CN117119120B - Cooperative control method based on multiple unmanned mine cars - Google Patents
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Abstract
The invention relates to the technical field of data transmission, in particular to a cooperative control method based on a plurality of unmanned mine cars, which comprises the following steps: and carrying out longest matching on the road condition data sequence according to the coding dictionary, obtaining a current coding object and a matching sequence number of the current coding object, obtaining a first alternative coding length of the current coding object according to the length of the coding dictionary, obtaining a to-be-selected coding result according to the first alternative coding length, obtaining a first coding result according to the first alternative coding length and the to-be-selected coding result, obtaining a coding result by combining a second coding result of the current coding object, updating the coding dictionary, and obtaining compressed data through continuous iteration. The cooperative control center decompresses the compressed data, models road conditions, broadcasts road condition information to all unmanned mine cars and performs cooperative control. The invention has high compression efficiency on road condition images, ensures the real-time performance of road condition image transmission, and improves the cooperative efficiency of the unmanned mining vehicle.
Description
Technical Field
The invention relates to the technical field of data transmission, in particular to a cooperative control method based on a plurality of unmanned mine cars.
Background
The mine is a dangerous working environment, and the accident risk is high. The cooperative control of a plurality of unmanned mine cars can reduce the risk of accidents and improve the working efficiency of a single mine car.
The unmanned mine car needs to transmit the collected road condition data to the cooperative control center, and the cooperative control center models the real-time road condition according to the road condition data and controls the unmanned mine car to run. In order to ensure the real-time performance of cooperative control, the road condition data needs to be compressed and transmitted.
At present, road condition data is usually compressed through LZ coding, but the LZ coding is limited by the size of a coding dictionary, so that the compression efficiency of the road condition data is limited, and the instantaneity of the road condition data transmission and the efficiency of cooperative control are affected.
Disclosure of Invention
In order to solve the problems, the invention provides a cooperative control method based on a plurality of unmanned mine cars, which comprises the following steps:
collecting road condition images, and converting the road condition images into a road condition data sequence; constructing an empty coding dictionary and setting elements to be matched;
and carrying out coding operation on the road condition data sequence according to the coding dictionary and the elements to be matched, wherein the method comprises the following steps: performing longest matching on the road condition data sequence from the elements to be matched according to the coding dictionary, and acquiring a current coding object and a matching sequence number of the current coding object according to a matching result; acquiring a first alternative coding length of a current coding object according to the length of the coding dictionary; obtaining a coding result to be selected according to the first alternative coding length; acquiring a first coding result of the current coding object according to the first alternative coding length and the coding result to be selected; acquiring a second coding result of the current coding object; obtaining the coding result of the current coding object according to the first coding result and the second coding result, and updating the coding dictionary;
setting new elements to be matched, repeatedly carrying out coding operation on the road condition data sequence according to the updated coding dictionary and the new elements to be matched until all elements in the road condition data sequence are traversed to stop iteration, and obtaining compressed data according to the final coding dictionary;
transmitting the compressed data to a cooperative control center, and decompressing the compressed data to obtain road condition images; the cooperative control center carries out real-time road condition modeling according to the road condition image, broadcasts road condition information to all unmanned mine cars, and realizes cooperative control of a plurality of unmanned mine cars.
Preferably, the step of obtaining the current coding object and the matching sequence number of the current coding object according to the matching result includes the following specific steps:
when a matching result does not exist, taking the element to be matched as a current coding object, and taking 0 as a matching sequence number of the current coding object; when the matching result exists, splicing the matching result and the next element in the road condition data sequence together to serve as a current coding object, and taking the sequence number of the coding object matched with the matching result in the coding dictionary as the matching sequence number of the current coding object.
Preferably, the step of obtaining the first alternative coding length of the current coding object according to the length of the coding dictionary includes the following specific steps:
wherein,a first alternative coding length of the current coding object;a length of an encoding dictionary when encoding a current encoding object;rounding up the symbol;as a function of the maximum value.
Preferably, the obtaining the result of the candidate code according to the first candidate code length includes the following specific steps:
taking the difference value between the first alternative coding length and the constant 1 as a second alternative coding length; converting the matching sequence number of the current coding object into a lengthAs a result of the alternative encoding, wherein +.>For the second alternative code length.
Preferably, the obtaining the first coding result of the current coding object according to the first alternative coding length and the coding result to be selected includes the following specific steps:
when the first alternative code lengthOr (b)When the matching sequence number of the current coding object is converted into the lengthAs a first encoding result of the current encoding object;
when the first alternative code lengthWhen the binary number 0 is added at the tail of the result to be coded, converting the obtained result into a decimal number, and marking the decimal number as the minimum expansion value of the result to be coded; when the minimum expansion value is larger than the length of the coding dictionary, taking the coding result to be selected as a first coding result of the current coding object; when the minimum expansion value is smaller than or equal to the length of the coding object, converting the matching sequence number of the current coding object into a length ofAs the first encoding result of the current encoding object.
Preferably, the step of obtaining the second encoding result of the current encoding object includes the following specific steps:
taking the last element in the current coding object as the suffix of the current coding object; and acquiring all the coding objects, performing variable length coding on suffixes of all the coding objects, and taking a coding result as a second coding result of each coding object.
Preferably, the method for obtaining the coding result of the current coding object according to the first coding result and the second coding result, and updating the coding dictionary includes the following specific steps:
splicing the first coding result and the second coding result of the current coding object together to serve as the coding result of the current coding object; and adding the current coding object and the coding result of the current coding object to the end of the coding dictionary to update the coding dictionary.
Preferably, the obtaining compressed data according to the final coding dictionary includes the following specific steps:
and splicing all the coding results in the final coding dictionary according to the sequence to be used as compressed data.
Preferably, the setting the element to be matched includes the following specific steps:
and taking the first element in the road condition data sequence as an element to be matched.
Preferably, the setting a new element to be matched includes the following specific steps:
and taking the latter element of the current coding object in the road condition data sequence as a new element to be matched.
The technical scheme of the invention has the beneficial effects that: the road condition data sequence is subjected to longest matching according to the coding dictionary, a current coding object and a matching sequence number of the current coding object are obtained, a first alternative coding length of the current coding object is obtained according to the length of the coding dictionary, a to-be-selected coding result is obtained according to the first alternative coding length, and the first coding result is obtained according to the first alternative coding length and the to-be-selected coding result. According to the method, the length of each matching sequence number converted into the binary number is self-adaptive according to the size of the dictionary in the coding process, so that the length of the binary number corresponding to the matching sequence number (namely, the first coding result) is as small as possible, the compression efficiency of road condition images is improved, the real-time performance of road condition image transmission is ensured, and the cooperative efficiency of the unmanned mine car is improved.
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In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of steps of a method of cooperative control based on a plurality of unmanned mining vehicles of the present invention;
FIG. 2 is a schematic diagram of an encoding dictionary in the present invention;
fig. 3 is a diagram of coding dictionary in LZ coding.
Detailed Description
In order to further describe the technical means and effects adopted by the invention to achieve the preset aim, the following detailed description is given below of the specific implementation, structure, characteristics and effects of the cooperative control method based on a plurality of unmanned mining vehicles according to the invention by combining the accompanying drawings and the preferred embodiment. In the following description, different "one embodiment" or "another embodiment" means that the embodiments are not necessarily the same. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.
The traditional LZ coding realizes compression by a method of updating a coding dictionary and compressing the data, longest matching is carried out on the data by using the coding dictionary, the longest matching result and the next character in the data are used as coding objects, after the matching serial number of the longest matching result is converted into binary numbers, the binary numbers and the coding of the next character in the data together with the longest matching result are used as coding results of the coding objects. In order to ensure that decoding can be realized, when the matching sequence numbers are converted into binary numbers, the binary numbers need to be converted into fixed lengths, the lengths are determined by the largest sequence number in a final coding dictionary, and the final coding dictionary is larger, so that the largest sequence number is larger, and then the length corresponding to each matching sequence number converted into the binary numbers is longer, so that the compression efficiency of LZ codes is limited, the real-time performance of road condition image transmission is influenced, and the cooperative efficiency of the unmanned mine car is lower.
Therefore, the embodiment of the invention provides a cooperative control method based on a plurality of unmanned mining vehicles, which is characterized in that the length of each binary number corresponding to each matching sequence number is converted into the binary number in a self-adaptive manner according to the size of a dictionary in the coding process, so that the length of each binary number corresponding to each matching sequence number is as small as possible, the compression efficiency of LZ coding on road condition images is improved, the real-time performance of road condition image transmission is ensured, and the cooperative efficiency of the unmanned mining vehicles is improved.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
The following specifically describes a specific scheme of the cooperative control method based on a plurality of unmanned mining vehicles provided by the invention with reference to the accompanying drawings.
Referring to fig. 1, a flowchart of a method for controlling a plurality of unmanned mining vehicles in cooperation with each other according to an embodiment of the present invention is shown, the method includes the following steps:
s001, collecting road condition images.
In the embodiment of the invention, the cameras deployed on the unmanned mine car are utilized to shoot road condition images around the unmanned mine car in real time.
S002, compressing the road condition image.
In addition, since the LZ encoding is compressed while updating the encoding dictionary, and the decoding is performed while updating the encoding dictionary in the same manner as in the decoding, the corresponding encoding dictionaries are identical in the encoding and decoding of the same encoding target. Therefore, the embodiment of the invention sets the length for converting the matching sequence number into the binary number according to the size of the coding dictionary in the coding process, so that the length is as short as possible, the compression efficiency of LZ coding is improved, the real-time performance of road condition image transmission is ensured, and the cooperative efficiency of the unmanned mining car is improved. When decoding, binary numbers with corresponding lengths are obtained according to the size of the coding dictionary, and the binary numbers are converted into decimal numbers, so that decoding of the matching sequence numbers can be realized, and further decoding of the coding objects can be realized.
In the embodiment of the invention, gray values of all pixels in the road condition image are unfolded into a one-dimensional sequence to be used as a road condition data sequence. Compressing the road condition data sequence, specifically:
1. an empty coding dictionary is constructed, and the coding dictionary comprises a sequence number column, a coding object column and a coding result column. The encoding object column is used for storing encoding objects in the road condition data sequence, and the encoding result column is used for storing encoding results of the encoding objects.
2. And taking the first element in the road condition data sequence as an element to be matched.
3. Performing longest matching on the road condition data sequence from the element to be matched according to all the coding objects contained in the coding dictionary, and taking the element to be matched as a current coding object and taking 0 as a matching sequence number of the current coding object when a matching result does not exist; when the matching result exists, splicing the matching result and the next element in the road condition data sequence together to serve as a current coding object, and taking the sequence number of the coding object matched with the matching result in the coding dictionary as the matching sequence number of the current coding object.
Acquiring the length of the coding dictionary at that timeAccording to the length of the coding dictionaryAcquiring a first alternative coding length of a current coding object:
wherein,a first alternative coding length of the current coding object;for the length of the coding dictionary when coding the current coding objectA degree;rounding up the symbol;as a function of the maximum value,is shown inAnd 2, in order to prevent that a result or a result of 0 cannot be obtained when the length of the coding dictionary is 0 or 1. When the length of the coding dictionary is 0 or 1, the first alternative coding length is 1, and when the matching sequence number is 0 or 1, the first alternative coding length can be converted into binary number with the length of 1 to be expressed. When (when)Less thanWhen all sequence numbers in the coding dictionary cannot be used for lengthThe binary number of the matching sequence number is represented, the length of the binary number corresponding to the current matching sequence number cannot be determined during decoding, and therefore the current matching sequence number cannot be decoded; when (when)Greater thanWhen all sequence numbers in the coding dictionary are available with the length ofIs represented by binary numbers of (2), but is mostly of lengthThe binary numbers of the (a) have no corresponding serial numbers in the coding dictionary, so that more bits are wasted; by means ofCan ensure that the matching sequence number can be converted into the length when the matching sequence number is any sequence number in the coding dictionaryIs represented by a binary number of (c) without wasting more bits.
It should be noted that, for the partial matching sequence number, the length converted into binary number can be further reduced, so as to further reduce the number of encoding bits and improve the transmission efficiency of the road condition image.
In an embodiment of the present invention, when the first alternative code lengthOr (b)When the matching sequence number of the current coding object is converted into the lengthAs the first encoding result of the current encoding object.
When the first alternative code lengthIn this case, the first alternative code length is subtracted by 1 to obtain a second alternative code length, which is denoted asConverting the matching sequence number of the current coding object into a lengthIs recorded as the result of the encoding to be selected. And supplementing a binary number 0 at the end of the result to be coded, converting the obtained result into a decimal number, and recording the decimal number as the minimum extension value of the result to be coded.
It should be noted that when the minimum extension value is larger than this, the length of the dictionary is encodedIf the result to be selected is the first result of the current encoding, the result is read in during decodingThe number of bits in the binary number,the decimal number corresponding to the bit binary number does not exist in the sequence number column of the code dictionary, and the length of the first coding result is known to beThe bits are read in the M-bit binary number during decoding, so that the decoding of the matching sequence number of the current coding object can be realized, the decoding is not influenced by the result to be coded at the moment, and the result to be coded can be directly used as the first coding result of the current coding object, so that the number of coding bits is further reduced, the compression efficiency is improved, and the transmission efficiency of road condition data is improved. Length of coding dictionary when minimum extension value is less than thisIf the result to be selected is the first result of the current encoding, the result is read in during decodingThe number of bits in the binary number,the decimal number corresponding to the bit binary number exists in the sequence number column of the code word dictionary, and the matching sequence number corresponding to the result to be coded is inconsistent, so that decoding errors of the matching sequence number of the current coding object can be caused, decoding is affected, and the result to be coded cannot be directly used as the first coding result of the current coding object.
In the embodiment of the invention, when the minimum expansion value is greater than the length L of the coding dictionary, taking the coding result to be selected as a first coding result of the current coding object; when the minimum expansion value is smaller than or equal to the length L of the coding object at the moment, matching the current coding objectThe sequence number is converted into the length ofAs the first encoding result of the current encoding object.
And taking the last element in the current coding object as the suffix of the current coding object. Since the suffix is a gray value ranging between [0, 255], the suffix is converted into an 8-bit binary number as a second encoding result of the current encoding object.
In another embodiment, all the encoding objects may be obtained first, the suffixes of all the encoding objects are encoded by using variable length encoding algorithms such as huffman encoding and shannon encoding, and the encoding result is used as the second encoding result of each encoding object, so as to further improve the compression efficiency.
And splicing the first coding result and the second coding result of the current coding object together to serve as the coding result of the current coding object. And respectively adding the current coding object and the coding result of the current coding object into a coding object column and a coding result column of the last row of the coding dictionary at the moment to realize the updating of the coding dictionary.
4. And taking the latter element of the current coding object in the road condition data sequence as a new element to be matched.
Repeating the steps 3 and 4 until all elements in the road condition data sequence are traversed to stop iteration, and splicing all the coding results of the coding result columns in the finally obtained coding dictionary in sequence to serve as compressed data.
For example, when the road condition data sequence is {228,176,228,87,105,228,87,176,228,87,87,176,176,105,87}, the corresponding final coding dictionary is shown in fig. 2, and the compressed data is 0111001000010110000010101011100001101001111011000011010101110101011000010001010111. The road condition data sequence is compressed by using the existing LZ coding to obtain a final coding dictionary, see fig. 3, and the compressed data is 000011100100000010110000000101010111000001101001001110110000001101010111001010110000010001010111. The compressed data in the embodiment of the invention is 82 bits, the compressed data obtained by LZ coding is 96 bits, and compared with the existing LZ coding, the embodiment of the invention has higher compression efficiency, can ensure the real-time performance of road condition image transmission and improve the cooperative efficiency of the unmanned mining car.
Thus, compressed data is obtained.
S003, transmitting and decompressing the compressed data.
Transmitting the compressed data to a cooperative control center, and decompressing the compressed data transmitted by each unmanned mine car by the cooperative control center:
1. in the decompression process, a first alternative coding length is obtained according to the length of the coding dictionaryReading in compressed dataThe binary data are converted into decimal numbers, and when the decimal numbers exist in sequence number columns in the coding dictionary, the corresponding sequence numbers of the decimal numbers in the coding dictionary are used as matching sequence numbers; conversely, when the decimal number does not exist in the sequence number column in the coding dictionary, the compressed data is readThe binary data are converted into decimal numbers, and the serial numbers corresponding to the decimal numbers in the coding dictionary are used as matching serial numbers.
2. Reading of the 8-bit binary number is continued in the compressed data as a second encoding result.
In another embodiment, binary numbers are read in the compressed data as the second encoding result using a method of decoding in a huffman encoding algorithm.
3. And acquiring the current coding object according to the matching sequence number and the second coding result. It should be noted that, the current encoding object is obtained according to the matching sequence number and the second encoding result, which is a known technique in LZ encoding, and is not described in detail in the embodiment of the present invention.
4. Repeating the steps 1 to 3 until all bits in the compressed data have traversed to stop iteration, and taking all obtained coded objects as decompression results.
And restoring the decompression result into a road condition image.
S004, the cooperative control center performs cooperative control on the unmanned mine car.
The cooperative control center models real-time road conditions according to road condition images transmitted by a plurality of unmanned mine cars, broadcasts road condition information to all the unmanned mine cars, and controls the unmanned mine cars to avoid obstacles in advance and cooperate with each other.
Through the steps, the cooperative control of a plurality of unmanned mine cars is completed.
According to the embodiment of the invention, the road condition data sequence is subjected to longest matching according to the coding dictionary, the current coding object and the matching sequence number of the current coding object are obtained, the first alternative coding length of the current coding object is obtained according to the length of the coding dictionary, the result to be coded is obtained according to the first alternative coding length, and the first coding result is obtained according to the first alternative coding length and the result to be coded. According to the method, the length of each matching sequence number converted into the binary number is self-adaptive according to the size of the dictionary in the coding process, so that the length of the binary number corresponding to the matching sequence number (namely, the first coding result) is as small as possible, the compression efficiency of road condition images is improved, the real-time performance of road condition image transmission is ensured, and the cooperative efficiency of the unmanned mine car is improved.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the invention, but any modifications, equivalent substitutions, improvements, etc. within the principles of the present invention should be included in the scope of the present invention.
Claims (7)
1. The cooperative control method based on the plurality of unmanned mine cars is characterized by comprising the following steps of:
collecting road condition images, and converting the road condition images into a road condition data sequence; constructing an empty coding dictionary and setting elements to be matched;
and carrying out coding operation on the road condition data sequence according to the coding dictionary and the elements to be matched, wherein the method comprises the following steps: performing longest matching on the road condition data sequence from the elements to be matched according to the coding dictionary, and acquiring a current coding object and a matching sequence number of the current coding object according to a matching result; acquiring a first alternative coding length of a current coding object according to the length of the coding dictionary;
the obtaining the first alternative coding length of the current coding object according to the length of the coding dictionary includes:
;
wherein,a first alternative coding length of the current coding object; />A length of an encoding dictionary when encoding a current encoding object; />Rounding up the symbol; />Is a maximum function;
obtaining a to-be-selected coding result according to the first alternative coding length, and obtaining a first coding result of the current coding object according to the first alternative coding length and the to-be-selected coding result;
the obtaining the result of the code to be selected according to the first code length to be selected, and obtaining the first code result of the current code object according to the first code length to be selected and the result of the code to be selected, includes:
when the first alternative code lengthOr->When the matching sequence number of the current coding object is usedConverted into length +.>As a first encoding result of the current encoding object;
when the first alternative code lengthIn this case, the first alternative code length is subtracted by 1 to obtain a second alternative code length, which is denoted as +.>Converting the matching sequence number of the current encoding object into length +.>As a result to be coded, supplementing a binary number 0 at the end of the result to be coded, converting the obtained result into a decimal number, and marking the decimal number as the minimum extension value of the result to be coded; when the minimum expansion value is larger than the length of the coding dictionary, taking the coding result to be selected as a first coding result of the current coding object; when the minimum expansion value is smaller than or equal to the length of the coding object, converting the matching sequence number of the current coding object into length +.>As a first encoding result of the current encoding object;
acquiring a second coding result of the current coding object; obtaining the coding result of the current coding object according to the first coding result and the second coding result, and updating the coding dictionary;
setting new elements to be matched, repeatedly carrying out coding operation on the road condition data sequence according to the updated coding dictionary and the new elements to be matched until all elements in the road condition data sequence are traversed to stop iteration, and obtaining compressed data according to the final coding dictionary;
transmitting the compressed data to a cooperative control center, and decompressing the compressed data to obtain road condition images; the cooperative control center carries out real-time road condition modeling according to the road condition image, broadcasts road condition information to all unmanned mine cars, and realizes cooperative control of a plurality of unmanned mine cars.
2. The cooperative control method based on a plurality of unmanned mining vehicles according to claim 1, wherein the step of obtaining the current coding object and the matching sequence number of the current coding object according to the matching result comprises the following specific steps:
when a matching result does not exist, taking the element to be matched as a current coding object, and taking 0 as a matching sequence number of the current coding object; when the matching result exists, splicing the matching result and the next element in the road condition data sequence together to serve as a current coding object, and taking the sequence number of the coding object matched with the matching result in the coding dictionary as the matching sequence number of the current coding object.
3. The cooperative control method based on a plurality of unmanned mining vehicles according to claim 1, wherein the obtaining the second encoding result of the current encoding object comprises the following specific steps:
taking the last element in the current coding object as the suffix of the current coding object; and acquiring all the coding objects, performing variable length coding on suffixes of all the coding objects, and taking a coding result as a second coding result of each coding object.
4. The cooperative control method based on a plurality of unmanned mining vehicles according to claim 1, wherein the step of obtaining the encoding result of the current encoding object according to the first encoding result and the second encoding result, and updating the encoding dictionary comprises the following specific steps:
splicing the first coding result and the second coding result of the current coding object together to serve as the coding result of the current coding object; and adding the current coding object and the coding result of the current coding object to the end of the coding dictionary to update the coding dictionary.
5. The method for collaborative control based on a plurality of unmanned mining vehicles according to claim 1, wherein the obtaining compressed data according to a final dictionary comprises the steps of:
and splicing all the coding results in the final coding dictionary according to the sequence to be used as compressed data.
6. The cooperative control method based on a plurality of unmanned mining vehicles according to claim 1, wherein the setting of the elements to be matched comprises the following specific steps:
and taking the first element in the road condition data sequence as an element to be matched.
7. The cooperative control method based on a plurality of unmanned mining vehicles according to claim 1, wherein the setting of new elements to be matched comprises the following specific steps:
and taking the latter element of the current coding object in the road condition data sequence as a new element to be matched.
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