基于移动无线传感网的电缆通道应急监测系统

为实现电缆通道通信网络缺失、故障或受攻击等应急情况下的环境信息监测需求，研发了一种基于WiFi和超宽带（ultra-wide band，UWB）通信的低成本移动无线传感网络监测系统。该系统包括监测上位机和由球形机器人移动节点组成的无线监测网络。移动节点以STM32系列单片机为主控芯片，集成摄像头模块和温湿度模块实现现场信息采集，集成WiFi通信模块采用无线自组网按需平面距离向量路由协议（ad hoc on-demand distance vector routing, AODV）构建无线传感网络实现信息传输，集成3个UWB通信模块实现移动节点的测距和队列跟随。实验结果表明，该系统能够实现电缆通道环境的稳定实时监测，移动传感队列跟随误差不超过20 cm，监测视频平均传输延时不超过150 ms。

An Emergency Monitoring System for Power Cable Tunnels Based on Mobile Wireless Sensor Network

To meet the environmental monitoring requirements of power cable tunnels for emergency cases such as communication network being missed, broken-down, or attacked, a low-cost mobile wireless senor network monitoring system was developed based on WiFi and ultra-wide band (UWB) communication. The system consists of a monitoring host and a wireless monitoring network based on spherical robot mobile nodes. The mobile node employs STM32 series single-chip microcomputer as the main control chip, integrated with a camera module and a temperature humidity module to collect local information, integrated with WiFi communication module to form wireless sensor network using the ad hoc on-demand distance vector routing (AODV) protocol for transmitting the collected information, and integrated with 3 UWB communication modules to measure distances between nodes and to track the platoon. The experimental results demonstrate that the developed system can stably monitor the environment of power cable channel in real time, with a tracking error of no more than 20 cm for mobile sensing platoon and an average time delay of no more than 150 ms for video transmission.