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考虑到救灾机器人在复杂灾害环境中仅凭自身的感知能力会降低任务的执行效率,引入无线传感网络协助执行任务。针对自然灾害现场监测应用,设计了一种低成本、低复杂度、便携式、能快速部署与组网的无线传感网络监测系统。首先描述无线传感器网络总体方案设计,其主要由监测中心、定向路由和若干监测节点组成。然后对监测节点的机械机构设计进行了详细描述,并制作了若干监测节点原型机。基于TCP协议及客户/服务器模型提出了一种请求应答机制,使得监测中心能同时连接并控制若干监测节点,并基于UDP协议实现了监测图像的实时快速传输。使用若干监测节点组建无线传感网络,即能在监测中心实时显示各个节点GPS位置信息及自然灾害区域的监测图像。最后,在国家地震紧急救援训练基地进行了现场实验,实验验证了此无线传感网络监测系统的有效性与可靠性。
Considering that disaster recovery robots can reduce the efficiency of mission execution based on their own perceptive ability in complex disaster environments, the introduction of wireless sensor networks to assist in the implementation of the task. Aiming at the application of on-the-spot monitoring of natural disasters, a wireless sensor network monitoring system with low cost, low complexity, portableness and rapid deployment and networking is designed. First of all, the overall design of wireless sensor network is described. It mainly consists of monitoring center, directional routing and several monitoring nodes. Then the mechanical design of the monitoring node is described in detail, and a number of monitoring node prototypes are manufactured. Based on the TCP protocol and the client / server model, a request answering mechanism is proposed, which enables the monitoring center to connect and control several monitoring nodes at the same time and realizes the real-time fast transmission of monitoring images based on the UDP protocol. The use of a number of monitoring nodes set up wireless sensor networks, that is, in real-time monitoring center displays the GPS location information of each node and the natural disaster areas of the monitoring images. Finally, a field experiment was conducted at the national emergency rescue training base, and the validity and reliability of this wireless sensor network monitoring system were verified by experiments.