Method for releasing sensor nodes and deploying network by using unmanned aerial vehicle and unmanned aerial vehicle

Abstract

The invention discloses a method for releasing a sensor node and deploying a network by using an unmanned aerial vehicle and the unmanned aerial vehicle. The unmanned aerial vehicle releases a first sensor node at a candidate position; continuing to carry the node to fly to the next candidate position to carry out a first field test, and judging whether a first field test requirement is met or not; if the requirement is met, putting the to-be-put node; if not, the unmanned aerial vehicle finds a new candidate position and repeats the process until the unmanned aerial vehicle can be released; performing a second field test on the delivery node, and judging whether a second field test requirement is met or not; if the requirement is met, registering the delivery node into the network and starting a working mode; if not, the unmanned aerial vehicle searches for a new candidate position and repeats the above process until the requirement is met, and the current delivery node is registered into the network and the working mode is started; and repeating the process until the deployment is finished. The sensor nodes are precisely released through the unmanned aerial vehicle, efficient network deployment is achieved, the automation degree is improved, the labor cost is reduced, and the method is suitable for severe and complex environments.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of wireless sensor network deployment, and particularly relates to a method for deploying a sensor node and a network by using a UAV and a UAV. BACKGROUND

[0002] A wireless sensor network is a distributed sensing system composed of a large number of low-power and low-cost sensor nodes, has a self-organizing characteristic, and is widely used in the fields of environmental monitoring, smart agriculture, industrial monitoring, and disaster warning. The wireless sensor network can collect real-time environmental parameters such as temperature, humidity, vibration, displacement, and gas, and transmit the data to a central platform through the cooperative communication between nodes to provide data support for decision-making and promote the intelligent development of the industry.

[0003] However, when deploying a wireless sensor network in a large-scale complex area such as a mountainous area, a jungle, and a desert, the traditional manual method faces many challenges. The terrain in these areas is complex, and the traffic is inconvenient. Manually deploying sensors one by one not only has low efficiency, but also has safety hazards. In addition, the harsh environment may cause uneven distribution of nodes, affecting network coverage and the integrity of data collection, and limiting the actual application efficiency of the wireless sensor network. At present, although mainstream wireless sensor network systems such as BLE Mesh, Zigbee Mesh, and Lora Mesh support ad hoc networks, a large amount of manual operation is still required during the initial network construction, including: (1) planning candidate deployment positions for sensor nodes; (2) manually carrying nodes and test equipment to the target position; (3) verifying the communication link quality through signal testing; (4) manually placing or installing sensor nodes; (5) completing node registration, and manually configuring parent nodes and routing hop limit for some systems; and (6) repeating the above steps until all nodes are deployed. As can be seen, the deployment of a wireless sensor network still highly depends on manual operation, and manual intervention is required from planning, testing, and launching to registration, resulting in high cost and low efficiency, especially in a large-scale or complex environment, which restricts the large-scale application of the wireless sensor network.

[0004] Based on the above problems, the present application provides a method for deploying a sensor node and a network by using a UAV and a UAV, which realizes efficient deployment of a wireless sensor network. SUMMARY

[0005] The present application aims to solve all or part of the above problems, and provides a method for deploying a sensor node and a network by using a UAV and a UAV, which realizes automatic deployment of a wireless sensor network by using a UAV, improves the deployment efficiency in a complex environment, and reduces the labor cost. The UAV can automatically evaluate the communication link quality to ensure that the nodes can effectively form a network after deployment, avoid the low efficiency problem of repeated testing and adjustment in the traditional manual method, and realize rapid construction of a stable and usable sensor network.

[0006] The application provides a method for deploying sensor nodes and deploying a network by using a UAV, comprising the following steps: S1: the UAV carrying sensor nodes flies to above a candidate position and deploys a first sensor node; S2: the UAV carrying sensor nodes flies to a next candidate position and descends to a pre-deployment height; S3: a first on-site test is performed: at least any signal emitted by a deployed sensor node is perceived and analyzed by using a sensor node to be deployed in the UAV, and information is fed back to the UAV; S4: the UAV determines whether the sensor node to be deployed meets the first on-site test requirement based on the information: if the first on-site test requirement is met, the sensor node to be deployed is deployed; if the first on-site test requirement is not met, the UAV finds a new candidate position and repeats the steps S2-S4 until the first on-site test requirement is met, and the sensor node to be deployed is deployed; S5: a second on-site test is performed on the sensor node deployed this time: at least any signal emitted by a deployed sensor node is continuously perceived and analyzed by using the sensor node deployed this time, and information is fed back to the UAV; S6: the UAV determines whether the sensor node deployed this time meets the second on-site test requirement based on the information: if the second on-site test requirement is met, the sensor node deployed this time is registered into a network and starts a working mode; if the second on-site test requirement is not met, the UAV finds a new candidate position, repeats the steps S2-S6 until the second on-site test requirement is met, and the sensor node deployed this time is registered into the network and starts the working mode; S7: the steps S2-S6 are repeated until all the sensor nodes are deployed, and a wireless sensor network is formed. The automatic deployment by using the UAV reduces manual intervention and significantly reduces deployment cost in a complex environment; meanwhile, the network coverage quality is ensured through a communication link quality requirement test.

[0007] In the step S1, the method for obtaining the candidate position comprises the following steps: acquiring topographic data of a region to be deployed, calculating the number of node deployments and position coordinates by using a recursive algorithm, and transmitting the number of node deployments and the position coordinates to the UAV. The completeness and uniformity of network coverage are ensured.

[0008] The pre-deployment height is 3-5 meters away from above the candidate position. The deployment accuracy of the sensor node is ensured.

[0009] In the step S6, before the UAV finds a new candidate position, the sensor node can be abandoned or picked up. The sensor node is abandoned or picked up according to the UAV condition and the on-site condition.

[0010] The process of searching for a new candidate position is: the UAV ascends to a flight height; the UAV acquires the position information of a previously dropped sensor node, flies 3-50 meters along the position to a new candidate position; and after reaching the new candidate position, enters a state of waiting for testing.

[0011] The analysis content of the sensor node includes a signal source and a signal strength.

[0012] The first and second field test requirements are that the received signal strength is not less than -80 dBm; and network communication stability and transmission reliability are ensured.

[0013] The required information for registration includes a sensor ID and a current geographic position of the UAV. The sensor ID is used for node identity authentication, ensuring network deployment manageability; and accurate spatial positioning is based on real-time geographic position data of the UAV, establishing a spatial coordinate system of the sensor node, and providing data support for network coverage optimization.

[0014] The UAV for dropping sensor nodes and deploying a network also includes a sensor node dropping device, which includes: a storage container for storing a plurality of sensor nodes; a dropping buffer area arranged at the lower side of the storage container for storing a single sensor node to be dropped; a communication module for wirelessly communicating with the sensor nodes in the storage container, the sensor nodes in the dropping buffer area, and the externally dropped sensor nodes; and a control unit for connecting each component in the device. The sensor node dropping device is integrated in the UAV by using a modular design, forming automatic control of "dropping-testing-networking".

[0015] The bottom of the dropping buffer area is provided with a dropping port, and the dropping port is provided with a dropping hatch door, which is kept in a closed state and is opened during dropping. The sensor node is securely fixed during flight, and the dropping is realized by the control unit.

[0016] Compared with the prior art, the present application has the beneficial effects that: a method for dropping sensor nodes and deploying a network by using a UAV and a UAV are provided, the automatic deployment of a wireless sensor network is realized by using the UAV, the deployment efficiency in a complex environment is improved, and the labor cost is reduced. The UAV can automatically evaluate the communication link quality, ensure that the nodes can effectively form a network after being deployed, avoid the low efficiency problem of repeated testing and adjustment in the traditional manual mode, and is suitable for harsh and complex environments. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description only represent some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative effort based on these drawings.

[0018] Figure 1 A sensor node candidate position planning schematic diagram provided by the present application.

[0019] Figure 2 A schematic diagram of a UAV provided by the present application.

[0020] Figure 3 A schematic diagram before deployment of a sensor node and deployment network method using a UAV provided by the present application.

[0021] Figure 4 A schematic diagram after deployment of a sensor node and deployment network method using a UAV provided by the present application. DETAILED DESCRIPTION

[0022] The following description and drawings sufficiently illustrate specific embodiments of the present application to enable one skilled in the art to practice them. Other embodiments can include structural, logical, electrical, process, and other changes. Examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the order of operations can be varied. Parts and features of some embodiments can be included in, or substituted for, parts and features of other embodiments.

[0023] Embodiment 1 The present embodiment provides a sensor node deployment method using a UAV, comprising the following steps: First, the terrain data of the deployment area is obtained through satellite images or UAV mapping, such as Figure 1 As shown, according to the technical characteristics of the wireless sensor network system to be deployed, such as the theoretical communication distance between sensor nodes combined with the terrain data, the number of sensor nodes to be deployed in the deployment area is obtained through recursive algorithm and other methods, and the geographic coordinates, i.e. the candidate positions, are obtained, and the candidate positions are sent to the UAV.

[0024] S1: The UAV carrying the sensor node flies to above the candidate position and deploys the first sensor node.

[0025] S2: The UAV carrying the sensor node continues to fly to above the next candidate position and descends to a pre-deployment height, for example, the UAV is lowered to a height of 3-5 meters from the candidate position.

[0026] S3: Perform the first field test, the sensor node is in a periodic signal sending and receiving state, one sensor node can receive the signals sent by other sensor nodes, as shown in Figures 2-3 When performing the first field test, the sensor node to be launched is used to perceive and analyze the signals emitted by the launched sensor nodes, such as signal source and signal strength, and the analysis information is fed back to the UAV.

[0027] S4: After the UAV receives the information, it determines whether the sensor node to be launched meets the first field test requirements. If it meets the requirements, it means that the sensor node to be launched can be launched. For environmental sensors with simple functions and high shell protection levels, such as temperature, humidity, and smoke sensors, they can be directly launched. For more complex sensors, such as sensors with cameras, they require fixed installation and determination of placement angle, and can be launched with the assistance of a mechanical arm. If the first field test requirements are not met, the UAV finds a new candidate position, for example, flies 3-50 meters in the direction of the previously launched sensor node to reach the new candidate position, and repeats the process of S2-S4 until the first field test requirements are met, and the sensor node to be launched is launched.

[0028] The first field test requirement is that the received signal strength is not less than -80dBm. In this embodiment, if the sensor node to be launched can establish a communication link with any launched sensor node in the network that meets the quality requirements, it is determined to meet the requirements. In actual application, the determination logic can also be extended according to actual needs, for example, the pre-launched node is required to establish communication only with the nodes with specific functions in the network or to maintain an effective communication link with multiple deployed nodes at the same time. Such additional conditions can be flexibly configured as optional rules without departing from the core of the method.

[0029] S5: Perform the second field test on the sensor node launched this time, as shown in Figure 4 The sensor node launched this time continues to perceive the signals emitted by the launched sensor nodes and feeds back the information to the UAV.

[0030] S6: After receiving the information, the UAV judges whether the second field test requirement is met. The standard of the second field test requirement is the same as that of the first field test. If the requirement is met, it means that the second field test is passed, and the UAV registers the sensor node in the network. The information required for registration generally includes the ID of the sensor, the current geographic location of the UAV (such as latitude and longitude, height, etc.), and can also take and upload photos of the deployed sensor. The sensor is registered in the network and can start the working mode after entering the network. If the requirement is not met, it means that the second field test is not passed, and the UAV can directly abandon the sensor node; or the UAV can also pick up the sensor node through the mechanical arm, restore the flight height to find a new candidate position, and repeat the process of S2-S6 until the second field test requirement is met, and the sensor node can be registered in the network and start the working mode.

[0031] S7: Repeat the process of S2-S6 until the deployment of the sensor node is completed.

[0032] Embodiment 2 The embodiment provides a UAV for deploying sensor nodes and deploying a network, which comprises a sensor node deployment device, such as Figure 2 As shown in the figure, the sensor node deployment device comprises: a storage container 1 in which a plurality of sensor nodes are stored; a deployment buffer area 2 is arranged at the lower side of the storage container 1, used for storing a single sensor node to be deployed, a deployment opening 21 is arranged at the bottom of the deployment buffer area 2, and a deployment hatch 22 is arranged at the deployment opening 21, which is kept closed and opened during deployment; if the second field test requirement is not met and the sensor node is abandoned, a sensor node is placed from the storage container 1 to the deployment buffer area 2; if the sensor node is picked up, it is picked up by the mechanical arm and placed into the deployment buffer area 2; the device further comprises a communication module 3 for wireless communication with the sensor nodes in the storage container 1, the sensor nodes in the deployment buffer area 2, and the externally deployed sensor nodes; the device further comprises a control unit 4, which is connected with each component in the linkage device, and can be connected with the control system of the UAV or directly integrated into the control system of the UAV, to realize efficient cooperative control. During the first / second field test process, the communication module 3 on the UAV receives the sensor node information, and the control unit 4 judges whether the signal has met the first / second field test requirement, to decide whether to deploy the sensor node / whether to enter the network. Through the accurate deployment of the sensor node by the UAV, efficient deployment of the network is realized, the degree of automation is improved, the labor cost is reduced, and it is suitable for harsh and complex environments.

[0033] It will be apparent to those skilled in the art that the application is not limited to the details of the above-exemplified embodiments and that the present application can be implemented in other particular forms without departing from the spirit or essential characteristics of the present application. The embodiments should therefore be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the above description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. No reference signs in the claims should be considered as limiting the scope of the claims with respect to the figures of the patent document.

Claims

1. A method for deploying sensor nodes and networks using drones, characterized in that: The following steps are involved: S1: The UAV carries the sensor node and flies to the candidate location and drops the first sensor node; S2: The UAV carries the sensor node and flies to the next candidate location and descends to the pre-deployment altitude; S3: performing a first field test: using the sensor nodes to be deployed in the drone to sense and analyze the signal emitted by at least any deployed sensor node, and feeding the information back to the drone; S4: The drone determines whether the sensor node to be deployed meets the first field test requirement based on the information: If the first field test requirement is met, deploying the sensor nodes to be deployed; If the first field test requirement is not met, the drone searches for a new candidate location and repeats steps S2-S4 until the first field test requirement is met, and the sensor node to be deployed is deployed; S5: Performing a second field test on the sensor nodes deployed this time: using the sensor nodes deployed this time to continue sensing and analyzing signals emitted by at least any deployed sensor node, and feeding the information back to the drone; S6: The drone determines whether the sensor nodes deployed this time meet the second field test requirements based on the information: If the second field test requirement is met, the sensor nodes deployed this time are registered to the network and start working mode; If the second field test requirement is not met, the drone searches for a new candidate location and repeats steps S2-S6 until the second field test requirement is met, registering the sensor node deployed this time into the network and starting the working mode; S7: Repeat S2-S6 until all the sensor nodes are deployed to form a wireless sensor network.

2. The method for deploying sensor nodes and networks using drones according to claim 1, characterized in that: In step S1, the method for obtaining the candidate position includes: The terrain data of the area to be deployed is obtained, and the number of node deployments and position coordinates are calculated using a recursive algorithm and transmitted to the UAV.

3. The method for deploying sensor nodes and networks using drones according to claim 1, characterized in that: The pre-delivery height is 3-5 meters above the candidate position.

4. The method for deploying sensor nodes and networks using drones according to claim 1, wherein: In step S6, the UAV may abandon the sensor node or pick up the sensor node before searching for a new candidate location.

5. The method for deploying sensor nodes and networks using drones according to claim 1, characterized in that: The process of finding a new candidate location is: The drone rises to a flight altitude; The UAV obtains the position information of the previously deployed sensor node and flies 3-50 meters along the position to the new candidate position; After arriving at the new candidate position, the system enters the waiting-for-test state.

6. The method for deploying sensor nodes and networks using drones according to claim 1, characterized in that: The analysis content of the sensor node includes signal source and signal strength.

7. The method for deploying sensor nodes and networks using drones according to claim 6, characterized in that: The first field test requirement and the second field test requirement are that the received signal strength is not less than -80dBm.

8. The method for deploying sensor nodes and networks using drones according to claim 1, wherein: The information required for registration includes the sensor ID and the current geographic location of the drone.

9. A drone for deploying sensor nodes and networks, characterized in that: The sensor node deployment device includes: A storage container for storing a number of sensor nodes; A delivery buffer area is provided at the lower side of the storage container and is used to store a single sensor node to be delivered; A communication module, configured to communicate wirelessly with the sensor nodes in the storage container, the sensor nodes in the delivery buffer area, and external delivered sensor nodes; Control unit, various components in the linkage device.

10. The drone according to claim 9, characterized in that: A delivery port is provided at the bottom of the delivery buffer area, and a delivery hatch is provided at the delivery port. The delivery hatch is kept in a normally closed state and is opened when delivery is required.

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