KR101243320B1 - Wireless sensor network control apparatus and control method thereof - Google Patents

Abstract

PURPOSE: A wireless sensor network control device and a control method thereof are provided to effectively collect water nodes by preventing sensor nodes from being isolated due to error in the water nodes. CONSTITUTION: A mobile water node(200) transmits and generates execution mission results. A management unit(100) generates execution missions for the mobile water node. The management unit outputs the generated execution mission result to the mobile water node through a CDMA(Code Division Multiple Access) network. The management control unit receives the execution mission result through the CDMA network. The management unit stores the execution result of the mobile water node. The management unit displays the execution result of the mobile water node on a GUI(Graphical User Interface) screen. [Reference numerals] (110,210) CDMA module; (120) GIS client; (140) GIS web server; (220) Zigbee module; (230) GPS module; (241) First driver; (242) Second driver; (243) Propeller; (244) Direction converter; (250) Sensor module; (261) Battery; (262) Charging circuit; (263) Solar cell panel; (270) Controller; (AA) CDMA network

Description

Wireless sensor network control apparatus and control method thereof

The present invention relates to a wireless sensor network control apparatus and a control method thereof, and more particularly, to move the water node to a desired position to prevent the isolation of the sensor nodes due to the error of the water node and to facilitate the recovery of the water node. The present invention relates to a wireless sensor network controller and a control method thereof.

A wireless sensor network consists of multiple spatially distributed sensor nodes, each of which has a sensor function to detect surrounding conditions, a processing function to process sensed data, a detected signal or process It has a wireless communication function that sends and receives results to other sensor nodes.

Each sensor node of the wireless sensor network is used to cooperatively monitor and manage various physical or environmental conditions such as temperature, sound, vibration, pressure, motion, and pollution. Using these features, wireless sensor networks are widely used not only for environment and habitat monitoring, but also for a variety of human-related applications, such as defense applications such as battlefield surveillance, industrial process monitoring and control, real-time health monitoring, and real-time crop monitoring and control. .

Korean Patent Publication No. 2009-0010512 (published: Jan. 30, 2009, Applicant: Gangneung University Industry-Academic Cooperation Foundation) The prior art described in the literature relates to a method and system for providing addressing in a marine sensor network, which shows that the wireless sensor network is applied to the field of monitoring pollution. The sea level station of the wireless sensor network described in the prior art is installed in the water and acts as a gateway, and transmits the environmental information received from the sensor node to the management server so that the administrator can check. In the wireless sensor network, a water node is installed between a management server and a plurality of sensor nodes, such as a sea level station of the prior art, and the water node is fixedly installed in the water. The fixed water node is installed between the management server and a plurality of sensor nodes installed in the water, and transmits the information generated from each to the management server or sensor node, and transmits the underwater environmental information detected by the sensor node to the management server. By making it easy to check, it is possible to easily monitor a large space environment.

In case of a fixed water node, when a fault occurs, a number of sensor nodes connected to the water node may be isolated, and a monitoring function may be lost. There is a problem.

An object of the present invention is to solve the above-mentioned problems, to configure the water node to move the water node to the desired position to prevent the isolation of the sensor node due to the error of the water node and recovery of the water node. An object of the present invention is to provide a wireless sensor network controller and a method of controlling the same.

Another object of the present invention is to install a solar cell module on the water node by recharging the battery supplying the power required for the water node by wireless sensor network controller and its control method that can operate the water node for a long time without battery replacement. In providing.

Still another object of the present invention is to generate a command message for controlling the wireless sensor network in a single and list mode selectively so that the control of the water node can be carried out step by step or collectively to the surrounding environment in which the water node is installed. The present invention provides a wireless sensor network control device capable of adaptive control and a control method thereof.

It is still another object of the present invention to provide a wireless sensor network control apparatus and a control method thereof, by which the water node can be applied to control, thereby operating the water node regardless of the installation environment.

The wireless sensor network controller of the present invention comprises: a mobile receiving node for receiving and performing a performance mission through a code division multiple access (CDMA) network and generating and transmitting a performance mission result; Generates the execution mission to be performed by the mobile award node and outputs it to the mobile award node through a CDMA network, receives the result of the execution mission through the CDMA network, stores the result of performing the operation of the mobile award node, and also provides a graphical user interface. The mobile water node is connected to the management control unit via a CDMA network and receives a performance mission or transmits a performance result. Zigbee module for communication, GPS module for receiving location information from Global Positioning System (GPS) satellite, actuator module for receiving propulsion power by receiving movement control signal, and sensing signal by sensing surrounding environmental conditions A sensor module to generate and output the first CDMA module, the Zigbee module, the GPS module, and the actuator module; And a power supply unit connected to the sensor module and supplying driving power, and receiving a driving mode request message from the first CDMA module connected to the power supply unit and receiving the driving power, the Zigbee module, the GPS module, the actuator module, and the sensor module. It is characterized in that it consists of a controller for selectively activating each of them to perform the performance mission and to generate the performance results as the performance mission results and to transmit to the management control unit through the first CDMA module.

The wireless sensor network control method of the present invention comprises the steps of: inputting a performance mission of a mobile water node using a management controller; When the mission is input, generating a mission as a mission mode message (MissionMode) inputted to a management controller and transmitting the generated mission mode message to a mobile water node to process the mission; When the mission mode message is transmitted, performing a mission according to the mission mode message in the mobile award node, converting the result into a mission response message and transmitting the result to a mission control unit; When the mission response message is received, it comprises the step of terminating the mode communication when the execution mission input from the management control unit is completed, the mission performed by the management control unit generates a mission mode message and generates the generated mission mode message Transmitting a mission by transmitting to a mobile water node generates a mission input from the management control unit as a mission mode message, and generates and transmits a mission mode request message according to the generated mission mode message. And, after transmitting the mission mode request message, counting a preset end time (TimeOut) in the penetration control unit, and waiting while a mission mode response message (MissionMode-Response) is received during the count of the preset end time. Confirming whether a mission mode response message has been transmitted during the standby; Counting a preset end time in the management control unit if the mode response message is not transmitted; and if the mission mode response message is transmitted, whether the mode response message is transmitted is a single mode communication or a mission mode response message according to list mode communication. And confirming that the mission mode response message is a mission mode response message according to single mode communication, and confirming or performing a single mission result of the mobile receiving node according to single mode communication. And performing a list mode communication step of sequentially storing or outputting a result of the mission of the mobile receiving node according to the list mode communication if the mission mode response message according to the result of the check of the mission mode response message is performed. Once the mission result is saved, single mode communication B) checking whether the list mode communication has been performed.

The wireless sensor network controller and its control method of the present invention can move the mobile water node to a desired position to prevent the isolation of the sensor nodes due to the error of the mobile water node and facilitate the recovery of the mobile water node. There is an advantage in that the mobile water node can be operated for a long time by installing a solar cell module in the mobile water node and recharging a battery supplying power for the mobile water node.

The wireless sensor network controller and its control method of the present invention can also generate a command message for controlling the wireless sensor network in single and list mode so that the control of the mobile water node can be performed step by step or collectively. Therefore, it is possible to operate the mobile water node regardless of the installation environment by enabling the adaptive control to be able to adapt to the surrounding environment in which the mobile water node is installed.

1 is a block diagram showing the configuration of a wireless sensor network control apparatus of the present invention;
FIG. 2 illustrates a graphical user interface of the management server shown in FIG. 1;
3 is a flowchart illustrating a control method of the apparatus for controlling a wireless sensor network of the present invention;
4 is a flowchart illustrating a method of controlling a mobile water node using the management control unit illustrated in FIG. 3 in detail;
5 is a flowchart illustrating a method of performing single mode communication shown in FIG. 4 in detail;
6 is a flowchart illustrating a method of performing list mode communication shown in FIG. 4 in detail;
7 is a flowchart illustrating a control method of a management control unit using a mobile water node shown in FIG. 3 in detail;
8 is a flowchart illustrating a method of performing a single mode mission shown in FIG. 7 in detail;
9 is a flowchart illustrating a method of performing a list mode mission shown in FIG. 7 in detail;
10 is a table showing message types of a wireless sensor network control method of the present invention;
11 is a view showing a control method for moving a mobile water node in the wireless sensor network control method of the present invention.

Hereinafter, an embodiment of a wireless sensor network controller and a control method thereof according to the present invention will be described with reference to the accompanying drawings.

1 and 2, the wireless sensor network controller of the present invention includes a management controller 100 and a mobile water node 200.

The management control unit 100 generates a performance mission to be performed by the mobile award node 200 and outputs the result to the mobile award node 200 through the CDMA network, and receives the result of the execution through the CDMA network of the mobile award node 200. In addition to storing the results of the work performed and displaying them on a graphical user interface (GUI) screen, the mobile water node 200 receives and performs the received mission through a code division multiple access (CDMA) network, and generates a performed mission result. send.

Referring to the configuration of the wireless sensor network control device of the present invention having the above configuration in more detail as follows.

The management control unit 100 includes a second CDMA module 110, a Geographic Information System (GIS) client 120, and a data base (DB) 130 as shown in FIG. 1.

The second CDMA module 110 transmits the execution mission or receives the result of the execution mission, and the GIS client 120 transmits the execution mission of the mobile award node 200 through the second CDMA module 110 to the mobile award node 200. It receives the result of the mission performed by the mobile water node 200 from the second CDMA module 110 and outputs the results of the work performed by the mobile water node 200. The GIS client 120 controls the management control unit 100 as a whole, and inputs an output device such as a keyboard or a mouse (not shown) or an output device such as a monitor to input or output a performance mission of the mobile water node 100. (Not shown) is provided. The GIS client 120 selectively receives the GIS information from the GIS web server 140 or the DB 130 through the monitor and displays the result of the work on the GUI (Graphical User Interface) screen shown in FIG. The GUI screen is provided with a button for providing a performance mission to the mobile water node 200 and displaying the performance result. The DB (Data Base) 130 stores the result of the execution mission output from the GIS client 120 or stores the GIS information to provide the GIS information when the GIS client 120 requests it.

The mobile water node 200 includes a first CDMA module 210, a Zigbee module 220, a GPS module 230, an actuator module 240, a sensor module 250, and a power supply unit 260 as shown in FIG. 1. ) And the controller 270.

The first CDMA module 210 is connected to the management control unit 100 through a CDMA network to receive a performance mission or transmit a performance result, and the Zigbee module 220 is provided for communication between the mobile water node 200. The GPS module 230 receives location information from a global positioning system (GPS) satellite.

The actuator module 240 receives the movement control signal to generate propulsion force, and the sensor module 250 detects the surrounding environmental conditions and generates and outputs a detection signal, and the first driver 241 and the first driver 242. , A propulsion mechanism 243 and a direction change mechanism 244.

The first driver 241 receives the movement control signal output from the controller 270 and generates and outputs a first driving signal, respectively, and the second driver 242 receives the movement control signal output from the controller 270. Receives and generates a second drive signal. The propulsion mechanism 243 generates a driving force for moving the moving water node 200 when the first driving signal is received from the first driver 241, and one or more propeller propulsion mechanisms are used as shown in FIG. 11. Propeller propulsion mechanism is selectively driven by the first driver. When the second drive signal is received from the second driver 242, the direction change mechanism 244 is used to change the direction of the moving water node 200, and the rudder change mechanism is used as shown in FIG. 11. Here, the propeller propulsion mechanism and the rudder switching mechanism are omitted because detailed techniques are known.

The sensor module 250 detects the ambient environmental conditions in which the wireless sensor network of the present invention is installed, generates and outputs a detection signal, and measures the water quality of the water quality sensor 251 and the temperature sensor 252 that measures underwater temperature. It consists of an acoustic sensor 253 for detecting sound.

The power supply unit 260 is connected to the first CDMA module 210, the Zigbee module 220, the GPS module 230, the actuator module 240, and the sensor module 250, respectively, to supply driving power, and the battery 261. And a solar panel 262 and a charging circuit 263. The battery 261 is connected to the first CDMA module 210, the Zigbee module 220, the GPS module 230, the actuator module 240, the sensor module 250, and the controller 270, respectively, to supply driving power. The solar panel 262 converts and outputs sunlight into an electrical signal. The charging circuit 263 receives the electrical signal output from the solar panel 262 and charges the battery 261 so that the mobile water node 100 can be operated for a long time without replacing the battery 261.

The controller 270 generally controls the mobile water node 100 of the present invention. When the controller 270 is connected to the power supply unit 260 to receive driving power and receives the mission mode request message from the first CDMA module 210, the Zigbee module ( 220, the GPS module 230, the actuator module 240 and the sensor module 250 is selectively activated to perform a mission and generate the result as a mission result and manage it through the first CDMA module 210. The control unit 100 transmits.

The wireless sensor network control method using the wireless sensor network control apparatus of the present invention will be described with reference to the accompanying drawings.

In the wireless sensor network control method using the wireless sensor network control apparatus of the present invention as shown in FIG. 3, first, the execution mission of the mobile water node 200 is input using the management controller 100 (S1000), and the execution mission is input. When the mission is input to the management control unit 100, the mission mode is generated as a mission mode message (MissionMode) and transmits the generated mission mode message to the mobile water node 200 to process the mission (S2000). When the mission mode message is transmitted, the mobile node performs a mission according to the mission mode message and converts the result into a mission response message (MissionResponse) and transmits the result to the management control unit 100 (S3000). When it is received, the mode communication is terminated when the execution mission inputted from the management control unit 100 is completed (S4000).

Referring to Figures 4 to 6 attached to the method for performing the communication by the management control unit 100 controls the mobile water node 200 of the above configuration as follows.

Step (S2000) of generating the mission performed by the management control unit 100 as a mission mode message and transmitting the generated mission mode message to the mobile award node 200 to process the mission (S2000), as shown in FIG. The mission performed by the management control unit 100 is generated as a mission mode message, and generates and transmits a mission mode request message (MissionMode-Request) according to the generated mission mode message (S2100). After transmitting the mission mode request message, the management control unit 100 counts a preset end time (TimeOut) (S2200), and waits while the mission mode response message (MissionMode-Response) is received during the count of the preset end time. (S2300).

It checks whether the mission mode response message is transmitted during the waiting (S2400), and if the mission mode response message is not transmitted, the management control unit 100 counts a preset end time (S2410). When the mission mode response message is transmitted, the mission mode response message is used to determine whether the single mode communication or the mission mode response message is based on the list mode communication (S2500). As a result of the confirmation of the mission mode response message, the mission mode response is performed according to the single mode communication. If the message is a single-mode communication to check the result of one of the mission performed by the mobile node 200 according to the single-mode communication to store or output (S2600). Check result of the mission mode response message If the mission mode response message according to the list mode communication, and performs the list mode communication to sequentially store or output after confirming the mission result of the mobile receiving node 200 according to the list mode communication (S2700), When the execution mission result is stored, it is checked whether the single mode communication or the list mode communication is finished (S2800). If the mode check is completed, the step communication is performed (S4000). On the other hand, if the mode check is not finished or if the count of the end time is completed, it is determined that the mode communication error is performed and the mission exception processing is performed. (S2900).

In the configuration of performing a single mode mission (S2600), as shown in FIG. 5, if a mission mode response message according to the single mode communication results from the mission mode check, the mission single request message according to one mission to be performed by the mobile award node ( Mission Single-Request) is transmitted to the mobile water node 200 (S2611).

After transmitting the mission single request message, a predetermined end time (TimeOut) is counted to the management control unit 100 (S2612), and a mission single response message (MissionSingle-Response) is received from the mobile water node 200 during the end time count. Wait for transmission (S2613). Message transmission confirmation to confirm whether the mission single response message is transmitted during the waiting (S2614), if the message is not transmitted in the message transmission confirmation step (S2614) checks whether the preset end time is completed (S2617), the end time If it is not completed, the process returns to step S2613. On the contrary, when the end time is completed, the mission single response message (MissionSingle-Response) reception error is displayed on the management control unit 100 (S2618).

As a result of the message transmission confirmation result, when the mission single response message is transmitted, the mission result of one mobile receiving node 200 is confirmed using the mission single response message (S2615). As a result of the check, if there is no performance mission result of the moving award node 200 or the performance mission result according to the mission single request message, it is checked whether the mission single request message is retransmitted (S2616). In the step S2616 of checking whether the mission single request message is retransmitted, if the message retransmission is requested in the management control unit 100, the request is generated as a mission single request message and transmitted to the mobile receiving node 200 (S2611). Returns. On the contrary, if retransmission is not requested in step S2616 of checking whether retransmission is performed, step S2800 is performed.

In the list mode mission performing step (S2700), as shown in FIG. 6, if the mission mode response message according to the list mode communication is performed as shown in FIG. 6, the mission list starts to notify the start of the transmission of the performing mission list to be performed by the mobile award node 200. The message (MissionList-Start) is transmitted to the mobile award node 200 (S2711).

After transmitting the mission list start message, the management control unit 100 starts to count the preset end time (S2712), and during the end time count, the mobile receiving node 200 informs that it is ready to receive the completed mission list. It waits until the mission list preparation message (MissionList-Ready) is transmitted (S2713). The message transmission confirmation confirming whether the mission list preparation message has been transmitted while waiting (S2714). As a result of the check, if the mission list preparation message is not transmitted, it is determined whether the preset end time is completed (S2733). If the termination time is not completed, the process returns to step S2713. It is displayed on the management control unit 100 (S2734).

When the mission list preparation message is transmitted as a result of the transmission confirmation of the mission list preparation message, the sequence number is assigned to each of the missions listed in the mission list to be performed by the mobile award node 200, and then the mission request message is assigned to each mission. Request) occurs and transmits sequentially to the mobile award node (S2715). Check whether all the mission request messages have been transmitted to the mobile award node (200) (S2716), and all the mission request messages are confirmed as a result. When transmitted to the award node 200 transmits a mission list end message (MissionList-End) to inform the number of mission request messages transmitted in addition to the notification that all of the mission request message has been transmitted to the mobile award node 200 ( S2717). After transmitting the mission list end message to the mobile award node 200, the management control unit 100 starts counting the preset end time (S2718), and during the end time count, the mobile terminal 200 receives the mission request message. It waits for reception of a mission reception confirmation message (Ack) for notifying the number and the missing mission request message number (S2719).

Check whether or not the mission reception confirmation message has been received during the waiting (S2720), and if the mission reception confirmation message is not received as a result of the check, check whether a preset end time is completed (S2735), and if the end time is not completed, the step ( In step S2719, when the end time is completed, the reception error of the mission reception confirmation message is displayed on the management control unit 100 (S2736).

As a result of the confirmation, when the mission reception confirmation message is received, the mission reception confirmation message is used to check whether there is a mission request message that has not been transmitted to the receiving water node 200 (S2721). It is checked whether the mission request message is retransmitted to the mobile award node 200 (S2722). As a result of the check, when the retransmission is determined, a mission list restart message (MisssionList-Restart) is generated and transmitted to the mobile award node 200 (S2737). The mission list restart message is generated using the management control unit 100, and when an error occurs during the list mode communication, the operator can recognize this through programming of the management control unit 100 and also manually or Automatically generate a mission list restart message.

In order to determine whether to retransmit the missing mission request message, the management control unit 100 starts counting the preset end time (S2723), and during the counting of the end time, the management control unit 100 does not require retransmission of the message. If not, it waits for the reception of the mission response start message (MissionResponse-Start) for notifying the start of the transmission of the performance result of the mobile award node 200 (S2724).

Check whether or not the mission response start message has been received during the waiting (S2725), and if the mission response start message is not received as a result of the check, checks whether the end time is completed (S2738), and as a result of the confirmation, the mission reception confirmation message is displayed. If it is not received, check whether the preset end time is completed (S2735). If the end time is not completed, the process returns to step S2724. On the contrary, when the end time is completed, the reception error of the mission acknowledgment message is sent to the management control unit 100. To display (S2734).

On the contrary, when the mission response start message is received, a mission response ready message (MissionResponse-Ready) is transmitted to notify the mobile award node 200 that the mobile award node 200 is ready to receive the result of the mission. After transmitting to the node 200 (S2726), and transmits the mission response preparation message to the mobile water node 200, the count of the end time set in advance in the management control unit 100 starts (S2727). Waiting for the reception of the mission response message during the count of the end time (S2728), and checks whether the mission response message has been received during the waiting (S2729).

If the message response check result does not receive the mission response message, check whether the preset end time is completed (S2740), and if the end time is not completed, return to step S2724. On the contrary, if the end time is completed, a reception error of the mission acknowledgment message is received. Is displayed on the management control unit 100 (S2741). On the contrary, as a result of the message acknowledgment, the mission response message is received, and the results of the mission performed by the mobile award node 200 are sequentially received. It is checked whether (MissionResponse-End) is received (S2730). After confirming that the mission response termination message is received, the mission response termination message is used. The mission acknowledgment message (Ack) for informing the number of is transmitted to the mobile award node (200) (S2731).

After transmitting the mission reception confirmation message, the mobile receiving node 200 checks whether or not the request for re-receipt of the mission response start message is received (S2732), and if the message re-receipt is requested from the management control unit 100, the management control unit ( A count of the end time preset in step 100 is started (S2743), and a mission response restart message (MissionResponse-Restart) is transmitted to the mobile award node 200 during the count of the end time (S2744). In step S2732, if it is determined whether to request the reception of the message again, if it is not requested to receive the message again, step S2800 is performed.

The method for performing communication by the mobile water node 200 to control the management controller 100 will be described first with reference to FIGS. 7 to 9.

Performing the mission according to the mission mode message in the mobile water node 200, and converting the performance result to the mission response message (MissionResponse) and transmitting to the management control unit 100 (S3000), first, the mobile water node 200 Waits for the reception of the mission mode request message (MissionMode-Request) (S3100). While waiting, the mobile node checks whether the mission mode request message has been received (S3200), and when the mission mode request message arrives, the mobile node receives a mission mode response message according to the mission mode request message. And transmits to the management control unit 100 (S3300).

When the mission mode response message is transmitted, the mission mode request message is used to check whether the mission mode is performed in single mode communication or list mode communication (S3400). Perform a single mode mission and performs a single mode to transmit the result to the management control unit 100 (S3500). If the result of the mission mode check message is a mission mode request message according to the list mode communication, the list mode mission is performed and the list mode is transmitted to the management control unit 100 (S3600). Check the end of the mission to check whether the execution is completed (S3700). When the single mode execution or the list mode execution is terminated in the mission termination confirmation step (S3700), the process returns to the step of waiting for reception of a mission mode request message (MissionMode-Request). On the contrary, if the execution is not completed, the mission exception processing indicating the reception error of the mission mode request message is transmitted, and the result is transmitted to the management control unit 100 to be displayed (S3800).

The single mode performing step (S3500) of performing the single mode mission and transmitting the result of the configuration to the management control unit 100 is performed as shown in FIG. 8. While receiving the mission single-request message (MissionSingle-Request) transmitted to the unit 100, the mobile terminal 200 starts counting the preset end time (S3511). Waiting for the reception of the mission single request message during the end time (S3512), and checks whether the mission single request message has been received during the waiting (S3513). As a result of the check, if the mission single request message is not received, the mobile terminal node 200 checks whether the preset end time is completed (S3516). If the end time is not completed, the process returns to step S3512. The reception error of the mission single request message is transmitted to the management control unit 100 and displayed (S3517). On the contrary, if the mission single request message is received, the mission single response message is checked and performed (S3514). If one mission is confirmed, the mission single response message indicating completion of the mission is confirmed. (MissionSingle-Response) is generated and transmitted to the management control unit 100 (S3515). When the message transmission is completed in step S3515, step S3700 is performed.

In the list mode performing step (S3600) of performing the list mode mission and transmitting the performed result to the management control unit 100, first, as shown in FIG. 9, if the list mode communication is a result of confirming the mission mode request message, the management control unit 100 is performed. While receiving the mission list request message (MissionList-Request) transmitted in step S), the count of the end time preset in the mobile award node is started (S3611).

Wait for the reception of the mission list request message during the end time (S3612), and check whether the mission list request message has been received during the waiting (S3613). If the result of the check does not receive the mission list request message, check whether the preset end time is completed (S3634). If the end time is not completed, the process returns to step S3612. On the contrary, if the end time is completed, a reception error of the mission list request message is received. The transmission is displayed to the management control unit 100 (S3635). On the contrary, if the mission list request message is received, a mission list preparation message for informing that the mission list is ready for reception is generated and transmitted to the management control unit 100 (S3614).

When the mission list preparation message is generated, a count of a preset end time is started in the mobile award node (S3615), and the reception of the mission request message is awaited during the end time (S3616). Check whether or not the mission request message has been received during the waiting (S3617), and if the mission request message is not received as a result of the check, confirms that the preset end time is completed in the mobile water node 200 (S3636). The reception error of the mission request message is transmitted to the management control unit 100 and displayed (S3637). On the contrary, if the mission request message is received, the mission list termination message is received (S3618). When the mission list termination message is received, the mission list confirmation message is used to check the number of mission request messages and the missing mission request message number, and then the mission acknowledgment message for notifying the number of mission request messages received and the missing mission request message number. Generated and transmitted to the management control unit 100 (S3619).

When the mission reception confirmation message is transmitted, it is determined whether the mission response re-receive message is received from the management control unit 100 (S3620), and as a result of the reception confirmation of the mission response re-receive message, the mobile receiving node 200 In step S3638, a count of the preset end time is started (S3638), and the reception of the mission list restart message is waited for again (S3639). On the contrary, if the mission response message has not been received as a result of the check, a mission response start message (MissionResponse-Start) for notifying the start of transmission of the mission result of the mobile award node is waited to be transmitted to the management controller 100 ( S3621).

While waiting for the transmission of the mission response start message, a count of a preset end time is started in the mobile water node (S3622), and the mission response reception ready message is received from the management control unit 100 during the termination time (S3623). ). During the waiting time of step S3623, it is checked whether a mission response reception ready message is received (S3624). If the mission response reception ready message is received as a result of the check, the mission is performed according to the mission request message (S3625). On the contrary, if the mission response reception ready message is not received, the mobile terminal 200 checks whether the preset end time is completed (S3640). If the end time is not completed, the process returns to step S3623. The reception error of the response ready message is transmitted to the management control unit 100 and displayed (S3641).

When the mission is completed, a mission response message for informing the completion of the mission is generated and transmitted to the management control unit 100 (S3626), and the mission response message checks whether the mission message is the last message in the mission list (S3627). If it is determined that the mission mode response message is the last message, a mission response termination message is generated and transmitted to the management control unit 100 (S3628), and the mission response termination message is transmitted to the management control unit 100 and then transferred to the mobile award node. The counting of the preset end time is started (S3629). Waiting for the reception reception confirmation message to be received from the management control unit 100 during the end time (S3630), and confirms whether the mission reception confirmation message has been received from the management control unit 100 during the waiting (S3631). As a result of the check, when the mission reception confirmation message is received from the management control unit 100, the number of mission request messages and the number of missing mission request messages are checked (S3632). On the contrary, if the mission reception confirmation message is not received, the mobile terminal 200 checks whether the preset end time is completed (S3642). If the end time is not completed, the process returns to step S3630. The reception error of the mission reception confirmation message is transmitted to the management control unit 100 and displayed (S3643).

As a result of checking the number of mission request messages and the number of missing mission request messages, if the number of mission request messages and the number of missing mission request messages are found, check whether the mission request message for notifying the missing mission request message has been received again. If it is not received again (S3633), step S3700 is performed. On the contrary, if the mission request message is re-received in the step S3633 of checking whether the mission request message has been re-received, the mission request message is inserted during the counting of the end time after inserting the missing mission request message number into the mission request message (S3644). Return to step to check if the received.

In the wireless sensor network control method of the present invention, the control command message includes a mission mode message (MissionMode), a mission response message (MissionResponse), a mission mode request message (MissionMode-Request), an end time (TimeOut), and the like. Mission Single Request Message (MissionSingle-Request), Mission List Start Message (MissionList-Start), Mission List Ready Message (MissionList-Ready), Mission List End Message (MissionList-End), Mission Receipt Message (Ack), Mission List There is a restart message (MisssionList-Restart), mission response start message (MissionResponse-Start), mission response end message (MissionResponse-End), mission response restart message (MissionResponse-Restart), mission response message (MissionResponse), etc. Interrupt control commands (Mission -Cancel, Mission -Insert, Mission -Update, Mission -Delete, MissionList -Delete) for deleting, inserting, updating, and canceling messages. Of the structure and format is used, as shown in FIG.

The mission request message according to the mission performed by the mobile water node 200 may be a communication mission message, a gateway message, a location movement mission message, an actuator operation mission message, a sampling mission message, an interrupt mission message, etc. as shown in FIG. Each is represented in the user data area, that is, the payload area in the CDMA communication network.

The communication mission message is a message for connecting between the first CDMA module of the mobile water node and the second CDMA module of the management controller. The gateway message is a mixture of the first CDMA module and the Zigbee module of the mobile water node 200 to activate the gateway communication. Message to perform. The location movement mission message is a message for giving the latitude and longitude coordinates of the position to which the moving water node 200 should move.

The position movement mission message is a message indicating the position coordinates of latitude and longitude by setting the movement target position of the mobile water node 200 in the management controller 100, and the position movement mission message moves to the mission request message. The moving water node 200 is autonomously moved to the position coordinates of latitude and longitude, which are target positions included in the position movement mission message.

)와 목표위치벡터의 좌표(

)를 설정한다. 이동 수상노드(200)의 시작위치벡터의 좌표(

)와 목표위치벡터의 좌표(

)가 설정되면 시작위치벡터의 좌표(

)와 목표위치벡터의 좌표(

)를 이용해 이동 수상노드(200)의 목표이동경로(TPW)를 산출하며, 목표이동경로(TPW)가 산출되면 목표이동경로(TPW)를 이용해 목표진행방향각(

)을 산출한다. 목표진행방향각(

)이 산출되면 목표이동경로(TPW)와 목표진행방향각(

)을 이용해 이동 수상노드(200)를 이동시키며, 이동 수상노드(200)가 이동되면 이동 수상노드(200)의 현재위치벡터의 좌표(

)를 설정한다. 현재위치벡터의 좌표(

)가 설정되면 시작위치벡터의 좌표(

)와 현재위치벡터의 좌표(

)를 이용하여 현재이동경로(PPW)를 산출하고 산출된 현재이동경로(PPW)를 이용하여 현재진행방향각(

)을 산출하며, 현재진행방향각(

)이 산출되면 목표진행방향각(

)과 현재진행방향각(

)의 각도차(

)를 산출하여 이동 수상노드(200)의 이동방향각이 허용오차범위(

) 보다 작은지를 확인한다. 이동 수상노드(200)의 이동방향각이 허용오차범위(

) 보다 작으면 현재위치벡터의 좌표(

)와 목표이동경로(TPW) 사이의 수직거리(d)를 산출하여 수직거리(d)가 허용오차범위(

) 보다 작은지를 확인하며, 수직거리(d)가 허용오차범위(

) 보다 크면 보정목표위치벡터의 좌표(

)를 산출한다. 보정목표위치벡터의 좌표(

)가 산출되면 현재위치벡터의 좌표(

)와 보정목표위치벡터의 좌표(

)를 이용하여 현재진행방향각(

)을 변경하기 위한 보정목표이동경로(CPW)를 산출하며, 수직거리(d)가 허용오차범위(

) 보다 작으면 목표위치벡터(

)와 현재위치벡터(

)의 거리차(

)를 산출하여 거리차(

)가 허용오차범위(

) 보다 작은지를 확인한다. 거리차(

)가 허용오차범위(

) 보다 작으면 이동 수상노드(200)의 이동을 종료하여 목표위치로 이동 수상노드(200)를 자율 이동시킨다. 이러한 제어방법의 수학적 알고리즘은 공지된 기술을 적용함으로 상세한 설명을 생략한다.As shown in FIG. 11, a method of autonomously moving a moving water node 200 from a current position to a target position is described below.

) And the coordinates of the target position vector (

). Coordinates of the start position vector of the moving water node 200 (

) And the coordinates of the target position vector (

) Is set, the coordinates of the starting position vector (

) And the coordinates of the target position vector (

The target travel path (TPW) of the moving water node (200) is calculated, and when the target travel path (TPW) is calculated, the target travel direction angle (TPW) is used.

). Target heading angle (

) Is calculated, the target travel path (TPW) and the target travel direction angle (

The moving water node 200 is moved using the coordinates of the current position vector of the moving water node 200 when the moving water node 200 is moved.

). The coordinates of the current position vector (

) Is set, the coordinates of the starting position vector (

) And the coordinates of the current position vector (

Calculate the current movement path (PPW) by using and then use the calculated current movement path (PPW)

) And the current heading angle (

) Is calculated, the target heading angle (

) And current direction of travel (

Difference in angle ()

), The moving direction angle of the moving water node 200 is determined by the tolerance range (

Is less than Moving direction angle of the moving water node 200 is the tolerance range (

Less than), the coordinates of the current position vector (

) And the vertical distance (d) between the target travel path (TPW) so that the vertical distance (d) is the tolerance range (

Is less than, and the vertical distance (d)

Is greater than), the coordinates of the

) Is calculated. Coordinates of the calibration target position vector (

), The coordinates of the current position vector (

) And the coordinates of the target position vector (

Current direction of travel using

Calculate the calibration target movement path (CPW) for changing the vertical distance, and the vertical distance (d) is the tolerance range (

Is less than) the target position vector (

) And current position vector (

Distance difference

) To calculate the distance difference (

) Is the tolerance

Is less than Distance difference

) Is the tolerance

Less than), the movement of the moving water node 200 is terminated and the moving water node 200 is autonomously moved to the target position. The mathematical algorithm of this control method is omitted by applying a known technique.

The actuator operation mission message is the same as the position movement mission message, but the position movement mission message is automatically moved to the target position, while the propulsion mechanism 243 or the direction change mechanism 244 provided in the moving water node 100 is directly applied. This message is for driving the mobile water node 200 by driving. For example, after generating and transmitting a control signal for controlling the propulsion mechanism 243 or the direction change mechanism 244 to the mobile water node 100, the mobile water node 100 is moved to transfer the information. After receiving through the GPS module 230 provided in the node 200 to receive the position information of the mobile water node 100 obtained by the management control unit 100 to check the movement state.

The sampling mission message is assigned to the water quality measurement sensor 251, the temperature sensor 252, and the acoustic sensor 253, which constitute the sensor module provided in the mobile water node 200, respectively, by giving a sensor identifier, a sensing sampling cycle, and a detection time. It is used as a message for detecting the surrounding environment in which the mobile water node 200 is installed using the detected information.

Interrupt mission messages are interrupt control commands (Mission -Cancel, Mission -Insert, Mission) for deleting, inserting, updating, and canceling messages such as communication mission messages, gateway messages, positioning mission messages, actuator operation mission messages, and sampling mission messages. -Update, Mission -Delete, MissionList -Delete).

As described above, the wireless sensor network control apparatus and its control method of the present invention can move the mobile water node to a desired position to prevent the isolation of the sensor nodes due to the error of the mobile water node and to move the water node to the home position. It can be easily recovered by moving, and by installing a solar cell module in the mobile water node to recharge the battery supplying the power required for the mobile water node, it is possible to operate the mobile water node for a long time without replacing the battery.

The wireless sensor network controller and its control method of the present invention can also generate a command message for controlling the wireless sensor network in single and list mode so that the control of the mobile water node can be performed step by step or collectively. Therefore, it is possible to operate the mobile water node regardless of the installation environment by enabling the adaptive control to be able to adapt to the surrounding environment in which the mobile water node is installed.

The wireless sensor network controller and its control method of the present invention can be applied in the environment, habitat, defense field of the battlefield, industrial process, real-time health and crop monitoring.

100: management control unit 110: second CDMA module
120: GIS client 130: DB
140: GIS web server 200: mobile water node
210: first CDMA module 220: Zigbee module
230: GPS module 240 actuator module
250: sensor module 260: power supply
270: controller

Claims (11)

A mobile receiving node that receives and performs a performance mission through a Code Division Multiple Access (CDMA) network, generates and transmits the performance of a performance mission;
Generates the execution mission to be performed by the mobile award node and outputs it to the mobile award node through a CDMA network, receives the result of the execution mission through the CDMA network, stores the result of performing the operation of the mobile award node, and also provides a graphical user interface. ) It consists of a management control unit which displays and outputs the screen.
The mobile water node is connected to the management controller through a CDMA network to receive a performance mission or transmit a performance result, a Zigbee module for communication between the mobile water node, and a GPS (Global). Positioning System) GPS module for receiving position information from satellite, an actuator module for receiving a movement control signal and generating propulsion force, a sensor module for sensing and outputting a sensing signal to detect surrounding environmental conditions, and the first CDMA module; A power supply unit connected to the Zigbee module, the GPS module, the actuator module and the sensor module to supply driving power, and a driving power connected to the power supply unit and receiving a mission mode request message from the first CDMA module; Perform mission by selectively activating Zigbee module, GPS module, actuator module and sensor module respectively. A wireless sensor network control unit to generate a result to perform the mission carried out and do result, characterized in that through the 1CDMA module comprising a controller for transmitting the management control part. According to claim 1, The actuator module receives a movement control signal output from the controller and a first driver for generating and outputting a first driving signal, respectively;
A second driver for receiving a movement control signal output from the controller and generating and outputting a second driving signal;
A propulsion mechanism generating a propulsion force for moving the moving water node when the first driving signal is received from the first driver;
When the second drive signal is received from the second driver is composed of a direction switching mechanism for switching the direction of the moving water node,
The propulsion mechanism is one or more propeller propulsion mechanism is used, each propeller propulsion mechanism is selectively driven by a first driver, the direction change mechanism is a wireless sensor network control device, characterized in that the use of a rudder switching mechanism. The wireless sensor network control apparatus of claim 1, wherein the sensor module comprises a water quality measuring sensor measuring water quality, a temperature sensor measuring underwater temperature, and an acoustic sensor sensing sound. The battery of claim 1, wherein the power supply unit comprises: a battery connected to the first CDMA module, the Zigbee module, the GPS module, the actuator module, the sensor module, and the controller to supply driving power;
A solar cell panel for converting sunlight into electrical signals and outputting the light;
And a charging circuit configured to charge the battery by receiving an electrical signal output from the solar panel. The system of claim 1, wherein the management control unit comprises: a second CDMA module which transmits a mission or receives a result of the mission;
A geographic information system (GIS) which transmits a performance mission of the mobile water node to the mobile water node by transmitting the performance mission of the mobile water node to the mobile water node through the second CDMA module and receives a result of the performance of the mobile water node from the second CDMA module; A) with clients;
It consists of a DB (Data Base) for storing the results of the mission or output the GIS information output from the GIS client,
The GIS client wirelessly receives a GIS information from a GIS web server or a DB, and wirelessly outputs a network control device. Inputting a performance mission of a mobile water node using a management control unit;
When the mission is input, generating a mission as a mission mode message (MissionMode) inputted to a management controller and transmitting the generated mission mode message to a mobile water node to process the mission;
When the mission mode message is transmitted, performing a mission according to the mission mode message in the mobile award node, converting the result into a mission response message and transmitting the result to a mission control unit;
When the mission response message is received and comprises a step of terminating the mode communication when the execution mission input from the management control unit is completed,
The performing the mission input generated by the management control unit as a mission mode message and transmitting the generated mission mode message to the mobile water node to process the performed mission occurs by the management control unit as a mission mode message. Generating and transmitting a mission mode request message according to the generated mission mode message, counting a predetermined timeout time set by a management controller after transmitting the mission mode request message; Waiting while the mission mode response message (MissionMode-Response) is received during the count of the preset end time, checking whether the mission mode response message has been transmitted during the standby, and not transmitting the mission mode response message Counting a preset end time in the management control unit; and responding to the mission mode response. If the message is transmitted, confirming whether the mission mode response message is a single mode communication or a list mode communication using the mission mode response message, and if the mission mode response message according to the single mode communication is a single mode communication result. The single mode communication step of checking and storing or outputting the result of one mission performed by the mobile award node according to the mode communication, and if the mission mode response message according to the list mode communication is the result of checking the mission mode response message, Performing a list mode communication step of sequentially storing or outputting the result of performing the mission of the mobile water node; and checking whether the single mode communication or the list mode communication is terminated when the execution mission result is stored. Wireless sensor network control room . The method of claim 6, wherein the performing of the single mode mission occurs as a mission single-request message according to one mission to be performed by the mobile award node when the mission mode check result is the mission mode response message according to the single mode communication. Transmitting to the mobile water node;
Counting a preset timeout in a management control unit after transmitting the mission single request message;
Waiting for a MissionSingle-Response message to be sent at a mobile award node during the end time count;
A message transmission confirmation step of confirming whether a mission single response message has been transmitted during the waiting;
Confirming a result of a mission of one mobile receiving node using a mission single response message when the mission single response message is transmitted;
If there is no performance result of the mobile node as a result of the check or if the performance result of the mission single request message is not the result of the mission single request message, it is determined.
In a step of confirming whether the mission single request message is retransmitted, if a message retransmission is requested by a management control unit, the mission single request message (MissionSingle-Request) is generated and returned to the mobile receiving node. Wireless sensor network control method. The mission list start message according to claim 6, wherein the step of performing the list mode mission is a mission list start message for notifying the start of the transmission of the performance mission list to be performed by the mobile award node if the mission mode response message according to the list mode communication is performed. Transmitting c) to a mobile water node;
Starting the count of a preset end time to a management control unit after transmitting the mission list start message;
Waiting for a mission list preparation message (MissionList-Ready) to be sent to the mobile award node to indicate that it is ready to receive a mission list during the end time count;
A message transmission confirmation step of confirming whether a mission list preparation message has been transmitted during the waiting;
When the mission list preparation message is transmitted as a result of the transmission confirmation of the mission list preparation message, the sequence number is assigned to each of the missions listed in the mission list to be performed by the mobile award node in order, and then each mission is requested. Generating and sequentially transmitting to the mobile water node;
Checking whether all of the mission request messages have been transmitted to a mobile award node;
As a result of the checking, when all mission request messages are transmitted to the mobile award node, the mission list end message (MissionList-End) is notified to notify that the mission request messages have been transmitted and the number of mission request messages transmitted sequentially to the mobile award node. Transmitting;
Transmitting the mission list end message to a mobile award node and starting a count of a preset end time in a management control unit;
Waiting for reception of a mission acknowledgment message (Ack) for notifying the number of mission request messages and the missing mission request message number at the mobile award node during the end time count;
Checking whether a mission reception confirmation message has been received during the waiting;
Checking whether there is a mission request message which is not transmitted to the mobile award node using the mission reception confirmation message when the mission reception confirmation message is received as a result of the confirmation;
If there is a missing mission request message as a result of the checking, determining whether to retransmit the missing mission request message to the mobile award node;
Starting a count of a preset end time in a management control unit to determine whether to retransmit the missing mission request message;
Waiting for reception of a mission response start message for notifying a start of transmission of a performance result of a mobile receiving node if a message retransmission is not requested by a management controller during the counting of the end time;
Checking whether a mission response start message has been received during the waiting;
Transmitting a Mission Response Response-Ready message to the mobile award node to notify the mobile award node that it is ready to receive the result of the mobile award node performance mission when the mission response start message is received;
Starting counting of a preset end time in a management control unit after transmitting the mission response ready message to a mobile award node;
Waiting to receive a mission response message for counting the end time;
Checking whether a mission response message has been received during the waiting;
As a result of the confirmation, a mission response message is received, a result of a performance mission of the mobile award node is sequentially received, and the mobile award node has received a mission response end message (MissionResponse-End) to indicate that the response transmission of the performance mission has been completed. Confirming;
When the mission response termination message is received, the number of mission request messages and the missing mission request message are notified after confirming the number of mission request messages and missing mission request messages on the mobile award node using the mission response termination message. Transmitting a mission acknowledgment message (Ack) to the mobile award node;
Confirming whether the mobile receiving node requests re-receipt of the mission response start message after transmitting the mission reception confirmation message;
Starting counting of a preset end time in the management control unit when the message is requested to be received again by the management control unit as a result of the confirmation;
Transmitting a mission response restart message (MissionResponse-Restart) to the mobile water node during the counting of the end time. The method of claim 6, wherein the performing of the mission according to the mission mode message in the mobile award node and converting the result of the mission into a mission response message is performed by a mission mode request message. Waiting for reception of a request);
Checking whether a mission mode request message has been received at a mobile water node during the waiting;
When the mission mode request message arrives, generating a mission mode response message according to the mission mode request message from the mobile receiving node and transmitting the message to the management controller;
When the mission mode response message is transmitted, checking whether the mission mode response message is a single mode communication or a performance mission mode according to list mode communication;
Performing a single mode mission in response to the mission mode request message according to the single mode communication, and transmitting the performed result to a management controller;
Performing a list mode mission and transmitting a result to a management control unit if the mission mode request message according to the list mode communication is performed;
Mission end confirmation step of checking whether the single mode execution or list mode execution is completed,
And returning to the step of waiting for the reception of the mission mode request message (MissionMode-Request) when the single mode execution or the list mode execution is terminated in the mission termination confirmation step. 10. The method of claim 9, wherein the single mode execution step of performing the single mode mission and transmitting the performed result to the management control unit comprises: a mission single request message transmitted to the management control unit if the single mode communication is a result of confirming the mission mode request message. Starting a count of a preset end time for the mobile award node while receiving a request);
Waiting for reception of a mission single request message during the termination time;
Checking whether a mission single request message has been received during the waiting;
Confirming and performing one of the missions included in the mission single request message when the mission single request message is received as a result of the checking;
And generating a mission single response message indicating completion of the mission when the one mission is confirmed, and transmitting the mission single response message to a management control unit. 10. The method of claim 9, wherein the list mode performing step of performing the list mode mission and transmitting the performed result to the management control unit comprises: a mission list request message transmitted to the management control unit when the list mode communication is performed as a result of confirming the mission mode request message. Starting a count of a preset end time for the mobile award node while receiving a request);
Waiting to receive a mission list request message during the termination time;
Checking whether a mission list request message has been received during the waiting;
Generating a mission list preparation message for notifying that the mission list is ready for reception when the mission list request message is received as a result of the confirmation;
Starting counting of a preset end time in a mobile award node when the mission list preparation message is generated;
Waiting for reception of a mission request message during the termination time;
Checking whether a mission request message has been received during the waiting;
Confirming whether the mission list termination message has been received when the mission request message is received as a result of the confirmation;
If the mission list termination message is received as a result of the check, the mission list message is used to check the number of mission request messages and the missing mission request message numbers, and then the number of mission request messages received and the mission request message number to be notified. Generating an acknowledgment message and transmitting it to a management control unit;
Confirming whether a mission response re-receive message has been received from a management control unit when the mission reception confirmation message is transmitted;
If the mission response message has not been received as a result of the confirmation, transmit the mission result of the mobile receiving node.
Waiting to send a mission response start message (MissionResponse-Start) to inform the management of the start;
Starting a count of a preset end time for a mobile award node while waiting for transmission of the mission response start message;
Waiting for a mission response reception preparation message to be received from an administrative control unit during the termination time;
Confirming whether a mission response reception preparation message has been received while waiting to receive the mission response reception preparation message;
Performing a mission according to a mission request message when a mission response reception preparation message is received as a result of the confirmation;
Generating a mission response message for notifying completion of the mission when the mission is completed and transmitting the mission response message to a management control unit;
Checking whether the mission response message is the last message in a mission list;
If the mission response message is the last message as a result of the confirmation, generating a mission response termination message and transmitting the message to the management controller;
Transmitting the mission response end message to a management control unit and starting a count of a preset end time in a mobile water node;
Waiting for a mission reception confirmation message to be received from a management control unit during the termination time;
Checking whether a mission reception confirmation message has been received during the waiting;
Checking the number of mission request messages and the number of missing mission request messages when a mission reception confirmation message is received from the management control unit as a result of the confirmation;
If the number of mission request message and the number of the missing mission request message as a result of the check consists of checking whether the mission request message for notifying the number of the missing mission request message has been received again,
If the mission request message is re-received in the step of checking whether the mission request message has been re-received, inserting the missing mission request message number into the mission request message and then checking whether the mission request message has been received during the count of the end time. Wireless sensor network control method comprising the step of returning.

Images