Implementation method of a robot-based data monitoring system for residential communities after disasters

Abstract

The present invention provides a method for implementing a post-disaster residential community data monitoring system based on robots. The system includes a plurality of robot nodes and monitoring nodes evenly distributed in the post-disaster residential community. The robot nodes are divided into ordinary nodes, collection nodes, collection head nodes, and forwarding nodes. The post-disaster residential community contains multiple monitoring locations. Through a method for implementing a post-disaster residential community data monitoring system based on robots, staff can timely monitor the data of the post-disaster residential community, obtain information such as the locations of trapped residents, physiological parameters, and air parameters, conduct timely rescue work, reduce disaster losses, and have broad application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of post-disaster monitoring, and particularly to a method for implementing a data monitoring system for post-disaster residential communities. Background Art

[0002] Post-disaster monitoring is an important task. By collecting and monitoring data of post-disaster residential communities, information such as the locations of trapped residents, physiological parameters, and air parameters can be obtained for comprehensive monitoring and early warning, and timely measures can be taken to reduce disaster losses and protect the lives and property of the people. Currently, the common data monitoring of post-disaster residential communities is carried out through manual collection, which is very inefficient. At the same time, it is not conducive to the health of rescue workers in the case of a toxic environment.

[0003] This system aims to achieve real-time monitoring of trapped residents and the environment in post-disaster residential communities through robots, implement timely rescue, and ensure the safety of the lives and property of the people. Summary of the Invention

[0004] Object of the Invention: The technical problem to be solved by the present invention is to provide a method for implementing a data monitoring system for post-disaster residential communities based on robots in view of the deficiencies of the prior art.

[0005] Technical Solution: The present invention discloses a method for implementing a data monitoring system for post-disaster residential communities based on robots. The system includes a plurality of robot nodes and monitoring nodes evenly distributed in post-disaster residential communities. The robot nodes are divided into ordinary nodes, collection nodes, collection head nodes, and forwarding nodes. The post-disaster area contains a plurality of monitoring locations. The method includes:

[0006] If the current energy value of the ordinary node is greater than the energy values of all entries in the machine table, then mark itself as a collection node.

[0007] The collection head node sends a request message to collect a data set. Among them, the request message includes a message ID, a set of node IDs, and a node ID.

[0008] The ordinary node that receives the request message sends a response message. Among them, the response message includes a message ID, a data set, a node ID, and a next-hop node ID, and the data set in the response message includes the data collected by itself. In addition, the collection node that receives the request message creates a collection entry and forwards the request message.

[0009] The collecting head node or collecting node that receives the response message creates a data table entry; wherein, the data set of the data table entry is set to the data set in the response message; and, the collecting node that receives the response message sets the data set of the response message to the union of the data sets of all data table entries, and forwards the response message; and, the collecting head node that receives the response message constructs a data set, the value of which is equal to the union of the data sets in all data table entries;

[0010] The collecting head node sends a data message, wherein the data set in the data message is equal to the constructed data set;

[0011] The forwarding node that receives the data message forwards the data message; and, the monitoring node that receives the data message saves the data set in the data message.

[0012] In the method,

[0013] There is only one collecting head node in the robots distributed at a monitoring location;

[0014] In the initial state, all robot nodes are ordinary nodes, identified by a unique node ID; wherein, the node ID is a pre-set address or a media access control address;

[0015] Each of the robot nodes saves a robot table; wherein, each robot table entry includes a node ID, an energy value, coordinates, a node type, and a life cycle; the node type values of an ordinary node, a collecting node, a collecting head node, and a forwarding node are 0, 1, 2, and 3 respectively;

[0016] The method further includes:

[0017] The robot node sends a machine message, wherein the node ID of the machine message is its own node ID, the energy value is the current remaining energy value, the coordinates are its own current coordinates, and the node type is its own current node type value;

[0018] After the neighbor robot node receives the machine message, it determines whether there is a robot table entry whose node ID is equal to the node ID in the machine message. If it exists, it sets the energy value, coordinates, and node type of the robot table entry to the energy value, coordinates, and node type in the machine message respectively, and sets the life cycle to the maximum value; otherwise, it creates a robot table entry whose node ID is equal to the node ID in the machine message, and sets the energy value, coordinates, and node type of the created robot table entry to the energy value, coordinates, and node type in the machine message respectively, and sets the life cycle to the maximum value.

[0019] The method further includes:

[0020] If the node type of each machine entry of the ordinary node is equal to 0 or 3, or there is no machine entry, and the node type of the machine entry is equal to 1 and the distance between its coordinates and the coordinates of the monitoring node is greater than the distance between its own coordinates and the coordinates of the monitoring node, then calculate the weight w1 of each machine entry according to formula (1);

[0021] w1 = a1×e1 / e2 + (1 - a1)×d2 / d1 (1)

[0022] Where a1 is an adjustment coefficient, e1 is the energy value in the machine entry, d1 is the distance between the coordinates in the machine entry and the coordinates of the monitoring node, e2 is the average value of the energy values of all machine entries of the ordinary node, and d2 is the average value of the distances between the coordinates of all machine entries of the ordinary node and the coordinates of the monitoring node;

[0023] The ordinary node selects the machine entry with the largest weight and sends an election message; where the node ID of the election message is the node ID of the selected machine entry; after receiving the election message, if its own node ID is equal to the node ID in the election message, the neighbor robot node marks itself as a collection node.

[0024] The method further includes:

[0025] If there is no machine entry with node type 2 in the machine table of the collection node CR1, and the distances between the coordinates of all machine entries with node type 1 in the machine table and the coordinates of the monitoring node are all greater than the distance between its own coordinates and the coordinates of the monitoring node, then mark itself as the primary collection node;

[0026] Otherwise, if there is no machine entry with node type 2 in the machine table of the collection node CR1, and the distances between the coordinates of all machine entries with node type 1 in the machine table and the coordinates of the monitoring node are all not less than the distance between its own coordinates and the coordinates of the monitoring node, and the energy value of the collection node CR1 is greater than the energy values of some machine entries whose distances between the coordinates and the coordinates of the monitoring node are equal to the distance between the coordinates of the collection node CR1 and the coordinates of the monitoring node, the collection node CR1 then marks itself as the primary collection node.

[0027] The method further includes:

[0028] Each robot maintains a collection table, where a collection entry contains a set of node IDs and a node ID; the collection table contains only one collection entry and is initially an empty table;

[0029] Each robot stores a data table, where a data entry contains a data set and a node ID;

[0030] The method further includes:

[0031] If the node ID of the collection node that receives the request message is included in the node ID set of the request message, set the node ID set variable s1, and calculate the value of variable s1 according to formula (2);

[0032] (2)

[0033] Wherein, both CRS1 and CRS2 are node ID sets. The node ID set CRS1 is composed of the node IDs of all machine entries with a node type equal to 1. The node ID set CRS2 is equal to the node ID set in the request message. PCR1 is a node ID variable, and its value is equal to the node ID in the request message;

[0034] The collection node creates a collection entry. The node ID of the collection entry is equal to the node ID in the request message, and the node ID set is equal to variable s1. The collection node sets the node ID in the request message as its own node ID, sets the node ID set as variable s1, and forwards it to the request message;

[0035] The ordinary node that receives the request message sends a response message. The message ID of the response message is equal to 4, the data set contains the data collected by itself, the node ID is equal to its own node ID, and the next-hop node ID is equal to the node ID in the request message.

[0036] The method further includes:

[0037] If the collection first node receives the response message, or the node ID of the collection node that receives the response message is equal to the next-hop node ID in the response message, determine whether there is a data table entry whose node ID is equal to the node ID in the response message. If it exists, set the data set of the data table entry as the data set in the response message. Otherwise, create a data table entry. The node ID of the created data table entry is equal to the node ID in the response message, and set the data set of the created data table entry as the data set in the response message;

[0038] The collection first node or the collection node constructs a node ID set n1. The node ID set n1 is composed of the node IDs of all data table entries, and constructs a node ID set n2. The node ID set n2 is composed of the node IDs of all machine entries with a node type of 0;

[0039] If the node ID set of the collection entry of the collection node is an empty set, and the node ID set n1 is equal to the node ID set n2, then set the data set of the response message to the union of the data sets of all data entries, set the node ID to its own node ID, set the next-hop node ID to the node ID in the collection entry, delete the collection entry, and forward the response message;

[0040] If the node ID set of the collection entry of the collection node is not an empty set, and the node ID set n1 is equal to the union of the node ID set n2 and the node ID set of the collection entry, then set the data set of the response message to the union of the data sets of all data entries, set the node ID to its own node ID, set the next-hop node ID to the node ID in the collection entry, delete the collection entry, and forward the response message;

[0041] If the node ID set of the collection entry of the collection head node is an empty set, and the node ID set n1 is equal to the node ID set n2, then construct a data set whose value is equal to the union of the data sets in all data entries;

[0042] The collection head node HN1 constructs a node ID set n3, which consists of the node IDs of all machine entries with node type 1;

[0043] If the node ID set of the collection entry of the collection head node is not an empty set, and the node ID set n1 is equal to the union of the node ID set n2 and the node ID set n3, then construct a data set whose value is equal to the union of the data sets in all data entries.

[0044] The method further includes:

[0045] If the node types of all machine entries of the collection head node are not equal to 3, then calculate the weight of each machine entry according to formula (1), select the machine entry with the largest weight, and send a data message. The message ID of this data message is 5, the node ID is equal to the node ID of this machine entry, and the data set is equal to the constructed data set;

[0046] Otherwise, the collection head node selects a machine entry whose node type is equal to 3, and sends a data message. The message ID of this message is 5, the node ID is equal to the node ID of the selected machine entry, and the data set is equal to the constructed data set.

[0047] The method further includes:

[0048] If the node ID of the robot node that receives the data message is equal to the node ID in the data message, and there is at least one machine entry whose node type is equal to 3 and the distance between its coordinates and the coordinates of the monitoring node is less than the distance between the coordinates of the robot node that receives the data message and the coordinates of the monitoring node, then randomly select one machine entry from the machine entries, set the node ID of the data message to the node ID of the selected machine entry, and forward the data message;

[0049] Otherwise, if the node ID of the robot node that receives the data message is equal to the node ID in the data message, then calculate the weights of the machine entries whose distances between each coordinate and the coordinates of the monitoring node are less than the distance between the coordinates of the robot node that receives the data message and the coordinates of the monitoring node according to formula (1), select the machine entry with the largest weight from the eligible machine entries, set the node ID of the data message to the node ID of this machine entry, and forward the data message.

[0050] The method further includes:

[0051] If the node ID of the robot node that receives the data message is equal to the node ID in the data message and it is not a forwarding node, then identify itself as a forwarding node.

[0052] The method further includes:

[0053] If the monitoring node receives a data message, then save the data set in the data message.

[0054] Beneficial effects: The present invention provides a method for implementing a post-disaster residential community data monitoring system based on robots. Through this method for implementing a post-disaster residential community data monitoring system based on robots, staff can timely monitor the data of post-disaster residential communities, obtain information such as the locations, physiological parameters, and air parameters of trapped residents, carry out timely rescue work, reduce disaster losses, and protect the lives and property of the people, having a wide range of application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The following further specifically describes the present invention in conjunction with the drawings and specific embodiments, and the above and / or other advantages of the present invention will become clearer.

[0056] Figure 1 is a flowchart of the method for implementing the post-disaster residential community data monitoring system of the present invention;

[0057] Figure 2 is a schematic diagram of the process for establishing a robot table according to the present invention;

[0058] Figure 3 is a schematic diagram of the process for electing a collection node according to the present invention;

[0059] Figure 4a and Figure 4b is a schematic diagram of the process for creating a data set of post-disaster residential communities according to the present invention;

[0060] Figure 5 is a schematic diagram of the process for monitoring a data set of post-disaster residential communities according to the present invention. Specific embodiments

[0061] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0062] Unless otherwise specifically stated, the technical terms or scientific terms used in the embodiments of the present invention should be the ordinary meanings understood by those with ordinary skills in the field to which the present invention belongs. The "including" or "comprising" used in the embodiments of the present invention neither limits the mentioned shapes, numbers, steps, actions, operations, components, originals and / or their groups, nor excludes the appearance or addition of one or more other different shapes, numbers, steps, actions, operations, components, originals and / or their groups, or the addition of these. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity and order of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0063] Unless otherwise specifically stated, the relative settings, numerical expressions and values of the components and steps described in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that for the sake of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. For technologies, methods and devices known to those of ordinary skill in the relevant fields, they may not be discussed in detail, but in appropriate cases, the shown technologies, methods and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific other example may have different values. It should be noted that: similar symbols and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0064] In the description of the embodiments of the present invention, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In the embodiments of the present invention, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in the embodiments of the present invention and the features of different embodiments or examples.

[0065] Next, example embodiments of the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments of the present invention. It should be understood that the present invention is not limited by the example embodiments described herein.

[0066] Figure 1 It is a flowchart of an implementation method for a data monitoring system of a post-disaster residential community according to the present invention. The system includes a plurality of robot nodes and monitoring nodes evenly distributed in the post-disaster area. The robot nodes are divided into ordinary nodes, collection nodes, collection head nodes, and forwarding nodes; the post-disaster area contains a plurality of monitoring locations. For example, the post-disaster area is a residential community, and the monitoring location is a residential building in the residential community; the robot nodes can read their current energy values at any time, just like a mobile phone reads its remaining battery power; the coordinates of the monitoring nodes in the post-disaster area are preset in advance. For example, it is the guard office of the community, and the coordinates of the monitoring nodes are preset for each robot node. Only one collection head node is included in the robots distributed at one monitoring location; in the initial state, all robot nodes are ordinary nodes, identified by a unique node ID, and the node ID can be a preset address or a media access control address; each robot node stores a robot table, and each robot table entry includes the node ID, energy value, coordinates, node type, and life cycle; the node type values of the ordinary node, collection node, collection head node, and forwarding node are 0, 1, 2, and 3 respectively; the machine message includes the message ID, node ID, energy value, coordinates, and node type.

[0067] As Figure 1 shown, the embodiments of the present invention relate to an implementation method for a data monitoring system of a post-disaster residential community based on robots, and the method includes the following steps:

[0068] If the current energy value of the ordinary node is greater than the energy values of all entries in the robot table, then mark itself as a collection node;

[0069] The collecting head node sends a request message to collect a data set; wherein, the request message includes a message ID, a node ID set, and a node ID.

[0070] An ordinary node that receives the request message sends a response message; wherein, the response message includes a message ID, a data set, a node ID, and a next-hop node ID, and the data set in the response message includes the data collected by itself; and, a collecting node that receives the request message creates a collection table entry and forwards the request message.

[0071] A collecting head node or a collecting node that receives the response message creates a data table entry; wherein, the data set of the data table entry is set to the data set in the response message; and, a collecting node that receives the response message sets the data set of the response message to the union of the data sets of all data table entries and forwards the response message; and, a collecting head node that receives the response message constructs a data set, and its value is equal to the union of the data sets in all data table entries.

[0072] The collecting head node sends a data message, wherein the data set in the data message is equal to the constructed data set.

[0073] A forwarding node that receives the data message forwards the data message; and, a monitoring node that receives the data message saves the data set in the data message.

[0074] An embodiment of the present invention provides a method for implementing a post-disaster residential community data monitoring system based on a robot. Through a method for implementing a post-disaster residential community data monitoring system based on a robot, staff can timely monitor the data of a post-disaster residential community, obtain information such as the locations, physiological parameters, and air parameters of trapped residents, carry out timely rescue work, reduce disaster losses, and protect the safety of people's lives and property, and has a wide range of application prospects.

[0075] Figure 2 It is a schematic flowchart of the process for establishing a robot table according to the present invention. As Figure 2 shown, the robot node RN1 establishes a robot table through the following process:

[0076] Step 101: Start.

[0077] Step 102: The robot node RN1 sends a machine message. The message ID of this message is 1, the node ID is its own node ID, the energy value is the current remaining energy value, the coordinate is its own current coordinate, and the node type is its own current node type value.

[0078] Step 103: After receiving the machine message, the neighbor robot node determines whether there is a robot entry whose node ID is equal to the node ID in the machine message. If so, it sets the energy value, coordinates, and node type of the robot entry to the energy value, coordinates, and node type in the machine message respectively, and sets the life cycle to the maximum value. Otherwise, it creates a robot entry whose node ID is equal to the node ID in the machine message, and then sets the energy value, coordinates, and node type of the robot entry to the energy value, coordinates, and node type in the machine message respectively, and sets the life cycle to the maximum value;

[0079] Step 104: End.

[0080] The robot obtains the node ID, energy value, coordinates, and node type of each neighbor robot by sending machine messages, thereby electing collection nodes, collection head nodes, and forwarding nodes, realizing the rapid collection and transmission of data in the disaster area, and enabling the monitoring nodes to quickly obtain the data in the disaster area.

[0081] Figure 3 It is a schematic diagram of the process for electing collection nodes according to the present invention. As Figure 3 shown, if the current energy value of a normal node is greater than the energy values of all entries in the machine table, it marks itself as a collection node;

[0082] If the normal node NR1 does not have a machine entry that meets Condition 1 or Condition 2, it calculates the weight w1 of each machine entry RE1 according to formula (1). In formula (1), a1 is an adjustment coefficient, e1 is the energy value in the machine entry RE1, d1 is the distance between the coordinates in the machine entry RE1 and the coordinates of the monitoring node, e2 is the average value of the energy values of all machine entries of this normal node, and d2 is the average value of the distances between the coordinates of all machine entries of this normal node and the coordinates of the monitoring node;

[0083] Condition 1: The node type of the machine entry is equal to 1 or 2;

[0084] Condition 2: The node type of the machine entry is equal to 1, and the distance between its coordinates and the coordinates of the monitoring node is greater than the distance between its own coordinates and the coordinates of the monitoring node;

[0085] w1 = a1×e1 / e2 + (1 - a1)×d2 / d1 (1)

[0086] The election message contains a message ID and a node ID;

[0087] The normal node NR1 performs the following operations:

[0088] Step 201: Start;

[0089] Step 202: The ordinary node NR1 selects a machine table entry with the largest weight value and sends an election message. The message ID of this message is 2, and the node ID is the node ID of the selected machine table entry.

[0090] Step 203: After the neighbor robot node receives this election message, it determines whether its own node ID is equal to the node ID in this election message. If they are equal, it executes Step 204; otherwise, it executes Step 205.

[0091] Step 204: The neighbor robot that receives this election message identifies itself as the collection node.

[0092] Step 205: End.

[0093] The ordinary node calculates the weights of each neighbor robot and elects the neighbor robot with the largest weight as the collection node, that is, it selects the robot node with the largest energy value and the closest distance to the monitoring node as the collection node, thereby covering the monitored location and improving the success rate of data collection in the monitoring area.

[0094] Figure 4a and Figure 4b is the schematic diagram of the process for creating the data set of the post-disaster residential community described in the present invention. As Figure 4a and Figure 4b shown, if the machine table of the collection node CR1 meets Condition 3 and Condition 4, it marks itself as the primary collection node.

[0095] Condition 3: In the machine table of the collection node CR1, there is no machine table entry with a node type of 2.

[0096] Condition 4: The distances between the coordinates of all machine table entries with a node type of 1 in the machine table of the collection node CR1 and the coordinates of the monitoring node are all greater than the distance between its own coordinates and the coordinates of the monitoring node.

[0097] If the machine table of the collection node CR1 meets Condition 3 and Condition 5, it marks itself as the primary collection node.

[0098] Condition 5: The distances between the coordinates of all machine table entries with a node type of 1 in the machine table of the collection node CR1 and the coordinates of the monitoring node are all not less than the distance between its own coordinates and the coordinates of the monitoring node, and the energy value of the collection node CR1 is greater than the energy values of all machine table entries that meet Condition 6.

[0099] Condition 6: The distance between the coordinates of the machine table entry and the coordinates of the monitoring node is equal to the distance between the coordinates of the collection node CR1 and the coordinates of the monitoring node.

[0100] The above process elects and collects a collection head node, so that the collection nodes send the collected data to the collection head node, thus completing the data collection work for the monitored location.

[0101] Each robot maintains a collection table. A collection table entry contains a set of node IDs and a node ID. The collection table contains only one collection table entry and is initially an empty table.

[0102] Each robot stores a data table. A data table entry contains a set of data and a node ID.

[0103] The request message contains a message ID, a set of node IDs, and a node ID.

[0104] The response message contains a message ID, a set of data, a node ID, and a next-hop node ID.

[0105] The collection head node HN1 obtains the set of data at the monitored location through the following process:

[0106] Step 301: Start;

[0107] Step 302: The collection head node HN1 sends a request message. The message ID of this request message is 3. The set of node IDs contains the node IDs of all machine table entries with node type 1, and the node ID is its own node ID.

[0108] Step 303: If the robot node that receives the request message is an ordinary node, then execute Step 306; otherwise, execute Step 304.

[0109] Step 304: If the node ID of the collection node that receives the request message is included in the set of node IDs in the request message, then execute Step 305; otherwise, execute Step 319.

[0110] Step 305: The collection node that receives the request message sets the set variable s1 of node IDs, calculates the value of variable s1 according to formula (2), where both CRS1 and CRS2 are sets of node IDs. The set of node IDs CRS1 consists of the node IDs of all machine table entries that meet condition 7, the set of node IDs CRS2 is equal to the set of node IDs in the request message, PCR1 is a node ID variable whose value is equal to the node ID in the request message. The collection node creates a collection table entry. The node ID of this entry is equal to the node ID in the request message, and the set of node IDs is equal to variable s1. The collection node sets the node ID in the request message as its own node ID, sets the set of node IDs as variable s1, forwards it to the request message, and executes Step 303.

[0111] Condition 7: The node type of this machine table entry is equal to 1.

[0112] (2)

[0113] Step 306: The ordinary node that receives the request message sends a response message. The message ID of this response message is equal to 4, the data set contains the data collected by itself, the node ID is equal to its own node ID, and the next-hop node ID is equal to the node ID in the request message;

[0114] Step 307: If the collection head node HN1 receives this response message, or the node ID of the collection node that receives the response message is equal to the next-hop node ID in this response message, then execute Step 308, otherwise execute Step 319;

[0115] Step 308: The collection head node HN1 or the collection node that receives the response message determines whether there is a data table entry whose node ID is equal to the node ID in this response message. If it exists, set the data set of this data table entry to the data set in this response message. Otherwise, create a data table entry whose node ID is equal to the node ID in this response message, and set the data set of this data table entry to the data set in this response message;

[0116] Step 309: The collection head node HN1 or the collection node that receives the response message constructs a node ID set n1, where the node ID set n1 is composed of the node IDs of all data table entries, and constructs a node ID set n2, where the node ID set n2 is composed of the node IDs of all machine table entries with node type 0;

[0117] Step 310: If the collection head node HN1 receives this response message, then execute Step 315, otherwise execute Step 311;

[0118] Step 311: The collection node that receives the response message determines whether the node ID set of the acquisition table entry is empty. If it is, then execute Step 312, otherwise execute Step 314;

[0119] Step 312: If the node ID set n1 is equal to the node ID set n2, then execute Step 313, otherwise execute Step 307;

[0120] Step 313: The collection node that receives the response message sets the data set in the response message to the union of the data sets of all data table entries, sets the node ID to its own node ID, sets the next-hop node ID to the node ID in the acquisition table entry, deletes the acquisition table entry, forwards this response message, and executes Step 307;

[0121] Step 314: If the node ID set n1 is equal to the union of the node ID set n2 and the node ID set of the acquisition table entry, then execute Step 313, otherwise execute Step 307;

[0122] Step 315: The collecting head node HN1 that receives the response message determines whether the node ID set of the collection entry is an empty set. If so, execute Step 316; otherwise, execute Step 317.

[0123] Step 316: If the node ID set n1 is equal to the node ID set n2, execute Step 318; otherwise, execute Step 307.

[0124] Step 317: The collecting head node HN1 constructs a node ID set n3, which consists of the node IDs of all machine entries with node type 1. If the node ID set n1 is equal to the union of the node ID set n2 and the node ID set n3, execute Step 318; otherwise, execute Step 307.

[0125] Step 318: The collecting head node HN1 constructs a data set, the value of which is equal to the union of the data sets in all data entries.

[0126] Step 319: End.

[0127] The collecting head node creates a data set of the post-disaster residential community by sending a request message. Since only the collecting node performs the forwarding operation in the above process and is responsible for collecting data from neighbor ordinary nodes, the cost of collecting the data set is greatly reduced.

[0128] Figure 5 This is the schematic diagram of the process for monitoring the data set of the post-disaster residential community according to the present invention. As Figure 5 shown, the data message includes a message ID, a node ID, and a data set.

[0129] The collecting head node HN1 sends the constructed data set to the monitoring node through the following process:

[0130] Step 401: Start.

[0131] Step 402: If the node types of all machine entries of the collecting head node HN1 are not equal to 3, execute Step 403; otherwise, execute Step 404.

[0132] Step 403: The collecting head node HN1 calculates the weight of each machine entry according to formula (1), selects the machine entry with the largest weight, sends a data message, the message ID of which is 5, the node ID is equal to the node ID of this machine entry, and the data set is equal to the constructed data set, and then execute Step 405.

[0133] Step 404: The first node HN1 selects a machine table entry where the node type of this machine table entry is equal to 3, sends a data message with the message ID of 5, the node ID equal to the node ID of the selected machine table entry, and the data set equal to the constructed data set;

[0134] Step 405: If the monitoring node receives the data message, execute Step 412; otherwise, execute Step 406;

[0135] Step 406: The robot node that receives the data message determines whether its own node ID is equal to the node ID in the data message. If they are equal, execute Step 407; otherwise, execute Step 413;

[0136] Step 407: If the robot node that receives the data message is not a forwarding node, execute Step 408; otherwise, execute Step 409;

[0137] Step 408: The robot node that receives the data message identifies itself as a forwarding node;

[0138] Step 409: The robot node that receives the data message determines whether there is a machine table entry that meets Condition 8. If there is, execute Step 411; otherwise, execute Step 410;

[0139] Condition 8: The node type of this machine table entry is equal to 3, and the distance between its coordinates and the coordinates of the monitoring node is less than the distance between the coordinates of the robot node that receives the data message and the coordinates of the monitoring node;

[0140] Step 410: The robot node that receives the data message calculates the weight of each machine table entry that meets Condition 9 according to formula (1), selects the machine table entry with the maximum weight from the machine table entries that meet Condition 9, sets the node ID of the data message to the node ID of this machine table entry, forwards the data message, and execute Step 405;

[0141] Condition 9: The distance between the coordinates of this machine table entry and the coordinates of the monitoring node is less than the distance between the coordinates of the robot node that receives the data message and the coordinates of the monitoring node;

[0142] Step 411: The robot node that receives the data message randomly selects a machine table entry that meets Condition 8, sets the node ID of the data message to the node ID of the selected machine table entry, forwards the data message, and execute Step 405;

[0143] Step 412: The monitoring node that receives the data message saves the data set in the data message;

[0144] Step 413: End.

[0145] The robot node sends the collected data set of the post-disaster residential community to the monitoring node through the above process. In the above process, only the forwarding node forwards the data message in unicast mode, so the delay and cost of forwarding the data set are reduced. The above process ensures that the monitoring node can obtain the real-time data of the monitoring area in time, thus realizing the timely rescue work and promoting the rescue work efficiency of the post-disaster residential community.

[0146] Embodiment 1

[0147] Based on the simulation parameters in Table 1, this embodiment simulates an implementation method of a robot-based post-disaster residential community data monitoring system in the present invention. The performance analysis is as follows: when the area of the residential community is large, the success rate of the monitoring node in obtaining the residential community decreases; when the area of the residential community is small, the success rate of the monitoring node in obtaining the residential community increases. The average success rate of the monitoring node in obtaining the post-disaster residential community data is 96.1%.

[0148] Table 1

[0149]

[0150] The present invention provides an idea for an implementation method of a robot-based post-disaster residential community data monitoring system. There are many methods and ways to specifically implement this technical solution. The above is only the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention. Each component not clearly defined in this embodiment can be implemented by the prior art.

Claims

1. A method for implementing a robot-based post-disaster residential area data monitoring system, characterized in that: The system includes a plurality of robot nodes and monitoring nodes evenly distributed in a post-disaster residential area, wherein the robot nodes are divided into common nodes, collection nodes, collection head nodes and forwarding nodes. In an initial state, all robot nodes are common nodes and are identified by a unique node ID; wherein the node ID is a pre-set address; the post-disaster residential area includes a plurality of monitoring locations; and the method includes: If the current energy value of the ordinary node is greater than the energy values ​​of all entries in the machine table, it marks itself as a collection node; The collecting head node sends a request message to collect the data set; wherein the request message includes a message ID, a node ID set and a node ID; The common node receiving the request message sends a response message; wherein the response message includes a message ID, a data set, a node ID and a next-hop node ID, and the data set in the response message includes the data collected by itself; and the collection node receiving the request message creates a collection table entry and forwards the request message; The collection head node or the collection node that receives the response message creates a data table entry; wherein the data set of the data table entry is set to the data set in the response message; and the collection node that receives the response message sets the data set of the response message to the union of the data sets of all the data table entries and forwards the response message; and the collection head node that receives the response message constructs a data set whose value is equal to the union of the data sets in all the data table entries; The collecting head node sends a data message, wherein the data set in the data message is equal to the constructed data set; The forwarding node receiving the data message forwards the data message; and the monitoring node receiving the data message saves the data set in the data message; The method further comprises: If the node type of each machine table entry of the common node is equal to 0 or 3, or there is no machine table entry, the node type of the machine table entry is equal to 1 and the distance between the coordinate and the monitoring node coordinate is greater than the distance between the own coordinate and the monitoring node, then the weight w1 of each machine table entry is calculated according to formula (1); w1=a1×e1 / e2+ (1-a1)×d2 / d1 (1) Wherein, a1 is the adjustment coefficient, e1 is the energy value in the machine table item, d1 is the distance between the coordinates in the machine table item and the monitoring node coordinates, e2 is the average value of the energy values ​​of all machine table items of the common node, and d2 is the average value of the distance between the coordinates of all machine table items of the common node and the monitoring node coordinates; The ordinary node selects the machine table entry with the largest weight and sends an election message; wherein the node ID of the election message is the node ID of the selected machine table entry; after the neighbor robot node receives the election message, if its own node ID is equal to the node ID in the election message, it identifies itself as a collection node.

2. The method for implementing a robot-based post-disaster residential area data monitoring system according to claim 1, characterized in that: The robots distributed in a monitoring location only contain one collection head node; Each of the robot nodes stores a robot table; wherein each robot table entry includes a node ID, an energy value, a coordinate, a node type and a life cycle; the node type values ​​of a common node, a collection node, a collection head node and a forwarding node are 0, 1, 2 and 3 respectively; The method further comprises: The robot node sends a machine message, wherein the node ID of the machine message is its own node ID, the energy value is the current remaining energy value, the coordinates are its own current coordinates, and the node type is its current node type value; After receiving the machine message, the neighbor robot node determines whether there is a robot table entry whose node ID is equal to the node ID in the machine message. If so, the energy value, coordinates and node type of the robot table entry are set to the energy value, coordinates and node type in the machine message, and the life cycle is set to the maximum value; otherwise, a robot table entry is created, the node ID of the created robot table entry is equal to the node ID in the machine message, and the energy value, coordinates and node type of the created robot table entry are set to the energy value, coordinates and node type in the machine message, and the life cycle is set to the maximum value.

3. The method for implementing a robot-based post-disaster residential area data monitoring system according to claim 1, characterized in that: The method further comprises: If there is no machine table entry with node type 2 in the machine table of the collection node CR1, and the distance between the coordinates of all machine table entries with node type 1 in the machine table and the coordinates of the monitoring node is greater than the distance between its own coordinates and the coordinates of the monitoring node, then it marks itself as the collection first node; Otherwise, if there is no machine table entry with node type 2 in the machine table of the collecting node CR1, and the distance between the coordinates of all machine table entries with node type 1 in the machine table and the coordinates of the monitoring node is not less than the distance between its own coordinates and the coordinates of the monitoring node, and the energy value of the collecting node CR1 is greater than the energy value of some machine table entries, the distance between the coordinates of these machine table entries and the coordinates of the monitoring node is equal to the distance between the coordinates of the collecting node CR1 and the coordinates of the monitoring node, the collecting node CR1 will mark itself as the collecting first node.

4. The method for implementing a robot-based post-disaster residential area data monitoring system according to claim 1, characterized in that: Each robot maintains a collection table, where a collection table entry contains a node ID set and a node ID; the collection table contains only one collection table entry, and the initial state is an empty table; Each robot saves a data table, where a data table item contains a data set and a node ID; The method further comprises: If the node ID of the collection node that receives the request message is included in the node ID set of the request message, then the node ID set variable s1 is set, and the value of the variable s1 is calculated according to formula (2); （2） Among them, CRS1 and CRS2 are both node ID sets, the node ID set CRS1 is composed of the node IDs of all machine table entries with node type equal to 1, the node ID set CRS2 is equal to the node ID set in the request message, PCR1 is the node ID variable, and its value is equal to the node ID in the request message; The collecting node creates a collecting table entry, the node ID of the collecting table entry is equal to the node ID in the request message, the node ID set is equal to the variable s1, the collecting node sets the node ID in the request message as its own node ID, sets the node ID set as the variable s1, and forwards it to the request message; The common node receiving the request message sends a response message, in which the message ID is equal to 4, the data set contains the data collected by itself, the node ID is equal to its own node ID, and the next hop node ID is equal to the node ID in the request message.

5. The method for implementing a robot-based post-disaster residential area data monitoring system according to claim 4, characterized in that: The method further comprises: If the collection head node receives the response message, or the node ID of the collection node that receives the response message is equal to the next-hop node ID in the response message, determine whether there is a data table item whose node ID is equal to the node ID in the response message; if so, set the data set of the data table item to the data set in the response message; otherwise, create a data table item whose node ID is equal to the node ID in the response message, and set the data set of the created data table item to the data set in the response message; The collecting head node or collecting node constructs a node ID set n1, which is composed of the node IDs of all data table items, and constructs a node ID set n2, which is composed of the node IDs of all machine table items whose node type is 0; If the node ID set of the collection table item of the collection node is an empty set, and the node ID set n1 is equal to the node ID set n2, then the data set of the response message is set to the union of the data sets of all data table items, the node ID is set to its own node ID, the next hop node ID is set to the node ID in the collection table item, the collection table item is deleted, and the response message is forwarded; If the node ID set of the collection table entry of the collection node is not empty, and the node ID set n1 is equal to the union of the node ID set n2 and the node ID set of the collection table entry, then the data set of the response message is set to the union of the data sets of all data table entries, the node ID is set to its own node ID, the next hop node ID is set to the node ID in the collection table entry, the collection table entry is deleted, and the response message is forwarded; If the node ID set of the collection table item of the collection head node is an empty set, and the node ID set n1 is equal to the node ID set n2, then a data set is constructed, whose value is equal to the union of the data sets in all data table items; The collecting head node HN1 constructs a node ID set n3, which is composed of the node IDs of all machine entries with node type 1; If the node ID set of the collection table entry of the collection head node is not an empty set, and the node ID set n1 is equal to the union of the node ID set n2 and the node ID set n3, then a data set is constructed whose value is equal to the union of the data sets in all data table entries.

6. The method for implementing a robot-based post-disaster residential area data monitoring system according to claim 1, characterized in that: The data message includes a message ID, a node ID and a data set; the method further includes: If the node types of all machine entries of the collection head node are not equal to 3, the weight of each machine entry is calculated according to formula (1), the machine entry with the largest weight is selected, and a data message is sent. The message ID of the data message is 5, the node ID is equal to the node ID of the machine entry, and the data set is equal to the constructed data set; Otherwise, the collection head node selects a machine table entry whose node type is equal to 3, sends a data message whose message ID is 5, whose node ID is equal to the node ID of the selected machine table entry, and whose data set is equal to the constructed data set.

7. The method for implementing a robot-based post-disaster residential area data monitoring system according to claim 1, characterized in that: The method further comprises: If the node ID of the robot node that receives the data message is equal to the node ID in the data message, and there is at least one machine table entry, the node type of the machine table entry is equal to 3, and the distance between the coordinates and the monitoring node coordinates is less than the distance between the coordinates of the robot node that receives the data message and the monitoring node coordinates, then randomly select a machine table entry from the machine table entries, set the node ID of the data message to the node ID of the selected machine table entry, and forward the data message; Otherwise, if the node ID of the robot node that receives the data message is equal to the node ID in the data message, the weight of each machine table entry whose distance between the coordinates and the monitoring node coordinates is less than the distance between the coordinates of the robot node that receives the data message and the monitoring node coordinates is calculated according to formula (1), and the machine table entry with the largest weight is selected from the matching machine table entries, the node ID of the data message is set to the node ID of the machine table entry, and the data message is forwarded.

8. The method for implementing a robot-based post-disaster residential area data monitoring system according to claim 7, characterized in that: The method further comprises: If the node ID of the robot node that receives the data message is equal to the node ID in the data message and is not a forwarding node, it identifies itself as a forwarding node.

9. The method for implementing a robot-based post-disaster residential area data monitoring system according to claim 7, characterized in that: The method further comprises: If the monitoring node receives a data message, it saves the data set in the data message.

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