lower bound convex function of the transmission energy of each sensor node by the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is outputted , is the initial set of hovering times of the inspection robot, and the lower bound convex function of the transmission energy of each sensor node by the inspection robot at each hovering position for each iteration is constructed according to step 5, the hovering time parameter of the first iteration of the inspection robot is outputted , the single transmission task cycle time of the inspection robot of the first iteration ;

[0205] Step 6.4: if , the iteration is stopped, and the optimal trajectory of the inspection robot is outputted ; otherwise, , is updated, and the step 6.2 is jumped to

[0206] wherein, is the single transmission task cycle time of the inspection robot of the first iteration , ​​​For the first inspection robot The output value of the hover position set in the next iteration or The initial hovering position set of the inspection robot is determined, and according to step 5, the lower bound convex function of the power transmitted by the inspection robot to each sensor node at each hovering position is constructed for each iteration in the twentieth iteration. Hover position parameters for the next iteration For the first inspection robot The output value of the hover time set in the next iteration or The initial hovering time set of the inspection robot is determined, and according to step 5, the lower bound convex function of the power transmitted by the inspection robot to each sensor node at each hovering position is constructed for each iteration in the twentieth iteration. The hover time parameter for the next iteration. The output value represents the set of optimal hovering positions for the inspection robot. The output value is the set of optimal hovering times for the inspection robot. This is the iteration threshold set during the iteration process. This represents the number of iterations.

[0207] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0208] Although this invention uses terms such as inspection robot and wireless sensor node frequently, the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of this invention; interpreting them as any additional limitation would contradict the spirit of this invention.

[0209] It should be understood that the above description of the preferred embodiments is quite detailed, but it should not be considered as a limitation on the scope of protection of this invention. Those skilled in the art, under the guidance of this invention, can make substitutions or modifications without departing from the scope of protection of the claims of this invention, and all such substitutions or modifications fall within the scope of protection of this invention. The scope of protection of this invention should be determined by the appended claims.

Claims

1. A wireless sensor network charging method based on a patrol robot, characterized by, Includes the following steps: Step 1: Set the start and end points of the inspection robot. Divide the pipe gallery evenly into multiple monitoring points between the start and end points of the inspection robot. Obtain the position, power requirement, initial power, average power consumption, and vertical distance from the track for each sensor node. Step 2: Construct a sensor node set, construct a monitoring point location set based on the positions of multiple monitoring points, construct an initial hovering position set for the inspection robot based on the multiple initial hovering positions of the inspection robot, construct an initial hovering time set for the inspection robot based on the initial hovering time corresponding to the multiple initial hovering positions of the inspection robot, and solve the problem by using the motion trajectory of the inspection robot as an optimization variable; Step 3: Calculate the following in sequence: the distance from each monitoring point to each sensor node, the distance from the inspection robot to each sensor node at each initial hovering position, the instantaneous power transmission from the inspection robot to each sensor node when it is at each monitoring point, the instantaneous power transmission from the inspection robot to each sensor node when it is at each initial hovering position, the total hovering time of the inspection robot, and the total movement time of the inspection robot. Step 4: Calculate the total power received by each sensor node during the hovering time of the inspection robot and the total power received by each sensor node during the moving time of the inspection robot. Calculate the cycle length of a single transmission task of the inspection robot based on the total hovering time and total moving time of the inspection robot. Step 5: Sequentially construct the power transmission requirement constraints for each sensor node, the lower bound convex function of the power transmission of the inspection robot to each sensor node at each hovering position for each iteration, the lower bound convex function of the total power received by each sensor node within the single transmission task cycle of the inspection robot for each iteration, and the trajectory optimization objective of the inspection robot for each iteration, and further construct the convex optimization problem for each iteration. Step 6: Solve the convex optimization problem for each iteration using the successive iterative convex optimization algorithm to obtain the optimal trajectory of the inspection robot. The inspection robot moves on the track of the pipe gallery according to the optimal trajectory to achieve wireless charging of multiple sensor nodes.

2. The wireless sensor network charging method based on an inspection robot according to claim 1, characterized in that: The sensor node set mentioned in step 2 includes: the set of sensor node locations, the set of sensor node power requirements, the set of sensor node initial power, and the set of sensor node vertical distances from the track. The set of locations of the sensor nodes is as follows: in, Number the sensor. Represents the set of locations of all sensor nodes. Indicates the number of sensor nodes. Indicates the first The location of each sensor node; The power requirements of the sensor nodes are as follows: in, Number the sensor. This represents the set of power requirements for all sensor nodes. Indicates the number of sensor nodes. Indicates the first Power requirements of each sensor node; The initial power set of the sensor nodes is: in, Number the sensor. This represents the initial set of electrical charges for all sensor nodes. Indicates the number of sensor nodes. Indicates the first The initial power of each sensor node; The set of vertical distances between the sensor nodes and the track is: in, Number the sensor. This represents the set of heights of all sensor nodes from the track. Indicates the number of sensor nodes. Indicates the first The height of each sensor node from the track; The set of monitoring point locations mentioned in step 2 is as follows: in, Number the monitoring points. For the number of monitoring points, For the first The location of each monitoring point This is the set of monitoring point locations; The initial hovering position set of the inspection robot mentioned in step 2 is as follows: in, To initialize the hover position number, To initialize the number of hover positions, The first inspection robot An initial hover position, This represents the initial hovering position set of the inspection robot; The initial hovering time set of the inspection robot mentioned in step 2 is as follows: in, To initialize the hover position number, To initialize the number of hover positions, Indicates that the inspection robot is in the first Initial hover time at each initial hover position This represents the set of initial hover times for the inspection robot; The motion trajectory of the inspection robot described in step 2 is reconstructed through an intermittent hovering forward structure into an equivalent trajectory that hovers at the initial hovering position for an initial duration and moves at a constant speed at maximum speed between hovering positions.

3. The wireless sensor network charging method based on an inspection robot according to claim 2, characterized in that: Step 3 involves calculating the distance from each monitoring point to each sensor node as follows: in, Number the sensor nodes. Indicates the number of sensor nodes. Number the monitoring points. The number of monitoring points, For the first The location of each monitoring point For the first The location of each sensor node. For the first The vertical distance of each sensor node from the track. For the first The monitoring point to the first The distance between sensor nodes; Step 3 describes calculating the distance from the inspection robot to each sensor node at each initial hovering position: in, Number the sensor nodes. Indicates the number of sensor nodes. Indicates the initial hover position number. This indicates the number of initial hover positions. The first inspection robot An initial hover position, For the first The location of each sensor node. For the first The vertical distance of each sensor node from the track. For the inspection robot in the first The initial hover position to the first The distance between sensor nodes; Step 3 describes calculating the instantaneous power transmission to each sensor node when the inspection robot is located at each monitoring point: in, Number the sensor nodes. Indicates the number of sensor nodes. Number the monitoring points. For the number of monitoring points, The transmission gain constant per unit distance. For the constant radio frequency power of the inspection robot, For the first The monitoring point to the first The distance between sensor nodes, For when the inspection robot is located at the first At the first monitoring point, the first Instantaneous power transmission power of each sensor node; The instantaneous power transmission from the inspection robot to each sensor node when it is at each initial hovering position, as described in step 3, is: in, Number the sensor nodes. Indicates the number of sensor nodes. This indicates the number of initial hover positions. The transmission gain constant per unit distance. For the constant radio frequency power of the inspection robot, For the inspection robot in the first The initial hover position to the first The distance between sensor nodes, For the inspection robot located at the first When the initial hover position is reached, the number of times... Instantaneous power transmission power of each sensor node; In step 3, the total hovering time of the inspection robot is calculated as follows: in, To initialize the hover position number, This indicates the number of initial hover positions. For the inspection robot in the first The hover time at the initial hover position. This refers to the total hovering time of the inspection robot; In step 3, the total travel time of the inspection robot is defined as follows: in, This represents the total duration of the inspection robot's movement. This is the maximum speed of the inspection robot. This serves as the starting point for the inspection robot. The inspection robot's destination. This indicates the calculation of the two-dimensional norm.

4. The wireless sensor network charging method based on an inspection robot according to claim 3, characterized in that: Step 4 involves calculating the total electrical charge received by each sensor node during the hovering time of the inspection robot: in, Number the sensor nodes. Indicates the number of sensor nodes. To initialize the hover position number, This indicates the number of initial hover positions. For the inspection robot in the first The hover time at the initial hover position. For the inspection robot in the first When initializing the hover position, for the first Instantaneous transmission power of each sensor node, For the first The total amount of electricity received by each sensor node during the hovering time of the inspection robot.

5. The wireless sensor network charging method based on an inspection robot according to claim 4, characterized in that: Step 4 involves calculating the total power received by each sensor node during the inspection robot's movement period: in, Number the sensor nodes. Indicates the number of sensor nodes. Number the monitoring points. For the number of monitoring points, For when the inspection robot is located at the first The monitoring point and the first Instantaneous power transmission between sensor nodes, This is the maximum speed of the inspection robot. For the first The location of each monitoring point For the first The total power received by each sensor node during the time the inspection robot is in motion. This indicates the calculation of the two-dimensional norm.

6. The wireless sensor network charging method based on an inspection robot according to claim 5, characterized in that: Step 4 describes the calculation of the single transmission task cycle duration for the inspection robot: in, To initialize the hover position number, This indicates the number of initial hover positions. For the inspection robot in the first The hover time at the initial hover position. This is the maximum speed of the inspection robot. This is the starting point for the inspection robot. This is the endpoint of the inspection robot. This refers to the cycle time of a single transmission task for the inspection robot. This indicates the calculation of the two-dimensional norm.

7. The wireless sensor network charging method based on an inspection robot according to claim 6, characterized in that: The power transmission requirement constraint for each sensor node in step 5 is defined as follows: in, Number the sensor nodes. Indicates the number of sensor nodes. For the first Initial power of each sensor node, For the first The total amount of electricity received by each sensor node during the hovering time of the inspection robot. For the first The total power received by each sensor node during the time the inspection robot is in motion. For the first Average power consumption of each sensor node This refers to the cycle time of a single transmission task for the inspection robot. For the first Power requirements of each sensor node; Step 5 describes constructing a lower bound convex function for each iteration of the power transmission of the inspection robot to each sensor node at each hovering position, as follows: in, To initialize the hover position number, This indicates the number of initial hover positions. Number the sensor nodes. Indicates the number of sensor nodes. For the inspection robot located at the first When the initial hover position is reached, the number of times... Instantaneous power transmission power of each sensor node, The first inspection robot An initial hover position, For the first inspection robot Hover position parameters for the next iteration Indicates the first The location of each sensor node. For the first inspection robot Hover time at the initial hover position. For the first inspection robot The hover time parameter for the next iteration. For the first r The inspection robot in the next iteration The initial hover position is related to the first The first convex approximation parameter of the sensor For the first r The inspection robot in the next iteration The initial hover position is related to the first The second convex approximation parameter of the sensor, For the first r The inspection robot in the next iteration The initial hover position is related to the first The third convex approximation parameter of the sensor, The first r The inspection robot in the next iteration The initial hover position is related to the first The fourth convex approximation parameter of the sensor, For the inspection robot in the first r The iteration of the ... An initial hover position, For the inspection robot in the first r The iteration of the ... One hovering time, For the inspection robot in the first The initial hover position for the first k The first sensor node's transmitted power r The lower bound convex function of the next iteration; Representation function about The derivative value; Step 5 describes constructing a lower bound convex function for the total received power of each sensor node within a single transmission task cycle of the inspection robot for each iteration, as follows: in, To initialize the hover position number, Number the sensor. Indicates the number of sensor nodes. For the first inspection robot An initial hover position, For the first The coordinates of each sensor, For the first inspection robot Hover time at the initial hover position. For the first r The inspection robot in the next iteration The initial hover position for the first k The lower bound of the transmitted power of each sensor node is a convex function. For the first k During a single transmission task cycle, the inspection robot receives power at the point where it is hovering. r The lower bound convex function of the nth iteration.

8. The wireless sensor network charging method based on an inspection robot according to claim 7, characterized in that: Step 5: Construct the trajectory optimization objective for each iteration of the inspection robot, as follows: in, For the first The cycle time of a single transmission task for the inspection robot in the next iteration This is a set of hovering positions for the inspection robot. This is the set of hovering times for the inspection robot. For The minimum value of the single transmission task cycle time of the inspection robot in each iteration is calculated as a variable. Step 5 further constructs the convex optimization problem for each iteration as follows: in, Number the sensor. Indicates the number of sensor nodes. This is a set of hovering positions for the inspection robot. This is the set of hovering times for the inspection robot. For the first Initial power of each sensor node, For the first The first sensor node receives the first portion of the total power during a single transmission task cycle of the inspection robot. The lower bound convex function of the nth iteration. For the first The total power received by each sensor node during the time the inspection robot is in motion. For the first Average power consumption of each sensor node For the first The cycle time of a single transmission task for the inspection robot in the next iteration For the first Power requirements of each sensor node For The minimum value of the single transmission task cycle time of the inspection robot in each iteration is calculated as a variable. The solution to the convex optimization problem described in step 5 is ,in For the first inspection robot The set of hovering positions obtained in the nth iteration is also the set of the inspection robot's nth iteration. The hovering position parameter of the lower bound convex function in the next iteration. For the first inspection robot The set of hovering times obtained from the nth iteration is also the set of hovering times obtained by the inspection robot. The hovering time parameter of the lower bound convex function in the next iteration.

9. The wireless sensor network charging method based on an inspection robot according to claim 8, characterized in that: Step 6 describes solving the convex optimization problem for each iteration using the successive iterative convex optimization algorithm, as follows: Step 6.1: Randomly initialize the initial iterative trajectory point set and hovering time set of the inspection robot. Initial optimal solution set ; in, This is the initial hovering position set for the inspection robot. This represents the initial hovering time set of the inspection robot. This represents the set of optimal hovering positions for the inspection robot. Set an iteration threshold for the optimal hovering time set of the inspection robot. and number of iterations ; Calculate the initial single transmission task cycle duration of the inspection robot based on step 3. ; Step 6.2: According to the first The set of trajectory points and the set of hovering times in the next iteration Step 5 involves constructing a lower bound convex function for each iteration of the electrical transmission power of the inspection robot to each sensor node at each hovering position. Furthermore, a lower bound convex function is constructed for each iteration of the total power received by each sensor node within the duration of a single transmission task cycle of the inspection robot. ; in, For the first inspection robot The output value of the hover position set in the next iteration or The initial hovering position set of the inspection robot is determined, and according to step 5, the lower bound convex function of the power transmitted by the inspection robot to each sensor node at each hovering position is constructed for each iteration in the twentieth iteration. Hover position parameters for the next iteration For the first inspection robot The output value of the hover time set in the next iteration or The initial hovering time set of the inspection robot is determined, and according to step 5, the lower bound convex function of the power transmitted by the inspection robot to each sensor node at each hovering position is constructed for each iteration in the twentieth iteration. The hover time parameter for the next iteration; Step 6.3: Solve the problem described in step 5 using convex optimization methods. The convex problem in the nth iteration yields the th... The hovering position and hovering time solutions for the inspection robot in the next iteration. and the The single transmission task cycle time and task time of the next iteration of the inspection robot ; in, For the first inspection robot The output value of the hover position set in the next iteration or The initial hovering position set of the inspection robot is determined, and according to step 5, the lower bound convex function of the power transmitted by the inspection robot to each sensor node at each hovering position is constructed for each iteration in the twentieth iteration. Hover position parameters for the next iteration For the first inspection robot The output value of the hover time set in the next iteration or The initial hovering time set of the inspection robot is determined, and according to step 5, the lower bound convex function of the power transmitted by the inspection robot to each sensor node at each hovering position is constructed for each iteration in the twentieth iteration. The hover time parameter for the next iteration; For the first The cycle time of a single transmission task for the inspection robot in the next iteration; Step 6.4: If Stop iterating and output the optimal trajectory of the inspection robot. Otherwise, update. , Proceed to step 6.2; in, For the first The cycle time of a single transmission task for the inspection robot in the next iteration For the first inspection robot The output value of the hover position set in the next iteration or The initial hovering position set of the inspection robot is determined, and according to step 5, the lower bound convex function of the power transmitted by the inspection robot to each sensor node at each hovering position is constructed for each iteration in the twentieth iteration. Hover position parameters for the next iteration For the first inspection robot The output value of the hover time set in the next iteration or The initial hovering time set of the inspection robot is determined, and according to step 5, the lower bound convex function of the power transmitted by the inspection robot to each sensor node at each hovering position is constructed for each iteration in the twentieth iteration. The hover time parameter for the next iteration. The output value represents the set of optimal hovering positions for the inspection robot. The output value is the set of optimal hovering times for the inspection robot. This is the iteration threshold set during the iteration process. This represents the number of iterations.

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