巡线机器人延迟容忍传感器网络数据传输策略  

Date delivery scheme of delay-tolerant mobile sensor networks for high-voltage power transmission line inspection robot

作　　者：樊飞[1] 吴功平[1] 王满 徐青山 曹琪 杨松 FAN Fei;WU Gong-ping;WANG Man;XU Qing-shan;CAO Qi;YANG Song(School of Power and Mechanical Engineering,Wuhan University,Wuhan 430072,China;State Grid Jilin Electric Power Co.,Ltd.,Changchun 130000,China;Baishan Power Supply Company,State Grid Jilin Electric Power Co.,Ltd.,Baishan 134300,China)

机构地区：[1]武汉大学动力与机械学院,武汉430072 [2]国网吉林省电力有限公司,长春136000 [3]国网吉林省电力有限公司白山供电公司,白山134300

出　　处：《工程科学学报》2018年第11期1412-1421,共10页Chinese Journal of Engineering

基　　金：广东省科技计划专项资助项目(2015B090922007);国网吉林省电力有限公司资助项目(JDK2015--21)

摘　　要：巡线机器人延迟容忍传感器网络（delay tolerant mobile sensor networks for inspection robot,DTMSNR）用于输电线路巡线机器人远程电网数据收集,具有节点稀疏、异构、随机移动性、间歇连通性和延迟容忍性.针对传统传感器网络数据传输算法机器人数据传输成功率低与网络可靠性差等问题.提出一种基于巡线机器人位姿信息的数据传输（mobile robot positionbased delivery,MPD）策略.为准确计算巡线机器人网络位姿信息,建立机器人路径约束随机运动模型. MPD采用机器人相对网络位姿信息计算传输概率,进行消息传输路径选择.对网络异构消息引入机器人消息优先传输、消息失效机制进行消息队列管理.仿真实验表明,相较现有的几种延迟容忍传感器网络（delay tolerant mobile sensor network,DTMSN）数据传输策略,针对巡线机器人网络MPD能在适当的传输能耗下达到更高的传输成功率与更低的传输延迟.To improve the level of intelligent monitoring,maintenance,and management of transmission lines,research on inspection robots,and key technologies of overhead transmission line have attracted wide attention. With the breakthrough of the theory and technology of the internet of things,robot data transmission based on wireless sensor networks has become an active research area in the field of inspection robotics. Several researchers assume that robots are mobile nodes in wireless sensor networks,and the non-mobile communication node in the network is considered as a static node. The most crucial and difficult aspect of this research is coordinating the relationship among transmission success rate,transmission energy consumption,and delay of dynamic sensors networks. To address this difficulty,a novel method was proposed for the intelligent monitoring and communication system of power grids based on inspection robots. This method aims to realize the remote data collection of inspection robot by delay-tolerant mobile sensor networks for inspection robot（ DTMSNR）,which is featured by nodes heterogeneity,sparse sensor fields,random mobility,intermittent connectivity,and delay tolerance. It adopts the mobile robot position-based delivery（ MPD） method to solve the inadaptability of the traditional methods of sensor networks. A path-constrained random motion model was established,in order to accurately calculate the network pose information of the inspection robot. The MPD adopts the relative position information of the robot and other nodes to compute transmissionprobability and selects the message transmission path. This method uses mechanisms of robot message priority transfer and failure time to manage the message queue, considering the different delay requirements for messages. Multiple simulation scenarios were performed,and the influences of different parameters with four routing algorithms were discussed. The results indicate that compared with the commonly used DTMSN data transmission methods,the proposed

关 键 词：巡线机器人 延迟容忍传感器网络 数据传输 队列管理 输电线路监控 

分 类 号：TP393.1[自动化与计算机技术—计算机应用技术]