An unmanned control method and system for a salt lake salt mining ship

Abstract

The application relates to the technical field of salt lake mining, and discloses a salt lake salt mining ship unmanned control method and system. The method comprises the following steps: collecting environment data of a salt lake crystallization pool through a multi-source environment perception unit arranged on a salt lake salt mining ship; identifying target obstacles in the salt lake crystallization pool according to the environment data, wherein the target obstacles comprise at least one of a salt layer protrusion, a dam, a soft mud area and a target ship; generating a target mining path according to the target obstacles, a mining boundary of the salt lake crystallization pool and a current navigation track of the salt lake salt mining ship; and controlling the salt lake salt mining ship to mine salt according to the target mining path. The application can adapt to salt lake salt mining exclusive working conditions, realize precise obstacle avoidance and optimal mining path planning in a salt field scene, effectively improve the mining precision and mining efficiency of the salt mining ship, and realize industrial-level unmanned and intelligent operation of the salt lake salt mining ship.

Description

Technical Field

[0001] This application relates to the field of salt lake mining technology, and more specifically, to an unmanned driving control method and system for salt lake mining vessels. Background Technology

[0002] The mining of potassium and lithium resources in salt lakes is a core industry for ensuring food security and energy resource security in my country. Salt harvesting vessels operate in harsh environments with high salt spray, strong ultraviolet radiation, and high evaporation for a long time. Salt spray corrosion is extremely harmful to the health of on-site operators. In addition, salt field crystallization ponds have unique working conditions with dynamic changes in salt layer thickness, continuous changes in topography during the crystallization process, and fixed channel boundaries but complex operating environment.

[0003] Traditional salt harvesting vessels rely entirely on manual on-site operation, resulting in harsh working environments, high labor costs, low harvesting accuracy, and significant safety hazards. Existing unmanned surface vessel (USV) technology is primarily used in marine surveying, inland waterway transportation, and freshwater sand mining, exhibiting three core shortcomings that make it unsuitable for the specific conditions of salt lake harvesting:

[0004] (1) The environmental perception and path planning algorithm is not specifically optimized for salt layer protrusions, soft mud areas and dynamic terrain in salt lake crystallization ponds, and cannot achieve accurate obstacle avoidance and optimal harvesting path planning in salt field scenarios.

[0005] (2) The equipment protection scheme cannot be adapted to high salt spray and high crystallization conditions. The sensors and communication antennas are easily corroded by salt spray and blocked by crystallization, and cannot operate stably in the salt lake environment for a long time.

[0006] (3) The control logic does not dynamically adjust the operation parameters based on the salt layer thickness and mineral grade of the salt lake, and can only achieve simple unmanned navigation, but cannot achieve synergistic optimization of harvesting efficiency and resource recovery rate.

[0007] (4) The existing remote control system for salt harvesting vessels can only issue simple remote commands. It lacks low-latency immersive remote control, multi-sensor fusion environmental perception, and fault-safe redundancy design, and cannot meet the industrial-grade reliability requirements for continuous production in salt lakes.

[0008] There is currently no effective solution to the aforementioned technical problems. Summary of the Invention

[0009] This application provides an unmanned driving control method and system for salt harvesting vessels in salt lakes, which at least solves the technical problem that the unmanned driving control method for salt harvesting vessels in salt lakes cannot be adapted to the working conditions of salt harvesting in salt lakes, cannot achieve accurate obstacle avoidance in salt field scenarios, and affects the accuracy and efficiency of salt harvesting.

[0010] According to one aspect of the embodiments of this application, an unmanned driving control method for a salt harvesting vessel in a salt lake is provided, comprising:

[0011] Environmental data of the salt lake crystallization pool is collected by a multi-source environmental sensing unit installed on a salt harvesting vessel in the salt lake.

[0012] Based on the environmental data, target obstacles within the salt lake crystallization pool are identified, wherein the target obstacles include at least one of salt layer protrusions, dams, soft mud areas, and target vessels;

[0013] A target harvesting path is generated based on the target obstacle, the harvesting boundary of the salt lake crystallization pool, and the current navigation trajectory of the salt harvesting vessel.

[0014] The salt harvesting vessel in the salt lake is controlled to harvest salt according to the target harvesting path.

[0015] Optionally, the multi-source environmental sensing unit includes at least one of a multi-line lidar, a millimeter-wave radar, and an explosion-proof camera.

[0016] The step of identifying target obstacles within the salt lake crystallization pool based on the environmental data includes:

[0017] Salt spray crystallization interference filtering and point cloud clustering are performed on the multi-line lidar data collected by the multi-line lidar, and the salt layer protrusions are identified based on the point cloud clustering results.

[0018] Moving target detection is performed on the millimeter-wave radar data collected by the millimeter-wave radar, and dynamic obstacles are identified based on the moving target detection results;

[0019] Image enhancement and semantic segmentation are performed on the salt lake images captured by the explosion-proof camera to identify the outline of the dam and the color and texture features of the soft mud area.

[0020] Optionally, generating the target harvesting path based on the target obstacle, the harvesting boundary of the salt lake crystallization pool, and the current navigation trajectory of the salt harvesting vessel includes:

[0021] Based on the three-dimensional obstacle map of the target obstacle and the current navigation trajectory of the salt harvesting vessel, the collision risk between the salt harvesting vessel and the target obstacle is determined.

[0022] An initial obstacle avoidance trajectory is generated based on the collision risk and the harvesting boundary of the salt lake crystallization pool;

[0023] Based on the harvesting efficiency loss of the initial obstacle avoidance trajectory, a target obstacle avoidance trajectory is generated.

[0024] Optionally, the method further includes:

[0025] Salt mining operation parameters are obtained by a salt mining operation detection unit installed on a salt mining vessel in a salt lake. The salt mining operation detection unit includes at least one of a salt layer thickness sensor, a mineral level detector, and a salt mining head attitude sensor.

[0026] The operating parameters of the salt lake harvesting vessel are adjusted according to the salt harvesting operation parameters, wherein the operating parameters of the salt lake harvesting vessel include the navigation parameters of the salt lake harvesting vessel and the operating parameters of the salt harvesting head of the salt lake harvesting vessel. The navigation parameters of the salt lake harvesting vessel include the hull speed and / or heading, and the operating parameters of the salt harvesting head include at least one of the following: the downforce of the salt harvesting head, the cutting depth of the salt harvesting head, and the salt harvesting flow rate.

[0027] Optionally, adjusting the operating parameters of the salt lake harvesting vessel according to the salt harvesting operation parameters includes:

[0028] If the mineral grade of the salt layer is higher than the first grade threshold, the downward pressure of the salt mining head is increased; if the mineral grade of the salt layer is lower than the second grade threshold, the downward pressure of the salt mining head is decreased.

[0029] If the salt layer thickness exceeds a preset thickness threshold, reduce the ship's speed.

[0030] The cutting depth of the salt-collecting head is adjusted based on the pitch angle of the salt-collecting head collected by the salt-collecting head attitude sensor.

[0031] Optionally, the method further includes:

[0032] Positioning-related data of the salt harvesting vessel is obtained by a positioning unit installed on the salt harvesting vessel in the salt lake, wherein the positioning-related data includes at least one of hull positioning data, heading data and speed data;

[0033] The navigation deviation between the salt harvesting vessel and the target harvesting path is determined based on the positioning data of the salt harvesting vessel in the salt lake. The navigation deviation includes path deviation and heading deviation.

[0034] The current harvesting path of the salt lake harvesting vessel is adjusted according to the navigation deviation.

[0035] Optionally, the method further includes:

[0036] During the process of the salt harvesting vessel in the salt lake harvesting along the target harvesting path, the operation-related data of the salt harvesting vessel is sent to the remote control system through the fusion communication module;

[0037] The operational data of the salt harvesting vessel in the salt lake is displayed through the multi-screen visualization unit of the remote control system.

[0038] Optionally, the method further includes:

[0039] When the salt harvesting vessel in the salt lake experiences abnormal operating conditions, the vessel will be switched from unmanned autonomous operation mode to manual operation mode.

[0040] When the salt harvesting vessel in the salt lake is in an abnormal operating condition, the vessel is controlled to perform safety redundancy measures, and the generated fault information and / or emergency response information is sent to the remote control system through the converged communication module.

[0041] The abnormal operating conditions include at least one of communication interruption, abnormal ship dynamics, and sensor failure.

[0042] According to another aspect of the embodiments of this application, an unmanned driving system for salt harvesting vessels in salt lakes is also provided, comprising:

[0043] A multi-source environmental sensing unit is installed on a salt harvesting vessel in the salt lake and configured to collect environmental data from the salt lake crystallization pool.

[0044] The main control unit, located on a salt harvesting vessel in the salt lake, is configured as follows:

[0045] Based on the environmental data and salt layer data, target obstacles within the salt lake crystallization pool are identified, wherein the target obstacles include at least one of salt layer protrusions, dams, soft mud areas, and target vessels;

[0046] A target harvesting path is generated based on the target obstacle, the harvesting boundary of the salt lake crystallization pool, and the current navigation trajectory of the salt harvesting vessel.

[0047] The salt harvesting vessel in the salt lake is controlled to harvest salt according to the target harvesting path.

[0048] Optionally, the unmanned driving control system of the salt lake salt harvesting vessel also includes a salt mist protection unit, which includes at least one of the following: a constant temperature purging module disposed in the lidar window, a sealed chamber disposed outside the main control unit, and a salt mist protection coating disposed in the communication antenna.

[0049] According to another aspect of the embodiments of this application, a non-volatile storage medium is also provided, the non-volatile storage medium including a stored program, wherein, when the program is running, it controls the device where the non-volatile storage medium is located to execute the above-described unmanned driving control method for salt harvesting vessels in salt lakes.

[0050] According to another aspect of the embodiments of this application, a computer device is also provided, the computer device including a processor, the processor being used to run a program, wherein the program executes the above-described unmanned driving control method for salt harvesting vessels in salt lakes when it runs.

[0051] According to another aspect of the embodiments of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the above-described unmanned driving control method for salt harvesting vessels in salt lakes.

[0052] The unmanned control method and system for salt harvesting vessels provided in this application embodiment collects environmental data of the salt lake crystallization pool through a multi-source environmental perception unit installed on the salt harvesting vessel; identifies target obstacles in the salt lake crystallization pool based on the environmental data, wherein the target obstacles include at least one of salt layer protrusions, dams, soft mud areas, and target vessels; generates a target harvesting path based on the target obstacles, the harvesting boundary of the salt lake crystallization pool, and the current navigation trajectory of the salt harvesting vessel; and controls the salt harvesting vessel to harvest salt according to the target harvesting path. This method can adapt to the specific working conditions of salt lake harvesting, achieve precise obstacle avoidance and optimal harvesting path planning in salt field scenarios, effectively improve the harvesting accuracy and efficiency of the salt harvesting vessel, and realize industrial-grade unmanned and intelligent operation of the salt harvesting vessel. Attached Figure Description

[0053] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0054] Figure 1 This is a first flowchart illustrating the unmanned driving control method for salt harvesting vessels in salt lakes provided in the embodiments of this application;

[0055] Figure 2 This is a structural block diagram of the unmanned driving control system for salt harvesting vessels in salt lakes, provided according to an embodiment of this application.

[0056] Figure 3 This is a second flowchart illustrating the unmanned driving control method for salt harvesting vessels in salt lakes provided in the embodiments of this application;

[0057] Figure 4 This is a third flowchart illustrating the unmanned driving control method for salt harvesting vessels in salt lakes provided in the embodiments of this application;

[0058] Figure 5 This is a schematic diagram of the fourth process of the unmanned driving control method for salt harvesting vessels in salt lakes provided in the embodiments of this application;

[0059] Figure 6 This is a schematic diagram of the fifth process of the unmanned driving control method for salt harvesting vessels in salt lakes provided according to the embodiments of this application;

[0060] Figure 7 This is a hardware structure block diagram of a computer terminal for implementing an unmanned driving control method for salt harvesting vessels in salt lakes, according to an embodiment of this application.

[0061] Figure label:

[0062] 100-Shipborne control system, 1-Multi-source environmental sensing unit, 2-Main control unit, 3-Shipborne execution unit, 4-Salt harvesting operation detection unit, 5-Positioning unit, 6-Salt spray protection unit; 200-Integrated communication module; 300-Remote control system. Detailed Implementation

[0063] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0064] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0065] According to an embodiment of this application, a method embodiment for unmanned operation of a salt harvesting vessel in a salt lake is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0066] Figure 1 This is a flowchart illustrating the unmanned control method for salt harvesting vessels in salt lakes provided in the embodiments of this application, as shown below. Figure 1 As shown, the method includes the following steps:

[0067] Step S101: Collect environmental data of the salt lake crystallization pool through the multi-source environmental sensing unit set on the salt harvesting vessel in the salt lake.

[0068] like Figure 2As shown in the embodiment of this application, the unmanned driving control method for salt harvesting vessels in salt lakes is applied to the unmanned driving control system of salt harvesting vessels in salt lakes. This control system includes a multi-source environmental perception unit 1 and a main control unit 2. Both the multi-source environmental perception unit 1 and the main control unit 2 are installed on the hull of the salt harvesting vessel, forming a shipborne end control system 100 (hereinafter referred to as the shipborne end system). The multi-source environmental perception unit 1 and the main control unit 2 are connected via wired or wireless means (e.g., a 5G communication network).

[0069] In this step, by deploying the multi-source environmental sensing unit 1 on the hull of the salt harvesting vessel, the complex operating environment data of the salt lake crystallization pool is collected in real time, with high precision and anti-interference, providing basic sensing input for subsequent obstacle recognition, path planning and intelligent salt harvesting control.

[0070] The multi-source environmental sensing unit 1 includes a multi-line lidar for preventing salt spray crystallization, a millimeter-wave radar, and an explosion-proof camera, etc., used to collect multi-source environmental data around the hull, and to use multi-source environmental data fusion to identify salt layer protrusions, dikes, other operating vessels, obstacles in soft mud areas, etc. The explosion-proof camera is preferably a panoramic explosion-proof high-definition camera. Step S102: Identify target obstacles in the salt lake crystallization pool based on the environmental data, wherein the target obstacles include at least one of salt layer protrusions, dikes, soft mud areas, and target vessels.

[0071] Based on the environmental data collected in step S101, this step involves intelligent analysis and fusion identification of the perceived data by the main control unit 2, enabling accurate identification of four typical target obstacles within the salt lake crystallization pool: salt layer protrusions, dams, soft mud areas, and target vessels. Target vessels refer to other vessels not currently in operation.

[0072] Step S103: Generate a target harvesting path based on the target obstacle, the harvesting boundary of the salt lake crystallization pool, and the current navigation trajectory of the salt harvesting vessel.

[0073] In this step, the main control unit 2 combines the structured target obstacles (including salt layer protrusions, dikes, soft mud areas, and target vessels) output in step S102 with the pre-constructed three-dimensional salt lake harvesting boundary point cloud map (defined by historical surveying and mapping and the Beidou differential reference station coordinate system) and the current high-precision positioning data of the vessel (e.g., fused by Beidou / GPS / GLONASS multi-positioning systems, with a positioning accuracy ≤5cm). The salt lake harvesting vessel (hereinafter referred to as the salt harvesting vessel) navigation algorithm embedded in the main control unit 2 dynamically generates the optimal harvesting path by comprehensively considering the dual objectives of safety obstacle avoidance and operational compliance.

[0074] Step S104: Control the salt harvesting vessel in the salt lake to harvest salt according to the target harvesting path.

[0075] like Figure 2As shown, the shipborne control system 100 also includes a shipborne execution unit 3, which is communicatively connected to the main control unit 2. The shipborne execution unit 3 includes a navigation controller for controlling the ship's navigation. The main control unit 2 generates corresponding navigation control commands based on the generated target harvesting path and sends them to the navigation controller of the shipborne execution unit 3. After receiving the navigation control commands, the navigation controller controls the salt harvesting vessel to navigate stably along the target harvesting path and adaptively adjusts the salt harvesting navigation depth and speed, etc., to complete continuous and high-precision salt harvesting operations.

[0076] The preferred navigation controller is a PID navigation controller, which can dynamically control the navigation parameters of the salt harvester, such as speed, in real time according to the target harvesting path.

[0077] Optionally, the ship-end execution unit 3 also includes a salt-harvesting head servo system for controlling the salt-harvesting head to perform salt-harvesting operations. During the process of controlling the salt lake salt-harvesting vessel to perform salt-harvesting according to the target harvesting path, the main control unit 2 can combine the real-time feedback of salt-harvesting related data such as the salt-harvesting head attitude, salt layer thickness and mineral grade, and control the navigation controller and the salt-harvesting head servo system to coordinate the execution of trajectory tracking and operation parameter adjustment, so as to ensure that the salt-harvesting vessel sails stably along the planned path and adaptively adjusts the salt-harvesting depth and speed to complete continuous and high-precision salt-harvesting operations.

[0078] This application provides an unmanned control method for a salt harvesting vessel in a salt lake. The method involves collecting environmental data from the salt lake crystallization pool using a multi-source environmental sensing unit installed on the vessel; identifying target obstacles within the crystallization pool based on the environmental data, wherein the target obstacles include at least one of salt layer protrusions, dams, soft mud areas, and target vessels; generating a target harvesting path based on the target obstacles, the harvesting boundary of the crystallization pool, and the current navigation trajectory of the salt harvesting vessel; and controlling the salt harvesting vessel to harvest salt according to the target harvesting path. This method is adaptable to the specific working conditions of salt lake harvesting, enabling precise obstacle avoidance and optimal harvesting path planning in salt field scenarios, effectively improving the harvesting accuracy and efficiency of the salt harvesting vessel, and achieving industrial-grade unmanned and intelligent operation of the salt harvesting vessel.

[0079] As an optional embodiment, such as Figure 3 As shown, step S102 can be achieved through the following steps: identifying target obstacles within the salt lake crystallization pool based on the environmental data includes:

[0080] S1021, perform salt spray crystallization interference filtering and point cloud clustering on the multi-line lidar data collected by the multi-line lidar, and identify the salt layer protrusions based on the point cloud clustering results;

[0081] S1022, Perform moving target detection on the millimeter-wave radar data collected by the millimeter-wave radar, and identify dynamic obstacles based on the moving target detection results;

[0082] S1023, perform image enhancement and semantic segmentation on the salt lake image captured by the explosion-proof camera to identify the outline of the dam and the color and texture features of the soft mud area.

[0083] The identification methods described in S1021 to S1023 rely on the unique sensing characteristics of three types of sensors in the special environment of the salt lake. Multi-line lidar is used to detect abrupt changes in surface geometry, identifying the three-dimensional shape of salt layer protrusions and dams; its point cloud data is filtered for salt spray crystallization interference to improve stability. Millimeter-wave radar is used for motion sensing of dynamic targets, triggering the detection of target vessels, and its low response to non-metallic floating objects helps to eliminate false targets. Explosion-proof cameras are used to extract salt surface texture and color features, identifying the edge contours of dams and dark, low-reflection areas in the soft mud.

[0084] Data from three types of sensors are spatially calibrated and fused with confidence levels to output a structured target list, including obstacle type, three-dimensional position coordinates, geometric dimensions, and recognition confidence level. This constitutes a real-time environmental semantic map of the salt harvesting vessel, providing structured, quantifiable, and highly robust spatial semantic input for subsequent path planning. This solves the technical problem of single sensor recognition failure in the high-interference environment of salt lakes.

[0085] As an optional embodiment, such as Figure 4 As shown, step S103 can be implemented according to the following steps: generating the target harvesting path based on the target obstacle, the harvesting boundary of the salt lake crystallization pool, and the current navigation trajectory of the salt harvesting vessel includes:

[0086] S1031, Based on the three-dimensional obstacle map of the target obstacle and the current navigation trajectory of the salt harvesting vessel, determine the collision risk between the salt harvesting vessel and the target obstacle;

[0087] S1032, Generate an initial obstacle avoidance trajectory based on the collision risk and the harvesting boundary of the salt lake crystallization pond;

[0088] S1033, Based on the harvesting efficiency loss of the initial obstacle avoidance trajectory, generate the target obstacle avoidance trajectory.

[0089] In this step, the 3D obstacle map refers to a set of 3D spatial information about obstacles generated by multi-sensor fusion, including location, size, and type. The collision risk is assessed based on the obstacle type weight and the overlap with the ship's future trajectory; a high risk (>0.7) triggers obstacle avoidance. The harvesting boundary is a preset legal operating area; the system prioritizes safety and generates a collision-free initial detour trajectory at a fixed speed. The harvesting efficiency loss refers to the reduction in harvested area and the omission of high-grade areas due to detours. The system combines salt layer thickness and mineral grade data to dynamically compensate for salt harvesting intensity, generating a target trajectory that balances safety and resource recovery.

[0090] The steps S1031 to S1033 above constitute a three-order intelligent decision-making mechanism for generating the path of the salt harvesting vessel in the salt lake: First, based on the three-dimensional spatial information of obstacles fused from multi-source perception, the collision risk between the hull and the obstacles is quantitatively assessed; second, with safety obstacle avoidance and harvesting boundaries as hard constraints, an initial obstacle avoidance detour trajectory that meets the minimum safe distance is generated; finally, combined with real-time salt layer thickness and mineral grade data, the harvesting efficiency loss caused by detour is dynamically compensated, and a target harvesting path that takes into account both safety and resource recovery rate is generated.

[0091] As an optional embodiment, such as Figure 5 As shown, step S104 can be achieved according to the following steps:

[0092] S1041, salt mining operation parameters are obtained by the salt mining operation detection unit 4 installed on the salt mining vessel in the salt lake, wherein the salt mining operation detection unit 4 includes at least one of a salt layer thickness sensor, a mineral level detector and a salt mining head attitude sensor.

[0093] S1042, Adjust the operating parameters of the salt lake salt harvester according to the salt harvesting operation parameters, wherein the operating parameters of the salt lake salt harvester include the navigation parameters of the salt lake salt harvester and the operating parameters of the salt harvesting head of the salt lake salt harvester. The navigation parameters of the salt lake salt harvester include the ship's speed and / or heading, and the operating parameters of the salt harvesting head include at least one of the following: the downforce of the salt harvesting head, the cutting depth of the salt harvesting head, and the salt harvesting flow rate.

[0094] In this step, the salt mining operation parameters refer to physical quantities that are collected in real time by the shipborne salt mining operation detection unit 4 and used to characterize the salt mining operation status. These include: salt layer thickness, measured by a laser or ultrasonic thickness sensor installed in front of the salt mining head, reflecting the vertical physical thickness of the salt layer directly in front of the salt mining head, used to avoid excessive cutting that could cause equipment jamming or energy waste; mineral grade, non-destructively detected in real time by an EDXRF online spectrometer (mineral grade detector) to detect the mass concentration of target minerals such as potassium and lithium in the harvested salt slurry, used to identify high-grade areas to improve resource recovery rate; and salt mining head attitude, measured by a triaxial attitude sensor of the pitch and roll angles of the salt mining head relative to the horizontal plane, used to assess operational stability and whether the salt entry angle deviates from the set range, ensuring harvesting efficiency and equipment safety.

[0095] In this embodiment, the main control unit 2 can combine salt harvesting operation parameters such as salt layer thickness and mineral grade, and utilize the intelligent salt harvesting operation algorithm embedded in the main control unit 2 to dynamically adjust the working parameters of the salt harvesting vessel (including the navigation parameters of the salt harvesting vessel and the operating parameters of the salt head). This not only enables unmanned and precise navigation, but also achieves synergistic optimization of the salt harvesting vessel's harvesting efficiency and resource recovery rate. By acquiring real-time salt harvesting operation parameters such as salt layer thickness and mineral grade, the salt harvesting operation and path planning are optimized in a coordinated manner, ensuring harvesting efficiency and improving the salt lake resource recovery rate. At the same time, through 24-hour continuous operation, the production capacity of the salt harvesting vessel is significantly increased.

[0096] Specifically, based on the aforementioned salt harvesting operation parameters, the main control unit 2 dynamically adjusts the vessel's sailing speed (reducing speed to improve harvesting accuracy), the pressure of the salt harvesting head (increasing pressure to penetrate hard salt layers), and the cutting depth (reducing shallowness to avoid low-grade layers). This achieves intelligent salt harvesting tailored to specific layers and quality conditions, as well as adaptive closed-loop control of the salt harvesting operation, effectively improving resource recovery rate and reducing ineffective harvesting losses. As an optional embodiment, step S1042 can be implemented according to the following steps: adjusting the operating parameters of the salt lake harvesting vessel according to the aforementioned salt harvesting operation parameters includes:

[0097] S201, if the mineral grade of the salt layer is higher than the first grade threshold, increase the downward pressure of the salt mining head; if the mineral grade of the salt layer is lower than the second grade threshold, decrease the downward pressure of the salt mining head.

[0098] S202, If the salt layer thickness is greater than the preset thickness threshold, reduce the ship's speed.

[0099] S203, adjust the cutting depth of the salt-collecting head according to the pitch angle of the salt-collecting head collected by the salt-collecting head attitude sensor.

[0100] In this step, when adjusting the operating parameters of the salt-harvesting vessel based on the mineral grade of the salt layer, the mineral grade refers to the mass concentration of target minerals such as potassium and lithium in the harvested salt slurry, which is detected in real time by an EDXRF online spectrometer. The first grade threshold is a preset high-grade harvesting starting point (e.g., KCl ≥ 25%), and the second grade threshold is the low-grade abandonment limit (e.g., KCl ≤ 15%). When the detected value is higher than the first grade threshold, the system actively increases the downward pressure of the salt-harvesting head to enhance the penetration of high-grade salt layers and increase the harvesting rate per unit time; when it is lower than the second grade threshold, the downward pressure is reduced to reduce ineffective harvesting and avoid energy waste and impurity contamination.

[0101] When adjusting the operating parameters of a salt harvesting vessel based on the salt layer thickness, the salt layer thickness refers to the vertical physical thickness of the salt layer in front of the harvesting head, which is measured in real time by a laser or ultrasonic thickness sensor. The preset thickness value is the upper limit of the equipment's rated safe operation (e.g., ≥30cm). When the thickness exceeds this value, the system automatically reduces the vessel's speed, extending the harvesting head's operating time in that area to ensure sufficient harvesting and prevent overload or vibration of the harvesting head due to excessive cutting speed.

[0102] When adjusting the working parameters of the salt harvesting vessel based on the pitch angle of the salt harvesting head collected by the attitude sensor, the pitch angle refers to the tilt angle of the salt harvesting head relative to the horizontal plane, which is fed back in real time by the attitude sensor. When the pitch angle is too large (e.g., >10°), the system automatically reduces the cutting depth (i.e., the vertical distance the salt harvesting head cuts into the salt layer) to avoid the salt harvesting head getting stuck or overturning; when the pitch angle is too small (e.g., <3°), the cutting depth is appropriately increased to maintain stable harvesting efficiency.

[0103] The above adjustment process is executed in real time in a closed loop by the main control unit 2, realizing an intelligent salt mining strategy that determines the force based on grade, the speed based on thickness, and the depth based on posture, effectively improving resource recovery rate and reducing equipment wear and energy consumption.

[0104] As an optional embodiment, such as Figure 6 As shown, step S104 can also be implemented according to the following steps:

[0105] S1043, the positioning-related data of the salt lake harvesting vessel is obtained by the positioning unit 5 set in the salt lake harvesting vessel, wherein the positioning-related data includes at least one of the following: hull positioning data, heading data and speed data;

[0106] S1044, Determine the navigation deviation between the salt lake salt harvester and the target harvesting path based on the positioning data of the salt lake salt harvester, wherein the navigation deviation includes path deviation and heading deviation;

[0107] S1045, Adjust the current harvesting path of the salt lake harvester according to the navigation deviation.

[0108] Positioning unit 5 is preferably a high-precision differential positioning unit (such as a Beidou or GPS high-precision positioning unit). To achieve high-precision autonomous operation of the salt harvesting vessel in complex salt field environments, steps S1043 to S1045 constitute a closed-loop path correction mechanism: First, the onboard high-precision differential positioning unit continuously acquires the real-time positioning data of the vessel (longitude and latitude of the salt harvesting vessel), heading data (the direction of the bow relative to due north, in degrees), and sailing speed to ensure that the system always grasps the precise status of the salt harvesting vessel; Second, the above real-time data is compared with the target obstacle planning based on the three-dimensional point cloud map of the salt field issued by the remote control system 300. The harvesting path (target route) is compared, and the main control unit 2 calculates the spatial deviation between the ship's current position and the target route, including: path deviation (i.e., the shortest lateral distance between the ship's centerline and the target route, reflecting lateral offset) and heading deviation (i.e., the angle between the ship's current heading and the tangent direction of the target route at that point, reflecting steering deviation). Finally, the main control unit 2 automatically generates control commands based on the magnitude and direction of the deviation. Through the PID navigation controller in the ship end execution unit 3, the propeller speed difference or rudder angle is adjusted in real time to drive the ship to smoothly turn, so that the salt harvester gradually returns to the target route, realizing dynamic closed-loop correction from perception to calculation to control.

[0109] In this embodiment of the application, not only can a target harvesting path be generated based on the target obstacle, but the current harvesting path can also be adjusted in real time based on the navigation deviation during the salt harvesting vessel's navigation along the target harvesting path, ensuring the precise navigation of the salt harvesting vessel.

[0110] By performing the above steps, it is ensured that the salt harvesting vessel can still operate stably along the preset trajectory in complex terrains such as salt layer protrusions and soft mud edges, avoiding missed harvesting, repeated harvesting or collision with the dike, and significantly improving the harvesting coverage and operational continuity.

[0111] As an optional embodiment, step S104 can also be implemented according to the following steps:

[0112] S1046, during the process of the salt lake salt harvesting vessel harvesting salt along the target harvesting path, the operation-related data of the salt lake salt harvesting vessel is sent to the remote control system 300 through the fusion communication module 200.

[0113] S1047, The operation-related data of the salt lake salt harvesting vessel is displayed through the multi-screen visualization unit of the remote control system 300.

[0114] like Figure 2As shown, the remote control system 300 is a remote control center system, and the converged communication module 200 is preferably a 5G+Mesh converged communication system. The remote control system 300 communicates with the shipborne terminal control system 100 through the converged communication module 200. The three systems achieve bidirectional real-time data interaction through a shared data link, effectively improving the harvesting efficiency of the salt harvesting vessel.

[0115] In this step, as the salt harvesting vessel operates along the target harvesting path, the main control unit 2 continuously collects and integrates various operation-related data, including: lidar point clouds output by the multi-source environmental perception unit, millimeter-wave radar obstacle identification results, panoramic high-definition camera images, real-time navigation trajectory generated by high-precision positioning, and parameters such as salt layer thickness, mineral grade (KCl content), salt head pitch angle, and downforce fed back by the salt harvesting operation detection unit 4. After being compressed and encrypted by the integrated communication module, the above data is uploaded in real time to the remote control system 300. The communication link also has BeiDou short message service as an emergency backup to ensure that critical data can still be uploaded even if 5G is interrupted. Figure 2 As shown, the 5G+Mesh converged communication system includes a 5G private network base station (forming a 5G private network main link), a shipborne directional antenna, and a Mesh self-organizing network blind spot filling node deployed in the salt lake salt field area. It is used to realize low-latency bidirectional data transmission between the shipborne terminal control system 100 and the remote control system 300, and to realize real-time data reception, command issuance, trajectory and operation data uploading between the shipborne terminal control system 100 and the remote control system 300. At the same time, the 5G+Mesh converged communication system realizes data interaction between various units of the shipborne terminal through a shared data link.

[0116] like Figure 2As shown, the remote control center system is deployed in the mine office building and includes a remote control unit, a multi-screen visualization unit, and a central dispatch unit. The remote control unit is preferably an immersive remote control unit, which outputs manual control commands, which are then transmitted down to the industrial-grade explosion-proof main control unit 2 via a 5G+Mesh main link, enabling real-time two-way data interaction. The remote control unit includes an industrial joystick with force feedback, an immersive cockpit, and a core command touchpad, used for remote takeover and precise control of the salt harvesting vessel by the operator, achieving low-latency control with hand-eye synchronization. The central dispatch unit is used for unified scheduling of multiple vessel operations, data storage and traceability of operation data, fault alarms and emergency response, issuing salt harvesting tasks, and receiving, storing, and tracing operation data and fault information. It also handles salt harvesting task issuance, route planning, and operation data statistics. The multi-screen visualization unit of the remote control center receives and parses the acquired data, and through multi-screen collaborative display, achieves panoramic situational awareness, including real-time salt harvesting operation footage, a vessel operation status panel, a radar and panoramic AR fusion top-down view, and a real-time mineral level data panel, used for comprehensive monitoring of the salt harvesting vessel's operation status. All screens and data are updated synchronously with the ship's status, enabling operators to achieve immersive remote monitoring without being physically present, supporting rapid judgment and seamless takeover. For example, the multi-screen visualization unit can receive and display real-time data uploaded by the ship's control system 100.

[0117] As an optional embodiment, based on steps S1046 and S1047, it can be implemented according to the following steps:

[0118] S301, when the salt lake salt harvesting vessel has an abnormal operating condition, the salt lake salt harvesting vessel is switched from unmanned autonomous operation mode to manual operation mode.

[0119] S302, when the salt lake salt harvester has an abnormal operating condition, control the salt lake salt harvester to perform safety redundancy handling, and send the generated fault information and emergency handling information to the remote control system through the converged communication module;

[0120] S303, wherein the abnormal operating condition includes at least one of communication interruption, abnormal hull power, and sensor failure.

[0121] When the salt harvesting vessel in the salt lake is in an abnormal operating condition, steps S301 to S303 together realize the dual response mechanism of the salt harvesting vessel under abnormal operating conditions.

[0122] When a salt harvesting vessel encounters non-emergency anomalies such as obstacles it cannot navigate around, sensor malfunctions, or operating parameters exceeding limits during autonomous operation, the main control unit 2 of the shipborne control system 100 transmits the vessel's operating data and real-time images back to the remote control system 300 via the fusion communication module 200. When obstacles it cannot navigate around, sensor malfunctions, or operating parameters exceeding limits occur, the display unit of the shipborne control system 100 and / or the display unit of the remote control system 300 automatically pop up an alarm. The operator then manually takes over the vessel's control via the remote control unit and switches back to autonomous operation mode after completing the emergency response, thus achieving unmanned autonomous operation of the salt harvesting vessel. In the event of emergency failures such as communication interruption, abnormal ship power, or sensor malfunction, the system does not rely on remote commands. Instead, the main control unit 2 automatically triggers a safety fallback logic to perform safety redundancy measures: first, it decelerates and stops the salt mining operation; second, it initiates a one-key return trip, returning along a preset safe path; simultaneously, it uploads fault information and current status to the remote control system 300 via the integrated communication module 200; if the integrated communication module 200 fails, it automatically activates the Beidou short message backup link to send the ship's position and fault code in the minimum message format, ensuring that the remote center always has a grasp of the ship's status, enabling reporting, control, and tracking of any loss of contact.

[0123] In some embodiments, such as Figure 2 As shown, the shipborne control system 100 also includes a salt spray protection unit 6. The salt spray protection unit 6 includes at least one of the following: a temperature-controlled purging module disposed in the lidar window, a sealed chamber disposed outside the main control unit 2, and a salt spray protective coating disposed on the communication antenna. The salt spray protection unit 6 is a passive protection structure, ensuring the stable operation of each unit of the shipborne control system 100 in a high salt spray environment. The temperature-controlled purging module is used to prevent salt spray from crystallizing and clogging the lidar window; the sealed chamber is an explosion-proof and corrosion-resistant sealed chamber, used to isolate the main control unit and sensors from corrosion by salt spray.

[0124] In summary, the shipborne control system 100 deployed on a salt harvesting vessel in a salt lake includes a multi-source environmental sensing unit 1, a main control unit 2, a shipborne execution unit 3, a salt harvesting operation detection unit 4, a positioning unit 5, and a salt mist protection unit 6. The multi-source environmental sensing unit 1, the salt harvesting operation detection unit 4, and the positioning unit 5 transmit environmental data, mineral level data, and positioning data unidirectionally to the main control unit 2, respectively. The main control unit 2 embeds a salt lake-specific autonomous navigation algorithm and an intelligent salt harvesting operation algorithm, generating control commands based on the aforementioned data and outputting them unidirectionally to the shipborne execution unit 3 to achieve navigation and salt harvesting action control. The salt mist protection unit 6 is a passive protection structure that ensures the stable operation of each unit in a high-salt-mist environment. The various units of the shipborne control system achieve internal data interaction through a shared data link, forming a local closed-loop control system for the salt harvesting vessel.

[0125] In this embodiment, bidirectional low-latency data interaction between the shipborne terminal and the remote control center is achieved through the 5G private network main link deployed in the salt fields of the salt lake and the Mesh self-organizing network blind spot nodes: the remote control center sends control commands and salt mining tasks to the shipborne terminal through the downlink, and the shipborne terminal transmits real-time operation data, operating status and high-definition video back to the remote control center through the uplink. At the same time, the 5G+Mesh converged communication system has a Beidou short message backup communication link. The Beidou short message backup communication link is independent of the 5G+Mesh main link and is automatically activated only when the main link is interrupted. It sends the ship's Beidou positioning coordinates and preset fault codes to the remote control center for emergency fault backup communication, realizing the emergency status reporting function of reporting loss of contact and uncontrollable situation.

[0126] The integrated unmanned remote control system architecture constructed in this application, encompassing perception, decision-making, execution, communication, monitoring, and finally safety redundancy, provides an implementable, verifiable, and scalable technical foundation for realizing unmanned, intelligent, and reliable salt mining in salt lakes.

[0127] Through the above steps, the unmanned remote control system and method for salt harvesting vessels provided in this application, by constructing a collaborative control architecture between the shipboard end and the remote control center, integrates high-precision positioning, multi-source environmental perception, and EDXRF online mineral level detection to achieve accurate identification and autonomous obstacle avoidance of complex salt field obstacles such as salt layer protrusions, soft mud areas, and dikes. Based on real-time feedback of salt layer thickness and mineral level, the system intelligently and dynamically adjusts the downward pressure of the salt harvesting head, cutting depth, and sailing speed to achieve synergistic optimization of harvesting efficiency and resource recovery rate. Through a dual-channel redundant communication design of a 5G+Mesh fusion communication module and a Beidou short message backup link, the system ensures low-latency and reliable transmission of control commands in high salt spray and strong interference environments. In case of emergency conditions such as communication interruption, power abnormality, or sensor failure, the system automatically triggers safety fallback logic, executes deceleration and shutdown, and one-click return, and reports the status through the backup link to ensure operational continuity and equipment safety. Operators can achieve immersive remote takeover at the remote control center through a force feedback industrial joystick and AR fusion visualization interface, achieving hand-eye synchronization. This application realizes the unmanned, intelligent and industrial-grade high-reliability operation of salt lake mining operations, significantly improving resource recovery rate, operation efficiency and intrinsic safety level, and promoting the transformation and upgrading of salt mining towards green, intelligent and unmanned directions.

[0128] Specifically, compared with the prior art, this application has the following beneficial effects:

[0129] (1) First, the working environment is thoroughly improved, freeing operators from the harsh conditions of salt lakes with high salt spray and strong ultraviolet radiation. Multiple ships can be monitored and operated simultaneously in a remote control center, which greatly reduces labor costs and occupational health risks.

[0130] (2) Secondly, for the specific optimization of salt lake working conditions, the embodiment of this application solves the industry pain point of long-term stable operation of equipment in high salt spray environment through salt spray protection unit. Through centimeter-level differential Beidou positioning and multi-sensor fusion environmental perception, it realizes precise obstacle avoidance and flight path control, avoids collision with dams and getting stuck in soft mud area, and greatly reduces the safety accident rate.

[0131] (3) Furthermore, intelligent salt mining and improved harvesting efficiency are achieved. The embodiments of this application optimize the linkage between real-time data on salt layer thickness and mineral grade and salt mining operations and path planning, which not only ensures harvesting efficiency but also improves the recovery rate of salt lake resources. At the same time, the production capacity of salt mining vessels is greatly improved through 24-hour continuous operation.

[0132] (4) Then, industrial-grade high-reliability operation. The embodiment of this application uses a redundant communication design of 5G+Mesh converged communication + Beidou short message backup to control the delay of control commands within 50ms, while having complete fault-safe fallback logic to meet the reliability requirements of continuous production in salt lakes.

[0133] (5) Finally, immersive and precise control: This application embodiment uses a remote cockpit with force feedback and a panoramic view fused with radar and AR to enable operators to accurately control the ship's attitude and operating status even when they are far away from the site, achieving instantaneous hand-eye synchronization and ensuring the accuracy and safety of remote control.

[0134] According to an embodiment of this application, an unmanned driving system for a salt lake salt harvesting vessel, used to implement the above-described unmanned driving control method for salt lake salt harvesting vessels, is also provided. Figure 2 This is a structural block diagram of an unmanned driving system for salt harvesting vessels in salt lakes, provided according to an embodiment of this application. Figure 2 As shown, the unmanned driving system of the salt harvesting vessel in the salt lake includes:

[0135] Multi-source environmental sensing unit 1 is installed on a salt harvesting vessel in the salt lake and is configured to collect environmental data from the salt lake crystallization pool.

[0136] Main control unit 2, located on a salt harvesting vessel in the salt lake, is configured as follows:

[0137] Based on the environmental data and salt layer data, target obstacles within the salt lake crystallization pool are identified, wherein the target obstacles include at least one of salt layer protrusions, dams, soft mud areas, and target vessels;

[0138] A target harvesting path is generated based on the target obstacle, the harvesting boundary of the salt lake crystallization pool, and the current navigation trajectory of the salt harvesting vessel.

[0139] The salt harvesting vessel in the salt lake is controlled to harvest salt according to the target harvesting path.

[0140] Optionally, main control unit 2 is also configured as follows:

[0141] Salt spray crystallization interference filtering and point cloud clustering are performed on the multi-line lidar data collected by the multi-line lidar, and the salt layer protrusions are identified based on the point cloud clustering results.

[0142] Moving target detection is performed on the millimeter-wave radar data collected by the millimeter-wave radar, and dynamic obstacles are identified based on the moving target detection results;

[0143] Image enhancement and semantic segmentation are performed on the salt lake images captured by the explosion-proof camera to identify the outline of the dam and the color and texture features of the soft mud area.

[0144] Optionally, main control unit 2 is also configured as follows:

[0145] Based on the three-dimensional obstacle map of the target obstacle and the current navigation trajectory of the salt harvesting vessel, the collision risk between the salt harvesting vessel and the target obstacle is determined.

[0146] An initial obstacle avoidance trajectory is generated based on the collision risk and the harvesting boundary of the salt lake crystallization pool;

[0147] Based on the harvesting efficiency loss of the initial obstacle avoidance trajectory, a target obstacle avoidance trajectory is generated.

[0148] Optionally, the unmanned driving system for the salt harvesting vessel also includes a salt harvesting operation detection unit installed on the salt harvesting vessel, configured as follows:

[0149] The salt mining operation parameters are obtained, wherein the salt mining operation detection unit includes at least one of a salt layer thickness sensor, a mineral level detector, and a salt mining head attitude sensor;

[0150] Main control unit 2 is also configured as follows:

[0151] The operating parameters of the salt lake harvesting vessel are adjusted according to the salt harvesting operation parameters, wherein the operating parameters of the salt lake harvesting vessel include the navigation parameters of the salt lake harvesting vessel and the operating parameters of the salt harvesting head of the salt lake harvesting vessel. The navigation parameters of the salt lake harvesting vessel include the hull speed and / or heading, and the operating parameters of the salt harvesting head include at least one of the following: the downforce of the salt harvesting head, the cutting depth of the salt harvesting head, and the salt harvesting flow rate.

[0152] Optionally, the unmanned driving system for salt harvesting vessels in salt lakes also includes a positioning unit installed on the salt harvesting vessel, configured as follows:

[0153] Positioning-related data of the salt harvesting vessel is obtained by a positioning unit installed on the salt harvesting vessel in the salt lake, wherein the positioning-related data includes at least one of hull positioning data, heading data and speed data;

[0154] Main control unit 2 is also configured as follows:

[0155] The navigation deviation between the salt lake salt harvesting vessel and the target harvesting path is determined based on the positioning data of the salt lake salt harvesting vessel. The navigation deviation includes path deviation and / or heading deviation.

[0156] The current harvesting path of the salt lake harvesting vessel is adjusted according to the navigation deviation.

[0157] Optionally, main control unit 2 is also configured as follows:

[0158] During the process of the salt harvesting vessel in the salt lake harvesting along the target harvesting path, the operation-related data of the salt harvesting vessel is sent to the remote control system through the fusion communication module;

[0159] The operational data of the salt harvesting vessel in the salt lake is displayed through the multi-screen visualization unit of the remote control system.

[0160] As an optional embodiment, the unmanned driving control system of the salt lake salt harvesting vessel further includes a salt mist protection unit 6, which includes at least one of the following: a constant temperature purging module disposed in the lidar window, a sealed chamber disposed outside the main control unit, and a salt mist protection coating disposed in the communication antenna.

[0161] The salt spray protection unit is not a single structure, but is composed of multiple collaborative protection modules to cope with the complex and harsh working conditions of high salt spray, high crystallization and strong corrosion in the salt lake environment.

[0162] The constant-temperature purging module, located in the window of the multi-line lidar, continuously delivers heated and dehumidified clean compressed air to the lidar detection window through a miniature air pump, forming a stable positive pressure air curtain. This effectively prevents high-concentration salt spray from condensing and crystallizing on the surface of the optical window, ensuring that the lidar can maintain an effective detection field of view during continuous operation and solving the problem of existing unmanned vessels failing due to salt condensation on the lidar window.

[0163] The explosion-proof and corrosion-resistant sealed chamber located outside the industrial-grade explosion-proof main control unit 2 adopts a multi-seal structure of 316L stainless steel and EPDM rubber, and is filled with inert gas (such as nitrogen). It has passed airtightness testing and IP68 waterproof and dustproof certification, completely isolating the main control computer, power management module, communication interface and other core electronic components from the external high salt spray environment, eliminating the risk of failure such as circuit board corrosion and component short circuits, and ensuring that the system's continuous operating life is not less than 3 years.

[0164] The nanoscale salt spray protection coating applied to the surfaces of the 5G directional antenna and the BeiDou short message antenna is made of a fluorosilane-based composite halophore material with a surface energy of less than 10 mN / m. This prevents salt spray particles from adhering and makes them easily blown off by wind or washed away by rain (in case of occasional rainfall). This significantly reduces the antenna gain attenuation rate, ensuring that the communication link maintains stable signal strength even under continuous operating conditions, with a communication bit error rate of less than 10%. -6 .

[0165] The three protective structures described above can be deployed independently or combined in any way to form a three-tiered protection system: anti-crystallization for the optical window, anti-corrosion for the core hull, and self-cleaning for the communication antenna. In practical applications, the configuration can be flexibly selected based on the salt spray concentration, evaporation intensity, and equipment budget of the salt harvesting vessel's operating area, achieving an optimal balance between cost and reliability.

[0166] The method embodiment provided in Embodiment 1 of this application can be applied to the unmanned driving control system of salt harvesting vessels in salt lakes. The unmanned driving control system of salt harvesting vessels in salt lakes includes a multi-source environmental perception unit 1 and a main control unit 2. The main control unit 2 can be a mobile terminal, a computer terminal or a similar computing device.

[0167] The main control unit 2 is preferably an industrial-grade explosion-proof computer terminal, which is embedded with an autonomous navigation algorithm and an intelligent salt harvesting operation algorithm optimized for the salt lake scenario. The application receives data from each unit and outputs navigation instructions or salt harvesting control instructions for the salt harvesting vessel.

[0168] Figure 7 A hardware block diagram of a computer terminal for implementing an unmanned driving control method for salt harvesting vessels in salt lakes is shown. Figure 7 As shown, the computer terminal 10 may include one or more processors (shown as 102a, 102b, ..., 102n in the figure) (the processor may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 7 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 7 The more or fewer components shown, or having the same Figure 7 The different configurations shown.

[0169] It should be noted that the aforementioned one or more processors and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 10. As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0170] The memory 104 can be used to store software programs and modules of application software, such as the program instruction / data storage device corresponding to the unmanned driving control method for salt harvesting vessels in this embodiment of the application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned application-based unmanned driving control method for salt harvesting vessels. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0171] The display can be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 10.

[0172] It should be noted that the multi-source environmental perception unit 1 and the main control unit 2 of the above-mentioned unmanned control system for salt lake harvesting vessels correspond to steps S101 to S104 in the embodiments. The instances and application scenarios implemented by the multi-source environmental perception unit 1 and the main control unit 2 are the same as those in the corresponding steps, but are not limited to the content disclosed in the above embodiments. It should be noted that the above-mentioned main control unit 2, as part of the unmanned control system for salt lake harvesting vessels, can run in the computer terminal 10 provided in this embodiment, or the main control unit 2 is the computer terminal 10 provided in this embodiment. The embodiments of this application can provide a computer device. Optionally, in this embodiment, the above-mentioned computer device can be located in at least one of multiple network devices in a computer network. The computer device includes a memory and a processor.

[0173] The memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the unmanned control method and device for salt harvesting vessels in this application embodiment. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, thereby realizing the aforementioned unmanned control method for salt harvesting vessels. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to a computer terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0174] The processor can access information and applications stored in memory via a transmission device to perform the following steps: collecting environmental data of the salt lake crystallization pool through a multi-source environmental sensing unit installed on the salt harvesting vessel; identifying target obstacles within the salt lake crystallization pool based on the environmental data, wherein the target obstacles include at least one of salt layer protrusions, dams, soft mud areas, and target vessels; generating a target harvesting path based on the target obstacles, the harvesting boundary of the salt lake crystallization pool, and the current navigation trajectory of the salt harvesting vessel; and controlling the salt harvesting vessel to harvest salt based on the target harvesting path.

[0175] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a non-volatile storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0176] Embodiments of this application also provide a non-volatile storage medium. Optionally, in this embodiment, the aforementioned non-volatile storage medium can be used to store the program code executed by the unmanned control method for salt harvesting vessels in salt lakes provided in the above embodiments.

[0177] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0178] Embodiments of this application also provide a computer program product, including a computer program. Optionally, in this embodiment, the computer program, when executed by a processor, can implement:

[0179] Environmental data of the salt lake crystallization pool is collected by a multi-source environmental sensing unit installed on a salt harvesting vessel in the salt lake; target obstacles within the salt lake crystallization pool are identified based on the environmental data, wherein the target obstacles include at least one of salt layer protrusions, dams, soft mud areas, and target vessels; a target harvesting path is generated based on the target obstacles, the harvesting boundary of the salt lake crystallization pool, and the current navigation trajectory of the salt harvesting vessel; and the salt harvesting vessel is controlled to harvest salt according to the target harvesting path.

[0180] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0181] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0182] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0183] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0184] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0185] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a non-volatile storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0186] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for unmanned control of a salt harvesting vessel in a salt lake, characterized in that, include: Environmental data of the salt lake crystallization pool is collected by a multi-source environmental sensing unit installed on a salt harvesting vessel in the salt lake. Based on the environmental data, target obstacles within the salt lake crystallization pool are identified, wherein the target obstacles include at least one of salt layer protrusions, dams, soft mud areas, and target vessels; A target harvesting path is generated based on the target obstacle, the harvesting boundary of the salt lake crystallization pool, and the current navigation trajectory of the salt harvesting vessel. The salt harvesting vessel in the salt lake is controlled to harvest salt according to the target harvesting path.

2. The method according to claim 1, characterized in that, The multi-source environmental sensing unit includes at least one of a multi-line lidar, a millimeter-wave radar, and an explosion-proof camera. The step of identifying target obstacles within the salt lake crystallization pool based on the environmental data includes: Salt spray crystallization interference filtering and point cloud clustering are performed on the multi-line lidar data collected by the multi-line lidar, and the salt layer protrusions are identified based on the point cloud clustering results. Moving target detection is performed on the millimeter-wave radar data collected by the millimeter-wave radar, and dynamic obstacles are identified based on the moving target detection results; Image enhancement and semantic segmentation are performed on the salt lake images captured by the explosion-proof camera to identify the outline of the dam and the color and texture features of the soft mud area.

3. The method according to claim 1, characterized in that, The process of generating a target harvesting path based on the target obstacle, the harvesting boundary of the salt lake crystallization pool, and the current navigation trajectory of the salt harvesting vessel includes: Based on the three-dimensional obstacle map of the target obstacle and the current navigation trajectory of the salt harvesting vessel, the collision risk between the salt harvesting vessel and the target obstacle is determined. An initial obstacle avoidance trajectory is generated based on the collision risk and the harvesting boundary of the salt lake crystallization pool; Based on the harvesting efficiency loss of the initial obstacle avoidance trajectory, a target obstacle avoidance trajectory is generated.

4. The method according to claim 1, characterized in that, The method further includes: Salt mining operation parameters are obtained by a salt mining operation detection unit installed on a salt mining vessel in a salt lake. The salt mining operation detection unit includes at least one of a salt layer thickness sensor, a mineral level detector, and a salt mining head attitude sensor. The operating parameters of the salt lake harvesting vessel are adjusted according to the salt harvesting operation parameters, wherein the operating parameters of the salt lake harvesting vessel include the navigation parameters of the salt lake harvesting vessel and the operating parameters of the salt harvesting head of the salt lake harvesting vessel. The navigation parameters of the salt lake harvesting vessel include the hull speed and / or heading, and the operating parameters of the salt harvesting head include at least one of the following: the downforce of the salt harvesting head, the cutting depth of the salt harvesting head, and the salt harvesting flow rate.

5. The method according to claim 4, characterized in that, The step of adjusting the operating parameters of the salt lake harvesting vessel according to the salt harvesting operation parameters includes: If the mineral grade of the salt layer is higher than the first grade threshold, the downward pressure of the salt mining head is increased; if the mineral grade of the salt layer is lower than the second grade threshold, the downward pressure of the salt mining head is decreased. If the salt layer thickness exceeds a preset thickness threshold, reduce the ship's speed. The cutting depth of the salt-collecting head is adjusted based on the pitch angle of the salt-collecting head collected by the salt-collecting head attitude sensor.

6. The method according to claim 1, characterized in that, The method further includes: Positioning-related data of the salt harvesting vessel is obtained by a positioning unit installed on the salt harvesting vessel in the salt lake, wherein the positioning-related data includes at least one of hull positioning data, heading data and speed data; The navigation deviation between the salt harvesting vessel and the target harvesting path is determined based on the positioning data of the salt harvesting vessel in the salt lake. The navigation deviation includes path deviation and heading deviation. The current harvesting path of the salt lake harvesting vessel is adjusted according to the navigation deviation.

7. The method according to claim 1, characterized in that, The method further includes: During the process of the salt harvesting vessel in the salt lake harvesting along the target harvesting path, the operation-related data of the salt harvesting vessel is sent to the remote control system through the fusion communication module; The operational data of the salt harvesting vessel in the salt lake is displayed through the multi-screen visualization unit of the remote control system.

8. The method according to claim 1, characterized in that, The method further includes: When the salt harvesting vessel in the salt lake experiences abnormal operating conditions, the vessel will be switched from unmanned autonomous operation mode to manual operation mode. When the salt harvesting vessel in the salt lake is in an abnormal operating condition, the vessel is controlled to perform safety redundancy measures, and the generated fault information and / or emergency response information is sent to the remote control system through the converged communication module. The abnormal operating conditions include at least one of communication interruption, abnormal ship dynamics, and sensor failure.

9. An unmanned driving control system for a salt harvesting vessel in a salt lake, characterized in that, include: A multi-source environmental sensing unit is installed on a salt harvesting vessel in the salt lake and is configured to collect environmental data and salt layer data from the salt lake crystallization pool. The main control unit, located on a salt harvesting vessel in the salt lake, is configured as follows: Based on the environmental data and salt layer data, target obstacles within the salt lake crystallization pool are identified, wherein the target obstacles include at least one of salt layer protrusions, dams, soft mud areas, and target vessels; A target harvesting path is generated based on the target obstacle, the harvesting boundary of the salt lake crystallization pool, and the current navigation trajectory of the salt harvesting vessel. The salt harvesting vessel in the salt lake is controlled to harvest salt according to the target harvesting path.

10. The unmanned driving control system for salt harvesting vessels in salt lakes according to claim 9, characterized in that, The unmanned control system for the salt lake harvesting vessel also includes a salt mist protection unit, which includes at least one of the following: a constant temperature purging module installed in the lidar window, a sealed chamber installed outside the main control unit, and a salt mist protection coating installed on the communication antenna.

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