【作者】 陈硕；

【导师】 陈积明；

【作者基本信息】 浙江大学 ， 控制科学与工程， 2018， 硕士

【摘要】 传统的无线传感器网络节点一般仅使用电池作为能量供给,由于电池的储能有限且供给方式单一,能量供给已成为无线传感器网络发展的最大瓶颈。为了摆脱节点供能不足的约束,同时满足传感器数据的转发需求,本文设计了一种基于射频能量收集技术的移动充电与感知系统,其中可充电传感器节点能够主动收集并转换射频能量为自身供能;为了便于能量源到达三维空间节点坐标,同时提高能量源的工作效率,本文利用智能无人机搭载携带能量源以及数据网关到达待充电位置,为节点进行辐射充电并实现传感器数据转发;在满足所有节点充电需求情况下,本文研究能量源的最佳移动控制策略,基于投影定理和聚类算法,提出了一种嵌套的TSP路径选择算法。本文首先设计并实现了基于射频能量收集的可充电传感器节点,节点采用远场无线充电的方式进行能量传输,能够实现自主收集环境中的射频能量,并将射频能量转换为直流电压从而为整个节点持续供电。通过多次实验测试,建立了节点的无线充电接收功率的数学模型。然后开发了基于智能无人机的移动充电与感知系统。无人机搭载能量源,按照设定的路径为能量耗尽的传感器节点进行充电,本文所设计的射频发射器可支持15m充电距离,实现对三维空间待充电节点高效能量补给,尤其适用于偏远、危险及人工难以到达地域的待充电节点。同时,利用数据网关搭建了从节点到云端服务器的数据传输链路,实现传感器数据的实时显示与存储。在完成整个系统搭建的基础上,将其应用于两个实际的工程项目,并取得了很好的测试结果。本文最后研究了三维空间移动能量源的充电调度管理策略。在某个特定的平面内,无人机按照间歇性移动模式,能量源向下同时辐射多个待充电节点。基于此,将待充电节点的搜寻区利用投影原理缩小至一个外接圆,通过离散化求得候选充电点位置,最后利用聚类算法聚合求得最优停留点坐标。在保证系统总体充电时延情况下,相应地构造出一组嵌套的最优TSP路径选择算法,实现无人机最短路径内遍历所有最优充电点位置。更多还原

【Abstract】 The traditional WSN nodes usually use batteries as energy source.The operating time of sensor nodes is limited due to the limited battery capacity,thus energy supply has become the biggest bottleneck of WSN.In order to get rid of constraints of energy supply and meet the forwarding needs of sensor data,a mobile charging and sensing system based on RF energy harvesting is propoased in this paper.The rechargeable sensor node harvest and convert the RF energy to power for itself.To get the position of nodes in the 3D space and improve the charging efficiency,the system uses intelligent UAV to carry the power source and data gateway to the designated node location.This paper study the optimal mobile control strategy of energy source in far field wireless charging mode.Based on projection theorem and clustering algorithm,a nested TSP path selection algorithm is proposed.Firstly,a rechargeable sensor node based on RF energy harvesting is designed and implemented.Far filed wireless charging is used for energy transmission.The rechargeable sensor nodes harvest and convert the RF energy from the environment,and convert the RF energy into DC power.Based on lots of experiments,a mathematical model of wireless charging is established.Then,the mobile charging and sensing system based on Intelligent UAV is designed and developed.The UAV is equipped with an energy source,and power for the exhausted sensor node according to the optimal path.The RF transmitter is designed as a energy source which can support 15m charging distance.The system is able to charging nodes deployed in 3D space and suitable for complex environment.Meanwhile,data transmission link from node to cloud server is built by using data gateway to realize real-time display and storage of sensor data.On the basis of the completion of the whole system,it is applied to two practical projects,and a good test result has been obtained.Lastly,a charging scheduling management algorithm for moving energy sources in 3D space is designed.In a certain plane,the UAV follows an intermittent movement mode,and the energy source is radiated down at the same time.On this basis,a circle projection principle is used to reduce the search area,then the position of candidate charging point is obtained by discretization,finally the optimal coordinates of charging point is calculated out using a clustering algorithm.Under the condition of guaranteeing the total charging delay of the system,a set of nested optimal TSP path selection algorithm is constructed to achieve the location of all the optimal charging points in the shortest path of UAV.更多还原