【作者】 裴忠民； 邓志东； 王盛慧；

【Author】 PEI Zhong-min1,DENG Zhi-dong1,WANG Sheng-hui2(1.Department of Computer Science and Technology,Tsinghua University,Beijing 100084,China;2.School of Electric and Electronics Engineering,Changchun University of Technology,Changchun 130012,China)

【机构】 清华大学计算机科学与技术系； 长春工业大学电气与电子工程学院；

【摘要】 基于无线传感器网络,设计实现了家用保安机器人环境监控单元,用于机器人对室内温度、湿度、煤气泄露、烟雾火警及非法盗门侵入的检测和报警。阐述了监控单元的系统架构,重点探讨了传感器网络节点的硬件设计、网络通信与数据传输控制协议的实现、监控主机应用程序及接口等问题;完成了温湿度、红外、烟雾及煤气4种类型的无线传感器网络节点设计;基于SMAC协议,提出并实现了以机器人为中心、星型网络结构为基础的网状拓扑结构,用于传感器网络节点的发现和数据的转发,并通过家用保安机器人实验验证平台对部署的节点和网络性能进行了测试和评估。测试结果表明,无线传感器网络节点具有近似全向性的PCB天线辐射场型,在空旷环境下具有100m左右的点对点通信能力,由10个节点组成的监控网络具有较强的鲁棒性和抗干扰能力,能够满足保安机器人的自主移动并完成监控作业,目前已初步形成系列产品。更多还原

【Abstract】 The environment monitoring unit of household security robot is designed and implemented based on wireless sensor networks,which are used for monitoring temperature and humidity,gas leaking,fire and housebreaking in family.The architecture of monitoring unit is presented.A set of design requirements are developed that cover the hardware design of intelligent sensor nodes,network communication and data transmission protocols,the application and the interface of monitoring host machine.Four types of sensor nodes including temperature and humidity nodes,smog nodes,infrared nodes and gas nodes are implemented.A mesh robot-centered network topology structure,which based on star network,is proposed and realized.Sensor nodes are deployed and tested on household security robot validating platform and the results are reported at last.The results show that wireless sensor network sensor nodes have similar omnidirectional PCB antenna and about 100 m point to point transmission ability.A robust wireless sensor network that is composed of 10 sensor nodes is built.The network has strong anti-jamming ability and can work well with the robot’ self-moving.Based on the performance test and a variety of practical applications,our new wireless sensor network product has been initiated.更多还原