Half-height container barge stowage method and device

Abstract

The invention provides a half-height container barge stowage method and device.The half-height container barge stowage method comprises the steps that unloading destinations are determined, and barges corresponding to the same unloading destination are divided into the same barge group; carrying out mean value calculation on the barge weights corresponding to all the barges in the same barge group to obtain group weights, and carrying out sorting according to a sorting rule from light to heavy to obtain each group serial number; determining each connection layer on the connection ship, and distributing all the barges in each barge group to each connection slot position in each connection layer by taking the connection layer on the lowest layer as a connection starting point to obtain a corresponding distribution sequence and a distribution position; determining a weight distribution condition based on the distribution position, and carrying out balance adjustment based on the weight distribution condition; and controlling the gantry crane to move all the barges in each barge group into the corresponding connection slots. According to the invention, the driving safety is at least improved.

Description

Technical Field

[0001] The invention relates to data processing technology, and in particular to a half-high container barge loading method and device. Background Art

[0002] Barge carriers, also known as "mother-child ships", refer to "ships" that are specially used to carry cargo barges. The mode of transportation is: first load the cargo into barges of uniform specifications, and then use these barges as freight units to load the barge carriers. After arriving at the transit port, unload the barges, and then use tugboats to tow the group of barges to the inland destination port. The type of barge carrier is basically similar to that of container ships, with a flat upper deck, and the bridge and superstructure are as close to the bow as possible to allow more deck area for stacking barges. The characteristics of barge carrier transportation are: ① It can shorten the port stay time. ② It is not limited by the port water depth. ③ It is not affected by the congestion of the terminal. ④ It can realize river-sea transport.

[0003] In the prior art, each barge carried on the shuttle ship is loaded with a different number of half-high containers, and each half-high container contains corresponding cargo. Due to the different types of cargo and the number of half-high containers, the weight of the barge corresponding to each barge may be different. When the weight difference is more obvious, the shuttle ship may tilt after the corresponding barge loading is completed, thereby affecting driving safety. Summary of the invention

[0004] Based on the above problems, the present invention is proposed to provide a method and device for loading a semi-high container barge that overcomes the above problems or at least partially solves the above problems.

[0005] According to one aspect of the present invention, a method for loading a semi-high container barge is provided, comprising the following steps: Determine each unloading destination corresponding to each barge, and group all barges corresponding to the same unloading destination into the same barge group to obtain each barge group; Calculate the average of the barge weights corresponding to all barges in the same barge group to obtain the group weight corresponding to the barge group, and sort the barge groups according to the sorting rule from light to heavy based on the group weights of all barge groups to obtain the group numbers corresponding to each barge group; Determine the docking layers arranged from top to bottom on the docking ship, and take the docking layer at the bottom as the docking starting point, and allocate all barges in each barge group to the docking slots in each docking layer in order according to the grouping sequence numbers from large to small, and obtain the allocation order and allocation position corresponding to each docking layer; Determine the weight distribution of any docking layer based on the distribution position corresponding to the docking layer, and balance and adjust the distribution position of the docking layer above the docking layer based on the weight distribution; The gantry crane is controlled to lift all barges in each barge group in sequence based on the allocation sequence, and each barge is moved to a corresponding docking slot based on the allocation position.

[0006] Optionally, in the method according to the present invention, taking the docking layer at the bottom as the docking starting point, all barges in each barge group are sequentially allocated to each docking slot in each docking layer according to the grouping sequence numbers from large to small, and obtaining the allocation sequence and allocation position corresponding to each docking layer, including: Determine the central floating point located in each docking layer in turn, and determine the docking slot located at the central floating point as the floating point slot; Select the docking layer at the bottom as the docking starting point, and select the barge group with the largest group number as the group starting point according to the group numbers from large to small; Determine the barge weights of all barges located at the starting point of the grouping, and sort them according to a sorting rule from light to heavy to obtain barge serial numbers corresponding to each barge; Obtaining a first weight difference between a barge with a largest barge number and its adjacent barge, and a second weight difference between a barge with a smallest barge number and its adjacent barge, and determining the barge with the largest corresponding weight difference as a floating point barge, and allocating the floating point barge to the floating point slot; Taking the floating point slot as the center, determining the docking slots that are radially arranged around the floating point slot, and grouping and dividing the docking slots based on the arrangement rules to obtain groupings of various circles; Based on the slot symmetric matching strategy, the remaining barges in the barge group with the largest group number are sequentially allocated to each circle group to obtain the allocation position corresponding to the docking starting point, and the radial arrangement is determined as the allocation sequence corresponding to the docking starting point; The docking layer located above the docking starting point is determined as a new docking starting point, and the above steps are repeated until all remaining barges are respectively and sequentially allocated to the docking slots located in each docking layer, and the allocation position and allocation order corresponding to each docking layer are obtained.

[0007] Optionally, in the method according to the present invention, based on the slot symmetric matching strategy, the remaining barges in the barge group corresponding to the largest group number are sequentially allocated to each circle group to obtain the allocation position corresponding to the docking starting point, including: Grouping the remaining barges in pairs based on the serial numbers of adjacent barges to obtain balanced groups; Obtaining the distances between each level group and the floating point slot, and determining the allocation priority corresponding to each level group based on the distances between the slots, wherein the smaller the slot distance, the higher the allocation priority; Based on the allocation priorities corresponding to the respective circle-level groups, the corresponding circle-level groups are selected in order, and two docking slots in the selected circle-level groups that are symmetrical to the floating-point slots are determined as symmetrical slot groups, to obtain all symmetrical slot groups in the same circle-level group; A one-to-one matching relationship between the balancing group and the symmetric slot group is established, and the two barges in the balancing group are respectively allocated to two docking slots in the symmetric slot group having a matching relationship therewith, so as to obtain the allocated position corresponding to the docking starting point.

[0008] Optionally, in the method according to the present invention, the method further comprises: When the number of slots of the docking slots included in the selected docking layer is greater than the number of barges included in the selected barge group, determining a first quantity difference, and determining a group weight corresponding to the selected barge group; Based on the group sequence number, other barge groups adjacent to and larger than the selected barge group are determined as supplementary groups, and barges corresponding to the first quantity difference and having a barge weight close to the group weight are selected from the supplementary groups as supplementary barges, and the supplementary barges are added to the selected barge group; or When the number of docking slots included in the selected docking layer is less than the number of barges included in the selected barge group, a second quantity difference is determined, and other barge groups adjacent to and larger than the selected barge group are determined as merged groups based on the group sequence number; The group weight corresponding to the merged group is determined, and barges corresponding to the second quantity difference and having a barge weight close to the group weight are selected from the selected barge groups as merged barges, and the merged barges are added to the merged group.

[0009] Optionally, in the method according to the present invention, based on the distribution position corresponding to any docking layer, the weight distribution of the docking layer is determined, and based on the weight distribution, the distribution position of the docking layer above the docking layer is balanced and adjusted, including: Retrieving a preset partition table, wherein the preset partition table includes different partition intervals and the number of partitions corresponding to each partition interval; Traversing the preset division table, determining a division interval including a number of slots corresponding to any of the docking layers, and determining a number of divisions corresponding to the docking layer based on the division interval; Dividing the docking layer into regions based on the number of divisions to obtain each divided region, and determining the barge weights of barges located in all docking slots included in each divided region based on the allocation positions corresponding to the docking layer; The weights of the barges corresponding to the divided areas are summed up to obtain the divided weights corresponding to the divided areas, and the divided weights are sorted in descending order to obtain a first weight sequence; The first weight sequence is reversely sorted, and based on the obtained second weight sequence, the positions of the barges corresponding to the divided areas of the docking layer above the docking layer are adjusted, thereby completing the balance adjustment of the distribution position corresponding to the docking layer.

[0010] Optionally, in the method according to the present invention, the method further comprises: In response to completing the balance adjustment of the distribution positions corresponding to all the docking layers, summing up the divided weights located in the same divided area corresponding to each docking layer to obtain the divided total weights corresponding to each divided area; Determine the maximum total weight among the divided total weights as the reference total weight, and determine the total weight differences between all the remaining divided total weights and the reference total weight; Each total weight difference is compared with the total weight threshold, and when any total weight difference is less than the total weight threshold, the total weight of the divided area corresponding to the total weight difference on the uppermost connecting layer is supplemented.

[0011] Optionally, in the method according to the present invention, controlling the gantry crane to sequentially hoist all barges in each barge group based on the allocation order, and moving each barge to a corresponding docking slot based on the allocation position comprises: Determine the adjacent distances between adjacent docking layers on the docking vessel, and determine the adjacent distances as a distance threshold; In response to the hoisting request sent by the management node, the distance collection value output by the distance sensor respectively arranged on each docking layer on the docking vessel is obtained; In response to the distance collection value corresponding to any docking layer being greater than the distance threshold, the gantry crane is controlled to lift all barges in each barge group in sequence based on the allocation order corresponding to the docking layer, and move each barge to the corresponding docking slot based on the allocation position.

[0012] Optionally, in the method according to the present invention, moving each barge to a corresponding docking slot based on the allocated position comprises: For each docking slot, control the flight unit to move to each vertex position of the docking slot in sequence, and determine the corresponding GPS coordinate points based on each vertex position; Determine a preset fence generation threshold based on the slot thickness of the docking slot, and adjust the coordinates of each GPS coordinate point based on the preset fence generation threshold to obtain each fence coordinate point; Establishing a geographic fence surrounding the docking slot based on each fence coordinate point, and obtaining each geographic fence corresponding to each docking slot; In response to the gantry crane hoisting any barge, determining a docking slot corresponding to the barge based on the allocated position, and controlling the gantry crane to move toward the docking slot; In response to the gantry crane moving so that the barge is in a geographic fence corresponding to the docking slot, the relative position between the barge center point of the barge and the slot center point corresponding to the docking slot is determined, and based on the relative position, the gantry crane is controlled to move the barge to the slot center point.

[0013] Optionally, in the method according to the present invention, in response to the gantry crane moving to make the barge in the geographic fence corresponding to the docking slot, determining the relative position between the barge center point of the barge and the slot center point corresponding to the docking slot, and controlling the gantry crane to move the barge to the slot center point based on the relative position, comprising: Determine a barge center point corresponding to the barge and a slot center point corresponding to the docking slot, and respectively set a first interconnected sensing unit and a second interconnected sensing unit at the barge center point and the slot center point; In response to the gantry crane moving so that the barge is in a geographic fence corresponding to the docking slot, first position information and second position information output by a first interconnected sensing unit and a second interconnected sensing unit are respectively obtained, and the relative position is determined based on the first position information and the second position information; Based on the relative position, the gantry crane is controlled to move the barge toward the second position information until the first position information overlaps with the second position information.

[0014] Optionally, in the method according to the present invention, controlling the gantry crane to sequentially hoist all barges in each barge group based on the allocation order, and moving each barge to a corresponding docking slot based on the allocation position comprises: Control the flight unit to fly over the upper part of the docking ship to collect the first hull image and coordinate it, identify the docking layer in the first hull image and determine the layer center point of the docking layer so that the flight unit is in a preset flight collection position; After reaching the preset flight collection position, the flight unit collects the second hull image and performs coordinate processing, identifies the docking slot in the second hull image, and obtains the corresponding slot coordinate group; Identify the coordinates corresponding to the gantry crane in the second hull image to obtain a structural coordinate group, determine the corresponding starting slot based on the coordinates of the structural coordinate group, and determine the target slot according to the lifting request; Based on the positional relationship between the horizontal coordinate values ​​and the vertical coordinate values ​​in the starting slot and the target slot, the gantry crane performs a mobile hoisting operation on the corresponding barge, so that the gantry crane reaches the target slot; After determining that the gantry crane has reached the target slot, the image corresponding to the target slot is captured and analyzed, and the gantry crane is controlled to perform secondary movement and lifting of the corresponding barge in the target slot, so that the gantry crane can place the barge into the target slot when it is in the relative middle position of the target slot.

[0015] Optionally, in the method according to the present invention, based on the positional relationship between the lateral coordinate values ​​and the longitudinal coordinate values ​​in the starting slot and the target slot, the gantry crane is caused to perform a mobile hoisting operation on the corresponding barge so that the gantry crane reaches the target slot, including: If the horizontal coordinate value in the target slot is greater than the horizontal coordinate value in the starting slot, the positive direction of the horizontal coordinate is the moving direction; if the horizontal coordinate value in the target slot is less than the horizontal coordinate value in the starting slot, the reverse direction of the horizontal coordinate is the moving direction; If the longitudinal coordinate value in the target slot is greater than the longitudinal coordinate value in the starting slot, the positive direction of the longitudinal coordinate is the moving direction; if the longitudinal coordinate value in the target slot is less than the longitudinal coordinate value in the starting slot, the reverse direction of the longitudinal coordinate is the moving direction; The horizontal coordinate moving distance is obtained by performing difference calculation based on the horizontal coordinate value of the starting slot and the horizontal coordinate value of the target slot, and the vertical coordinate moving distance is obtained by performing difference calculation based on the vertical coordinate value of the starting slot and the vertical coordinate value of the target slot; Based on the moving direction of the horizontal coordinate, the moving direction of the vertical coordinate, the moving distance of the horizontal coordinate and the moving distance of the vertical coordinate, the gantry crane is controlled to perform a moving hoisting operation on the corresponding barge.

[0016] Optionally, in the method according to the present invention, after determining that the gantry crane has reached the target slot, an image corresponding to the target slot is intercepted and analyzed, and the gantry crane is controlled to perform secondary movement and hoisting of the corresponding barge in the target slot, so that the gantry crane puts the barge into the target slot when it is in a relatively middle position of the target slot, including: After determining that the gantry crane has reached the target slot, the image corresponding to the target slot is intercepted to obtain the target slot image, and the abscissa intermediate value and the ordinate intermediate value are obtained based on the maximum abscissa value, the minimum abscissa value, the maximum ordinate value and the minimum ordinate value of the target slot image; The middle value of the horizontal coordinate and the middle value of the vertical coordinate are obtained based on the maximum horizontal coordinate value, the minimum horizontal coordinate value, the maximum vertical coordinate value and the minimum vertical coordinate value of the gantry crane image; Based on the middle value of the horizontal coordinate and the middle value of the vertical coordinate of the target slot, the middle value of the horizontal coordinate and the middle value of the vertical coordinate of the gantry crane perform secondary mobile lifting on the corresponding barge, and the secondary mobile lifting of the barge is completed after the gantry crane contacts the contact sensor at the middle position of the target slot.

[0017] According to another aspect of the present invention, there is provided a semi-high container barge loading device, comprising: A determination module is configured to determine each unloading destination corresponding to each barge, and classify all barges corresponding to the same unloading destination into the same barge group to obtain each barge group; A sorting module is configured to calculate the average of the barge weights corresponding to all barges in the same barge group to obtain the group weight corresponding to the barge group, and sort the barge groups according to the sorting rule from light to heavy based on the group weights of all barge groups to obtain the group numbers corresponding to each barge group; The allocation module is configured to determine each docking layer arranged from top to bottom on the docking ship, and use the docking layer at the bottom as the docking starting point, and allocate all barges in each barge group to each docking slot in each docking layer in order according to the grouping sequence number from large to small, so as to obtain the allocation order and allocation position corresponding to each docking layer; An adjustment module is configured to determine a weight distribution of a docking layer based on a distribution position corresponding to any docking layer, and to balance and adjust a distribution position of a docking layer above the docking layer based on the weight distribution; The control module is configured to control the gantry crane to lift all barges in each barge group in sequence based on the allocation order, and move each barge to a corresponding docking slot based on the allocation position.

[0018] According to the solution of the present invention, during the implementation of the present invention, all barges corresponding to the same unloading destination can be divided into the same barge group, and the barge weights corresponding to all barges in the same barge group can be further averaged to obtain the group weight of the corresponding barge group. Since the barge ship may include barge groups corresponding to different unloading destinations, in order to ensure that the barge ship has a better overall balance, the barge groups can be sorted according to the corresponding group weights to obtain the corresponding group numbers, and all barges in each barge group can be sequentially allocated to the barges located on the barge ship from bottom to top according to the group numbers from large to small. In each docking layer stacked on it; and after the distribution is completed, the weight distribution corresponding to each docking layer can be obtained, so as to make further balance adjustments based on the weight distribution, so as to further improve the overall balance of the shuttle boat; in addition, after completing all balance adjustments, the gantry crane can be controlled to automatically lift the barge based on the obtained distribution sequence, and further move the barge to the corresponding docking slot based on the obtained distribution position, so as to complete the corresponding loading process, realize fully automated operation, improve the corresponding processing efficiency, and also ensure the driving safety of the shuttle boat in the subsequent driving process to avoid the tilting phenomenon. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A flow chart showing a method for loading a semi-high container barge according to an embodiment of the present invention is shown; Figure 2 A schematic diagram showing the distribution of all docking slots in a certain docking layer in this embodiment is shown; Figure 3 A schematic diagram of the structure of each connecting layer in a stacked arrangement in this embodiment is shown; Figure 4 A structural block diagram of a half-high container barge loading system according to another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0020] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0021] Barge carriers are also called "mother-child ships". They refer to "ships" that are specially used to carry cargo barges. The mode of transportation is: first load the cargo into barges of uniform specifications, and then load these barges as freight units onto the barge carriers. After arriving at the transit port, unload the barges, and then use tugboats to tow the group of barges to the inland destination port. The type of barge carrier is basically similar to that of container ships, with a flat upper deck, and the bridge and superstructure are as close to the bow as possible to allow more deck area for stacking barges. The characteristics of barge carrier transportation are: ① It can shorten the port stay time. ② It is not limited by the port water depth. ③ It is not affected by the congestion of the terminal. ④ It can realize river-sea transport.

[0022] In the prior art, each barge carried on the shuttle ship is loaded with a different number of half-high containers, and each half-high container contains corresponding cargo. Due to the different types of cargo and the number of half-high containers, the weight of the barge corresponding to each barge may be different. When the weight difference is more obvious, the shuttle ship may tilt after the corresponding barge loading is completed, thereby affecting driving safety.

[0023] In order to solve the problems existing in the above-mentioned prior art, the inventor proposes the solution of the present invention. One embodiment of the present invention provides a method for loading a semi-high container barge, which can be executed in a computing device, wherein the computing device can be understood as a terminal such as a mobile phone, a computer, etc. with a data processing function.

[0024] Figure 1 FIG. 1 is a flow chart showing a method for carrying out a semi-high container barge according to an embodiment of the present invention. Figure 1 As shown, the method starts at step S102, and in step S102, the following contents are included: Determine the unloading destinations corresponding to the barges, and group all barges corresponding to the same unloading destination into the same barge group to obtain barge groups.

[0025] For example, in this embodiment, since the shuttle boat is a ship specially used to carry barges, it is necessary to plan the corresponding driving route according to the unloading destinations of all the barges carried, that is, the driving route needs to include each unloading destination. In order to be able to load the barges with the same unloading destination in the same area or adjacent areas on the shuttle boat for subsequent unified loading and unloading, it is necessary to classify the barges with the same unloading destination, and divide all barges corresponding to the unified unloading destination into a unified barge group to obtain corresponding barge groups, that is, the unloading destination corresponding to each barge group is different.

[0026] In step S104, the following contents are included: the mean of the barge weights corresponding to all barges in the same barge group is calculated to obtain the group weight corresponding to the barge group, and the group weights of all barge groups are sorted according to the sorting rule from light to heavy based on the group weights to obtain the group numbers corresponding to each barge group.

[0027] It should be noted that after the above scheme completes the grouping of all barges that need to be loaded on barges, it is necessary to consider the barge loading of each barge group. It can be known that general docking ships include multiple docking layers with a stacked structure, and each docking layer includes multiple corresponding docking slots. Here, the docking slot can be understood as a slot for placing barges, and generally speaking, a docking slot corresponds to only one barge, that is, only one barge can be placed. In order to consider the overall weight distribution and avoid a certain area being lighter causing the entire hull to tilt, thereby causing corresponding safety hazards, it is necessary not only to perform barge distribution based on balance for each docking layer, but also to ensure that all docking layers after barge loading present a gradual weight change process from bottom to top, so as to ensure the safety of the hull and avoid the phenomenon of tilting.

[0028] For example, in this embodiment, in order to achieve a gradual weight change from bottom to top for all barge layers after barge loading, the barge weights corresponding to all barges in the same barge grouping may be averaged to obtain the group weight corresponding to each barge grouping, and at the same time, the barge groups may be sorted according to the light to heavy sorting rule based on the group weights of all barge groups to obtain group numbers corresponding to each barge grouping, that is, when there are three barge groups corresponding to Shanghai, Tianjin and Qingdao respectively and the corresponding barge weights are 1 ton, 1.5 tons and 2 tons, the group numbers 1, 2 and 3 may be obtained respectively by sorting according to the corresponding sorting rules; and after the group numbers are determined, the corresponding barge loading may be carried out.

[0029] In step S106, the following contents are included: determining the docking layers arranged in sequence from top to bottom on the docking vessel, and taking the docking layer at the bottom as the docking starting point, allocating all barges in each barge group to the docking slots in each docking layer in sequence according to the grouping numbers from large to small, and obtaining the allocation order and allocation position corresponding to each docking layer.

[0030] For example, in this embodiment, when the barge loading of each tender on the tender begins, the tender located at the bottom layer on the tender can be used as the docking starting point to sequentially load the barges. Since the larger the grouping number, the heavier the barge weight of the corresponding barge group, all the barges in each barge group can be sequentially allocated to each docking slot in each docking layer according to the grouping number from large to small, and the allocation order and allocation position corresponding to each docking layer can be obtained; It should be noted that the above allocation order can be understood as the order of loading barges in corresponding docking slots (since barge loading and barge unloading are two corresponding processes, the allocation order can also be understood as the corresponding order of unloading), and the allocation position can be understood as the position of the docking slot corresponding to the barge when the barge is loaded with the barge; in the process of barge loading, the barge allocation of the barge will be carried out first with the docking layer located at the bottom as the docking starting point. Therefore, after the barge allocation work of the docking layer is completed, the other barges will be selected according to the arrangement order. The corresponding docking layer is used as the docking starting point, and the corresponding barge allocation work is repeated until the barge loading of all docking layers is completed; here, by selecting the corresponding barge group based on the grouping sequence number to execute the corresponding barge loading, it can be ensured that all docking layers after the barge loading present a gradual weight change process from bottom to top, thereby improving the corresponding driving safety, improving the overall structural strength, and can also ensure that the barges corresponding to the same unloading destination can be located in the same docking layer or in adjacent docking layers, which is convenient for finding the corresponding barge during subsequent unloading.

[0031] Furthermore, in this embodiment, the above-mentioned “taking the docking layer at the bottom as the docking starting point, allocating all barges in each barge group to each docking slot in each docking layer in order according to the grouping sequence numbers from large to small, and obtaining the allocation sequence and allocation position corresponding to each docking layer” may also include the following contents: Determine the central floating point located in each docking layer in turn, and determine the docking slot located at the central floating point as the floating point slot; Select the docking layer at the bottom as the docking starting point, and select the barge group with the largest group number as the group starting point according to the group numbers from large to small; Determine the barge weights of all barges located at the starting point of the grouping, and sort them according to a sorting rule from light to heavy to obtain barge serial numbers corresponding to each barge; Obtaining a first weight difference between a barge with a largest barge number and its adjacent barge, and a second weight difference between a barge with a smallest barge number and its adjacent barge, and determining the barge with the largest corresponding weight difference as a floating point barge, and allocating the floating point barge to the floating point slot; Taking the floating point slot as the center, determining the docking slots that are radially arranged around the floating point slot, and grouping and dividing the docking slots based on the arrangement rules to obtain groupings of various circles; Based on the slot symmetric matching strategy, the remaining barges in the barge group with the largest group number are sequentially allocated to each circle group to obtain the allocation position corresponding to the docking starting point, and the radial arrangement is determined as the allocation sequence corresponding to the docking starting point; The docking layer located above the docking starting point is determined as a new docking starting point, and the above steps are repeated until all remaining barges are respectively and sequentially allocated to the docking slots located in each docking layer, and the allocation position and allocation order corresponding to each docking layer are obtained.

[0032] For example, in this embodiment, in order to realize the balance-based barge allocation for each docking layer, the following specific strategies may be adopted: First, the central floating point in each docking layer needs to be determined in turn. Here, the central floating point can be understood as the point of action of the resultant force of gravity on the docking layer, or as the balance point of the docking layer. When a docking layer is suspended, it rotates around its buoyancy center, and if the fulcrum is above the buoyancy center, the docking layer will remain balanced. For docking layers of uniform density, the buoyancy center is usually located at the geometric center of the docking layer; after the determination of the central floating point is completed, the docking slot located at the central floating point can be determined as the floating point slot; Next, in the process of loading the barge, the docking layer at the bottom can be used as the docking starting point according to the order of the docking layers, and since the larger the grouping number, the heavier the corresponding barge weight, the barge group with the largest grouping number can be selected as the grouping starting point according to the grouping numbers from large to small; Next, after obtaining the corresponding docking starting point and the corresponding grouping starting point, the barge weights of all barges located at the grouping starting point can be determined, and the barges are sorted according to the sorting rule from light to heavy to obtain the barge serial numbers corresponding to the barges; Then, based on the barge numbers, determine the barge with the largest barge number and the barge with the smallest barge number, that is, the barge with the largest barge weight and the barge with the smallest barge weight, and then determine the first weight difference and the second weight difference between the two barges and their adjacent barges based on the obtained two barges, and determine the barge with the largest corresponding weight difference as the floating point barge, and allocate the floating point barge to the floating point slot; Then, taking the floating point slot as the center, determine the docking slots that are radially arranged around the floating point slot, and divide the docking slots into groups based on the above-mentioned radial arrangement rules to obtain circle-level groups. Here, the number of circle-level groups needs to be determined according to the number of docking slots corresponding to each docking layer. For example, when the docking slots corresponding to a docking layer are arranged in the form of a nine-square grid, a circle-level group of one will be obtained, and if the docking slots corresponding to a docking layer are arranged in a sixteen-square grid, a circle-level group of two will be obtained. For example, Figure 2 As shown, Figure 2 The docking layer corresponding to the docking slots in the form of a nine-square grid is shown. Figure 2 It can be seen from the content that the floating point slot is located at the center of the docking layer and only includes one circle-level group; it should be further explained that in order to ensure that the floating point slot can be located at the center of the docking layer, it is necessary to ensure that the number of docking slots is , where n is greater than or equal to 2 and is an integer; Then, after obtaining the corresponding circle-level groups, the remaining barges in the barge group with the largest corresponding group number can be allocated to each circle-level group in turn based on the corresponding slot symmetric matching strategy to obtain the allocation position of the corresponding docking starting point, and the above-mentioned radial arrangement is determined as the allocation order corresponding to the docking starting point; Finally, after completing the allocation of barges to the docking starting point, the next docking layer can be selected as the new docking starting point based on the arrangement order of each docking layer, and the aforementioned corresponding process can be executed to complete the allocation of barges to all docking layers and obtain the allocation position and allocation order corresponding to each docking layer.

[0033] It should be noted that since the floating point slot is located at the central floating point of the corresponding docking layer, in order to ensure that the barge weights of the barges allocated to the docking slots around the floating point slot are not much different and to ensure the overall weight balance, it is necessary to select the barges with the largest and smallest corresponding barge weights, and calculate the weight difference based on the adjacent barges, and determine the barge with the largest corresponding weight difference as the floating point barge, thereby improving the corresponding weight balance and ensuring driving safety.

[0034] Furthermore, in this embodiment, the above-mentioned "based on the slot symmetric matching strategy, the remaining barges in the barge group corresponding to the largest group number are sequentially allocated to each circle group to obtain the allocation position corresponding to the docking starting point" can also include the following steps: Grouping the remaining barges in pairs based on the serial numbers of adjacent barges to obtain balanced groups; Obtaining the distances between each level group and the floating point slot, and determining the allocation priority corresponding to each level group based on the distances between the slots, wherein the smaller the slot distance, the higher the allocation priority; Based on the allocation priorities corresponding to the respective circle-level groups, the corresponding circle-level groups are selected in order, and two docking slots in the selected circle-level groups that are symmetrical to the floating-point slots are determined as symmetrical slot groups, to obtain all symmetrical slot groups in the same circle-level group; A one-to-one matching relationship between the balancing group and the symmetric slot group is established, and the two barges in the balancing group are respectively allocated to two docking slots in the symmetric slot group having a matching relationship therewith, so as to obtain the allocated position corresponding to the docking starting point.

[0035] For example, in this embodiment, in order to perform weight-balanced propagation distribution on each docking layer, the following method is required: First, since the barge number corresponding to each barge is set based on the corresponding barge weight, that is, the larger the barge number, the larger the corresponding barge weight, and the weight difference between the barge weights of the two barges corresponding to the two barge numbers in adjacent positions is the smallest, therefore, the remaining barges (that is, all barges except the allocated floating point barges) can be grouped based on this characteristic to obtain various balanced groups; for example, when the remaining barges include four barges corresponding to barge number 1, barge number 2, barge number 3 and barge number 4, barge number 1 and barge number 2 can be grouped into the same balanced group, and barge number 3 and barge number 4 can be grouped into the same balanced group; Then, after completing the corresponding two-by-two grouping, the slot distance between each circle group and the floating slot can be obtained, and the allocation priority of each circle group can be determined according to the rule from near to far. The smaller the slot distance, the higher the corresponding allocation priority, and the higher the allocation priority, the higher the priority will be for the corresponding barge allocation; Next, according to the allocation priorities corresponding to the respective circle-level groups, the corresponding circle-level groups are selected in order from the circle-level groups to perform the subsequent barge allocation work. After the selection is completed, the two docking slots that are symmetrically structured with the floating point slots in the selected circle-level group need to be determined as a symmetrical slot group, thereby obtaining all symmetrical slot groups in the same circle-level group; Finally, after obtaining all the balanced groups and all the symmetric slot groups, a one-to-one matching relationship between the two can be established, and the two barges in the balanced group can be respectively assigned to the two docking slots in the symmetric slot group with which they have a matching relationship, thereby obtaining the assigned position of the corresponding docking starting point.

[0036] It should be noted that in order to ensure that the docking layer is in a state of weight balance after the barge is loaded, the weight distribution of each part of the docking layer needs to be as symmetrical as possible based on the floating point slot. Through the above solution, it can be ensured that the docking layer as a whole will not tilt, thereby ensuring the safety of driving.

[0037] Here, it should be noted that, in actual situations, since the number of docking slots included in the selected docking layer may be different from the number of barges included in the selected barge group, based on the existence of this situation, in this embodiment, corresponding processing can be performed according to the following steps; When the number of slots of the docking slots included in the selected docking layer is greater than the number of barges included in the selected barge group, determining a first quantity difference, and determining a group weight corresponding to the selected barge group; Based on the group sequence number, other barge groups adjacent to and larger than the selected barge group are determined as supplementary groups, and barges corresponding to the first quantity difference and having a barge weight close to the group weight are selected from the supplementary groups as supplementary barges, and the supplementary barges are added to the selected barge group; or When the number of docking slots included in the selected docking layer is less than the number of barges included in the selected barge group, a second quantity difference is determined, and other barge groups adjacent to and larger than the selected barge group are determined as merged groups based on the group sequence number; The group weight corresponding to the merged group is determined, and barges corresponding to the second quantity difference and having a barge weight close to the group weight are selected from the selected barge groups as merged barges, and the merged barges are added to the merged group.

[0038] For example, in this embodiment, when the number of docking slots included in the selected docking layer is greater than the number of barges included in the selected barge group, it is necessary to supplement the barge group with corresponding barges, wherein the supplementation method includes: First, a first quantity difference between the number of slots and the number of barges is determined, and other barge groups that are adjacent to the barge group are determined based on the group sequence number, and the other barge groups are determined as supplementary groups corresponding to the barge group; Next, determining the group weight corresponding to the selected barge group, and selecting barges corresponding to the first quantity difference and having a barge weight close to the group weight in the supplementary group as supplementary barges; Finally, the corresponding supplementary barges can be added to the selected barge group, thereby completing the supplement of the corresponding barges.

[0039] It should be noted that the "close" in the above-mentioned "barge weight is close to the group weight" can be understood as the same or similar. For example, when the group weight is 2 tons, the barges in the supplementary group include 1.5 tons, 1.7 tons, 1.8 tons, 2.0 tons, and 2.1 tons, and the corresponding first quantity difference is 3, it can be seen through searching that the corresponding barges of 1.8 tons, 2.0 tons, and 2.1 tons are the three barges closest to the group weight. Therefore, these three barges can be determined as supplementary barges for subsequent corresponding supplementation.

[0040] Similarly, in this embodiment, when the number of docking slots included in the selected docking layer is less than the number of barges included in the selected barge group, it is necessary to remove the corresponding barges in the barge group, wherein the removal method includes: First, a second quantity difference between the number of slots and the number of barges is determined, and other barge groups having an adjacent relationship with the barge group are determined based on the group sequence number, and the other barge groups are determined as a merged group corresponding to the barge group; Next, determining the group weight corresponding to the merged group, and selecting barges corresponding to the second quantity difference and having a barge weight close to the group weight from the selected barge groups as merged barges; Finally, the corresponding merged barges can be added to the merged group, thereby completing the removal of the corresponding barges.

[0041] It should be noted that the "close" in the above-mentioned "barge weight is close to the group weight" can be understood as the same or similar. For example, when the group weight corresponding to the merged group is 2 tons, and the barges in the selected barge group include 1.5 tons, 1.7 tons, 1.8 tons, 2.0 tons, and 2.1 tons, and the corresponding second quantity difference is 3, it can be seen through searching that the barges corresponding to 1.8 tons, 2.0 tons, and 2.1 tons are the three barges closest to the group weight. Therefore, these three barges can be determined as merged barges for subsequent corresponding removal.

[0042] In step S108, the following contents are included: based on the distribution position corresponding to any docking layer, the weight distribution of the docking layer is determined, and based on the weight distribution, the distribution position of the docking layer above the docking layer is balanced and adjusted.

[0043] For example, in this embodiment, after completing the allocation of barges to any docking layer, in order to further ensure the overall balance of the hull, it is necessary to further balance the allocation position of the docking layer above it according to the weight distribution of each docking layer, so as to improve the corresponding weight balance and improve driving safety.

[0044] Furthermore, in this embodiment, the above-mentioned “determining the weight distribution of a docking layer based on the distribution position corresponding to any docking layer, and balancing and adjusting the distribution position of a docking layer above the docking layer based on the weight distribution” may also include the following steps: Retrieving a preset partition table, wherein the preset partition table includes different partition intervals and the number of partitions corresponding to each partition interval; Traversing the preset division table, determining a division interval including a number of slots corresponding to any of the docking layers, and determining a number of divisions corresponding to the docking layer based on the division interval; Dividing the docking layer into regions based on the number of divisions to obtain each divided region, and determining the barge weights of barges located in all docking slots included in each divided region based on the allocation positions corresponding to the docking layer; The weights of the barges corresponding to the divided areas are summed up to obtain the divided weights corresponding to the divided areas, and the divided weights are sorted in order from heavy to light to obtain a first weight sequence; The first weight sequence is reversely sorted, and based on the obtained second weight sequence, the positions of the barges corresponding to the divided areas of the docking layer above the docking layer are adjusted, thereby completing the balance adjustment of the distribution position corresponding to the docking layer.

[0045] For example, in this embodiment, when performing the corresponding balance adjustment, it can be performed according to the following scheme: First, in order to determine the weight distribution of each docking layer, each docking layer can be divided into the same area. Since the sizes of different docking ships are different, the sizes of the corresponding docking layers may also be different. Therefore, in this embodiment, a corresponding preset division table can be pre-stored, wherein the preset division table includes different division intervals and the number of divisions corresponding to each division interval. Then, the number of area divisions required can be determined by comparing the numbers in the preset division table. It should be noted that the number of slots corresponding to each docking layer on the docking layer mentioned in this embodiment should be the same. Next, the preset partition table is checked based on the number of slots corresponding to the docking layer to determine the partition interval that includes the number of slots, and the number of partitions corresponding to the partition interval is determined. For example, the preset partition table includes three partition intervals: [0.10], [11.20], and [21.30], and the number of partitions corresponding to the three partition intervals is 4, 6, and 8, respectively. When the number of slots corresponding to a certain docking layer is 15, then in this case, [11.20] can be determined as the partition interval that can include the number of slots, and correspondingly, 6 can be determined as the number of partitions corresponding to the docking layer. Next, after the determination of the number of divisions is completed, the docking layer can be divided into the same number of divisions. It should be noted that the division here is based on all docking layers at the same time. After the corresponding division is completed and the division areas corresponding to each docking layer are obtained, the weights of the barges corresponding to the barges located in the division areas can be determined based on the aforementioned obtained allocation positions corresponding to the docking layers. Then, the barge weights of all barges corresponding to the same divided area may be summed up to obtain the divided weights corresponding to the divided areas respectively, and the divided weights may be sorted based on the order of arrangement from heavy to light to obtain a first weight sequence; Finally, the first weight sequence can be sorted in reverse order to obtain the corresponding second weight sequence. And according to the second weight sequence, the positions of the barges corresponding to the divided areas of the docking layer above the docking layer are adjusted, so as to complete the balanced adjustment of the distribution position of the corresponding docking layer.

[0046] It should be noted that, in the present embodiment, after obtaining the divided weights of each divided area corresponding to any docking layer, the corresponding first weight sequence is obtained by sorting, so that it can be obtained which area in the docking layer corresponds to a larger layer weight and which area corresponds to a smaller layer weight. The probability of rollover in the area with a smaller corresponding layer weight will be more obvious, so it is necessary to balance and adjust the other docking layers located above the docking layer to ensure that the other docking layers can play a role in weight compensation. The implementation method is to reversely sort the first weight sequence to obtain the corresponding second weight sequence, and adjust the allocation position of the barges in each layer area in the other docking layers according to the second weight sequence to ensure that the layer area with a larger corresponding layer weight in other docking layers is the same area as the layer area with a smaller corresponding layer weight in the docking layer, or to ensure that the area with a smaller corresponding layer weight in other docking layers is the same area as the layer area with a larger corresponding layer weight in the docking layer, thereby completing the corresponding balance adjustment to ensure that the docking boat as a whole can be in a relatively balanced state, further prevent the occurrence of tilting, and improve the corresponding driving safety.

[0047] Furthermore, in this embodiment, after the balance adjustment of the distribution positions corresponding to all docking layers is completed respectively, in order to further improve the overall balance of the docking ship, an overall balance adjustment can also be performed based on all docking layers. The specific process may include the following steps: In response to completing the balance adjustment of the distribution positions corresponding to all the docking layers, summing up the divided weights located in the same divided area corresponding to each docking layer to obtain the divided total weights corresponding to each divided area; Determine the maximum total weight among the divided total weights as the reference total weight, and determine the total weight differences between all the remaining divided total weights and the reference total weight; Each total weight difference is compared with the total weight threshold value, and when any total weight difference is less than the total weight threshold value, the total weight of the divided area corresponding to the total weight difference value on the uppermost connecting layer is supplemented.

[0048] For example, in this embodiment, after completing the balance adjustment of the distribution positions of all docking layers separately, the divided weights of each divided area corresponding to each docking layer can be summed up to obtain the corresponding divided total weight, where the divided total weight can be understood as the weight of the same divided area corresponding to all docking layers; after obtaining the corresponding divided total weight, the maximum weight therein can be determined as the benchmark total weight, and the total weight differences between other total weights and the benchmark total weight can be obtained; it can be known that the larger the total weight difference, the greater the weight difference between each layer area, and thus the greater the risk of causing corresponding rollover phenomenon. Therefore, in order to be able to perform further balance adjustments, the total weight of other divided areas of the docking layer on the top layer except for the divided area corresponding to the benchmark total weight can be supplemented based on the total amount differences, so that the total weight corresponding to each layer area is the same or similar, thereby significantly reducing the corresponding rollover risk; here, the way to supplement the total weight can be to fill the corresponding layer area with counterweight items, etc.

[0049] In step S110, the following contents are included: controlling the gantry crane to lift all barges in each barge group in sequence based on the allocation order, and moving each barge to a corresponding docking slot based on the allocation position.

[0050] For example, in this embodiment, after completing the allocation sequence and allocation position of each docking layer, the gantry crane set up near the docking ship, that is, on the open space of the dock, can be controlled so that the gantry crane can lift the barges in each barge group in turn based on the determined allocation sequence, and move the corresponding barges to the corresponding docking slots based on the determined allocation positions, thereby realizing a fully automated control process of barge allocation and movement without the need for human intervention, thereby improving the corresponding work processing efficiency.

[0051] Further, in this embodiment, when the corresponding docking layer is of a larger size, it can be determined that when the corresponding barge loading is performed on this type of docking layer, precise positioning is not required, and a larger error is allowed. Therefore, the gantry crane can be auxiliary controlled based on the GPS positioning technology. Under the premise of using GPS, the above-mentioned "controlling the gantry crane to sequentially hoist all barges located in each barge group based on the allocation order, and moving each barge to the corresponding docking slot based on the allocation position" can include the following steps: Determine the adjacent distances between adjacent docking layers on the docking vessel, and determine the adjacent distances as a distance threshold; In response to the hoisting request sent by the management node, the distance collection value output by the distance sensor respectively arranged on each docking layer on the docking vessel is obtained; In response to the distance collection value corresponding to any docking layer being greater than the distance threshold, the gantry crane is controlled to lift all barges in each barge group in sequence based on the allocation order corresponding to the docking layer, and move each barge to the corresponding docking slot based on the allocation position.

[0052] For example, in this embodiment, when the tender is waiting to load all the barges, since each docking layer is stacked on the deck of the tender, for example Figure 3 As shown, therefore, in general common cases, in order to facilitate the execution of the corresponding barge loading work, it is necessary to hoist all docking layers except the lowest docking layer to a temporary parking area (generally located at the dock or other locations not belonging to the docking ship) in advance for parking, and after completing the barge loading of one docking layer, the parked docking layer is hoisted from the temporary parking area to the deck of the docking ship to continue the corresponding barge loading; based on this feature, the following scheme can be used to realize that the gantry crane can automatically execute the barge loading work of any docking layer: Firstly, since the docking layer to be loaded on the barge is at the top of the deck, that is, there is no other docking layer above it, based on this characteristic, a corresponding distance sensor that can output a distance acquisition value can be set on the surface of each docking layer, and the distance between the stacked docking layers on the deck of the docking ship is determined as the distance threshold. When the distance acquisition value output by the distance sensor corresponding to any docking layer on the deck of the docking ship is greater than the distance threshold, it indicates that the docking layer is at the top of Party A, that is, it is in a preparation state for the corresponding barge loading, which means that the docking layer needs to be loaded on the ship accordingly; Then, after completing the corresponding implementation configuration and setting the corresponding trigger conditions, in response to receiving the lifting request sent by the management node, the corresponding lifting work begins. At this time, the server obtains the distance collection value output by the distance sensors respectively set on each docking layer on the docking ship deck; Finally, when the corresponding distance collection value is greater than the distance threshold, it indicates that there is no other docking layer above the docking layer, which means that the docking layer is in a ready state for corresponding barge loading. At this time, the server can control the gantry crane to lift all barges in each barge group in turn based on the allocation order corresponding to the docking layer, and move each barge to the corresponding docking slot based on the corresponding allocation position, thereby completing the assembly of all barges.

[0053] Furthermore, in this embodiment, the above-mentioned “moving each barge to a corresponding docking slot based on the allocated position” may also include the following steps: For each docking slot, control the flight unit to move to each vertex position of the docking slot in sequence, and determine the corresponding GPS coordinate points based on each vertex position; Determine a preset fence generation threshold based on the slot thickness of the docking slot, and adjust the coordinates of each GPS coordinate point based on the preset fence generation threshold to obtain each fence coordinate point; Establishing a geographic fence surrounding the docking slot based on each fence coordinate point, and obtaining each geographic fence corresponding to each docking slot; In response to the gantry crane hoisting any barge, determining a docking slot corresponding to the barge based on the allocated position, and controlling the gantry crane to move toward the docking slot; In response to the gantry crane moving so that the barge is in a geographic fence corresponding to the docking slot, the relative position between the barge center point of the barge and the slot center point corresponding to the docking slot is determined, and based on the relative position, the gantry crane is controlled to move the barge to the slot center point.

[0054] For example, in this embodiment, when controlling the gantry crane to move the barge to the corresponding docking slot, it can be executed by the following method; First, the GPS coordinate points corresponding to the vertex positions of the docking slot can be obtained. Here, when the docking slot is a rectangle, the corresponding vertex positions are the four corner vertices of the rectangle, and the corresponding vertex positions can be obtained by controlling a flight unit such as a drone to fly to the four corner vertices and obtaining the corresponding GPS coordinate points based on a built-in GPS module; Next, since each docking slot has a corresponding slot thickness, in order to improve the corresponding fault tolerance rate, a preset fence generation threshold can be determined based on the slot thickness of the docking slot, and the preset fence generation threshold is given to adjust the coordinates of each GPS coordinate point accordingly to obtain the corresponding fence coordinate points. Here, the preset fence generation threshold can be half of the slot thickness, or can be other values; Next, after obtaining the corresponding fence coordinate points, the geo-fences corresponding to the docking slots can be generated. Here, geo-fences can be understood as a new application of LBS, that is, a virtual geographic boundary is enclosed by a virtual fence. After generating the corresponding geo-fences, the location of the corresponding docking slot can be determined by the geo-fences. Finally, when the gantry crane is hoisting any barge, it can determine the docking slot corresponding to the barge according to the allocated position obtained above, and further control the gantry crane to move toward the docking slot. At the same time, when the gantry crane moves so that the barge is in the geographic fence corresponding to the docking slot, it indicates that the barge has been roughly moved to the predetermined position. However, in order to improve the corresponding placement neatness, further precision adjustment is required, that is, controlling the gantry crane to move the barge so that its center point coincides with the center point of the slot.

[0055] Furthermore, in this embodiment, the above-mentioned “in response to the gantry crane moving to make the barge in the geographic fence corresponding to the docking slot, determining the relative position between the barge center point of the barge and the slot center point corresponding to the docking slot, and controlling the gantry crane to move the barge to the slot center point based on the relative position” may also include the following steps: Determine a barge center point corresponding to the barge and a slot center point corresponding to the docking slot, and respectively set a first interconnected sensing unit and a second interconnected sensing unit at the barge center point and the slot center point; In response to the gantry crane moving so that the barge is in a geographic fence corresponding to the docking slot, first position information and second position information output by a first interconnected sensing unit and a second interconnected sensing unit are respectively obtained, and the relative position is determined based on the first position information and the second position information; Based on the relative position, the gantry crane is controlled to move the barge toward the second position information until the first position information overlaps with the second position information.

[0056] For example, in this embodiment, after the barge center point of the barge and the slot center point of the docking slot are determined respectively, the corresponding first interconnected sensing unit and second interconnected sensing unit can be set on them respectively; when the gantry crane moves the barge to the geographic fence corresponding to the docking slot, the server can obtain the first position information and the second position information output by the first interconnected sensing unit and the second interconnected sensing unit respectively, and determine the corresponding relative position based on the two, so that the server can further control the gantry crane to move the barge toward the slot center point based on the relative position, thereby realizing precise control of the moving position and improving the corresponding neatness.

[0057] Similarly, in this embodiment, when the corresponding docking layer is of a smaller size, it can be determined that when loading the corresponding barge on this type of docking layer, precise positioning is required, and large errors are not allowed, otherwise it cannot be guaranteed that the barge can be accurately placed in the corresponding docking slot. Therefore, it is necessary to use image processing to perform corresponding auxiliary control on the movement of the gantry crane. For example, the above-mentioned "controlling the gantry crane to hoist all barges in each barge group in turn based on the allocation order, and moving each barge to the corresponding docking slot based on the allocation position" can also include the following steps: Control the flight unit to fly over the upper part of the docking ship to collect the first hull image and coordinate it, identify the docking layer in the first hull image and determine the layer center point of the docking layer so that the flight unit is in a preset flight collection position; After reaching the preset flight collection position, the flight unit collects the second hull image and performs coordinate processing, identifies the docking slot in the second hull image, and obtains the corresponding slot coordinate group; Identify the coordinates corresponding to the gantry crane in the second hull image to obtain a structural coordinate group, determine the corresponding starting slot based on the coordinates of the structural coordinate group, and determine the target slot according to the lifting request; Based on the positional relationship between the horizontal coordinate values ​​and the vertical coordinate values ​​in the starting slot and the target slot, the gantry crane performs a mobile hoisting operation on the corresponding barge, so that the gantry crane reaches the target slot; After determining that the gantry crane has reached the target slot, the image corresponding to the target slot is captured and analyzed, and the gantry crane is controlled to perform secondary movement and lifting of the corresponding barge in the target slot, so that the gantry crane can place the barge into the target slot when it is in the relative middle position of the target slot.

[0058] For example, in this embodiment, when performing corresponding ship loading, the aforementioned flight unit, that is, the drone, can be controlled to fly to the upper part of the hull of the docking ship and perform corresponding flight collection of the hull, thereby obtaining a corresponding first hull image; After obtaining the first hull image, the docking layer in the first hull image can be obtained by performing corresponding image recognition, and the layer center point of the docking layer can be further determined, so as to control the flight unit to fly to a preset acquisition position, wherein the preset acquisition position can be understood as the position corresponding to the layer center point. By controlling the flight unit to fly to the preset flight acquisition position, the flight unit can perform centralized complete acquisition of the hull of the docking ship; After controlling the flight unit to fly to the preset acquisition position, the flight unit can be controlled again to perform another image acquisition on the upper part of the hull of the docking ship, so as to obtain a corresponding second hull image, and perform another image recognition on the second hull image to determine each docking slot in the second hull image. By coordinate processing the second hull image, each slot coordinate group corresponding to each docking slot can be determined; Here, the slot coordinate group can be understood as a collection of slot coordinate points that constitute the corresponding docking slot. After obtaining the corresponding slot coordinate groups, it is necessary to once again determine the coordinates corresponding to the gantry crane in the second hull image to obtain the corresponding structure coordinate group. Similarly, the structure coordinate group can also be understood as a collection of structure coordinate points that constitute the corresponding gantry crane. After completing the recognition process of the gantry crane, in order to determine the location of the gantry crane, all slot coordinate groups that have at least partial overlap with the structure coordinate group can be first determined, and a more appropriate one can be selected from all slot coordinate groups. One is to determine the location of the gantry crane. It should be noted that, since the structural coordinate group can be understood as a collection of all structural coordinate points that constitute the gantry crane, when the structural coordinate group overlaps with any slot coordinate group, it can be indicated that the gantry crane is located at the docking slot corresponding to the slot coordinate group. Since the size of the gantry crane is generally large, in some cases, the gantry crane may overlap with multiple docking slots. In this case, the docking slot with the largest corresponding overlap ratio can be determined as the corresponding starting slot, and the location of the starting slot is determined as the location of the gantry crane; After the determination of the starting slot is completed, the corresponding target slot can be determined according to the aforementioned allocated position of the docking layer and based on the lifting request, and the gantry crane is controlled to move and lift the corresponding barge based on the positional relationship between the horizontal coordinate value and the vertical coordinate value in the starting slot and the target slot, so that the gantry crane can reach the corresponding target slot; After the barge reaches the target slot, it means that the rough movement of the gantry crane has been completed. If you want to put the corresponding barge completely into the corresponding target slot, you need to perform a secondary fine movement. Here, the fine movement process includes capturing and analyzing the image corresponding to the target slot, and controlling the gantry crane to perform secondary movement and lifting of the corresponding barge in the target slot according to the analysis results, so that the gantry crane can be in the relative center position of the target slot to place the corresponding barge into it.

[0059] In this embodiment, the above scheme can more accurately determine the position of the gantry crane and the docking slot based on coordinate points, thereby improving the corresponding loading accuracy and improving the corresponding user experience.

[0060] Further, in this embodiment, the above-mentioned “based on the positional relationship between the lateral coordinate values ​​and the longitudinal coordinate values ​​in the starting slot and the target slot, the gantry crane performs a mobile hoisting operation on the corresponding barge so that the gantry crane reaches the target slot” may also include the following steps: If the horizontal coordinate value in the target slot is greater than the horizontal coordinate value in the starting slot, the positive direction of the horizontal coordinate is the moving direction; if the horizontal coordinate value in the target slot is less than the horizontal coordinate value in the starting slot, the reverse direction of the horizontal coordinate is the moving direction; If the longitudinal coordinate value in the target slot is greater than the longitudinal coordinate value in the starting slot, the positive direction of the longitudinal coordinate is the moving direction; if the longitudinal coordinate value in the target slot is less than the longitudinal coordinate value in the starting slot, the reverse direction of the longitudinal coordinate is the moving direction; The horizontal coordinate moving distance is obtained by performing difference calculation based on the horizontal coordinate value of the starting slot and the horizontal coordinate value of the target slot, and the vertical coordinate moving distance is obtained by performing difference calculation based on the vertical coordinate value of the starting slot and the vertical coordinate value of the target slot; Based on the moving direction of the horizontal coordinate, the moving direction of the vertical coordinate, the moving distance of the horizontal coordinate and the moving distance of the vertical coordinate, the gantry crane is controlled to perform a moving hoisting operation on the corresponding barge.

[0061] For example, in this embodiment, on the one hand, when it is determined that the horizontal coordinate value in the slot coordinate group corresponding to the target slot is greater than the horizontal coordinate value in the slot coordinate group corresponding to the starting slot, it indicates that the target slot is located to the right of the starting slot, that is, in the positive direction of the horizontal coordinate, and the positive direction of the horizontal coordinate can be determined as the moving direction; and when the judgment result is less than, the corresponding negative direction of the horizontal coordinate can be determined as the moving direction; on the other hand, when it is determined that the vertical coordinate value in the slot coordinate group corresponding to the target slot is greater than the vertical coordinate value in the slot coordinate group corresponding to the starting slot, it indicates that the target slot is located above the starting slot, that is, in the positive direction of the vertical coordinate, and the positive direction of the vertical coordinate can be determined as the moving direction; and when the judgment result is less than, the corresponding negative direction of the vertical coordinate can be determined as the moving direction; After the moving direction is determined, the horizontal coordinate moving distance can be obtained by further performing difference calculation based on the horizontal coordinate value of the starting slot and the horizontal coordinate value of the target slot, and the vertical coordinate moving distance can also be obtained by performing difference calculation based on the vertical coordinate value of the starting slot and the vertical coordinate value of the target slot; Finally, based on the obtained moving direction and moving distance, the gantry crane can be controlled to perform a moving lifting operation on the corresponding barge.

[0062] Furthermore, in this embodiment, the above-mentioned "after determining that the gantry crane has reached the target slot, intercepting and analyzing the image corresponding to the target slot, controlling the gantry crane to perform secondary movement and hoisting of the corresponding barge in the target slot, so that the gantry crane puts the barge into the target slot when it is in a relatively middle position of the target slot" may also include the following steps: After determining that the gantry crane has reached the target slot, the image corresponding to the target slot is intercepted to obtain the target slot image, and the abscissa intermediate value and the ordinate intermediate value are obtained based on the maximum abscissa value, the minimum abscissa value, the maximum ordinate value and the minimum ordinate value of the target slot image; The middle value of the horizontal coordinate and the middle value of the vertical coordinate are obtained based on the maximum horizontal coordinate value, the minimum horizontal coordinate value, the maximum vertical coordinate value and the minimum vertical coordinate value of the gantry crane image; Based on the middle value of the horizontal coordinate and the middle value of the vertical coordinate of the target slot, the middle value of the horizontal coordinate and the middle value of the vertical coordinate of the gantry crane perform secondary mobile lifting on the corresponding barge, and the secondary mobile lifting of the barge is completed after the gantry crane contacts the contact sensor at the middle position of the target slot.

[0063] For example, in this embodiment, when the gantry crane reaches the corresponding target slot, the second hull image can be captured to obtain the target slot image of the corresponding target slot, so that the corresponding abscissa intermediate value and ordinate intermediate value can be further obtained based on the maximum abscissa value, the minimum abscissa value, the maximum abscissa value and the minimum ordinate value of the target slot image; here, the maximum abscissa value can be understood as the maximum abscissa value in the slot coordinate group corresponding to the target slot, and similarly, the minimum abscissa value, the maximum abscissa value and the minimum ordinate value are also similar to the above description; Similarly, the maximum horizontal coordinate value, the minimum horizontal coordinate value, the maximum vertical coordinate value and the minimum vertical coordinate value of the corresponding gantry crane image can also be obtained according to the same method as above, and the corresponding horizontal coordinate middle value and vertical coordinate middle value can also be obtained; Finally, the relative position between the gantry crane and the target slot can be determined based on the middle value of the horizontal coordinate and the middle value of the vertical coordinate of the corresponding target slot, and the middle value of the horizontal coordinate and the middle value of the vertical coordinate of the gantry crane, and the gantry crane and the corresponding barge can be controlled to perform secondary mobile lifting based on this relative position. In order to further improve the accuracy of lifting, in this embodiment, corresponding contact sensors are provided at the middle position of the gantry crane and the target slot respectively. When the gantry crane places the corresponding barge in the target slot, and the corresponding contact sensor generates an electrical signal after contact, it can be determined that the barge is accurately placed in the corresponding target slot. If no electrical signal is generated, it can be determined that the barge is not accurately placed in the corresponding target slot, that is, the corresponding position needs to be adjusted, and when an electrical signal is generated, it is deemed that the secondary mobile lifting of the barge is completed.

[0064] In summary, in the implementation process of this embodiment, all barges corresponding to the same unloading destination can be divided into the same barge group, and the barge weights corresponding to all barges in the same barge group can be further averaged to obtain the group weight of the corresponding barge group. Since the barge may include barge groups corresponding to different unloading destinations, in order to ensure that the barge has a better overall balance, the barge groups can be sorted according to the corresponding group weights to obtain the corresponding group numbers, and all barges in each barge group can be sequentially allocated to the barge from bottom to top according to the group numbers from large to small. In each superimposed docking layer; and after the distribution is completed, the weight distribution corresponding to each docking layer can be obtained, so as to make further balance adjustments based on the weight distribution, so as to further improve the overall balance of the docking ship; in addition, after completing all balance adjustments, the gantry crane can be controlled to automatically lift the barge based on the obtained distribution sequence, and further move the barge to the corresponding docking slot based on the obtained distribution position, so as to complete the corresponding loading process, realize fully automated operation, improve the corresponding processing efficiency, and also ensure the driving safety of the docking ship in the subsequent driving process to avoid the tilting phenomenon.

[0065] Another embodiment of the present invention provides a half-high container barge loading device, Figure 4 The corresponding device block diagram includes: A determination module is configured to determine each unloading destination corresponding to each barge, and classify all barges corresponding to the same unloading destination into the same barge group to obtain each barge group; A sorting module is configured to calculate the average of the barge weights corresponding to all barges in the same barge group to obtain the group weight corresponding to the barge group, and sort the barge groups according to the sorting rule from light to heavy based on the group weights of all barge groups to obtain the group numbers corresponding to each barge group; The allocation module is configured to determine each docking layer arranged from top to bottom on the docking ship, and use the docking layer at the bottom as the docking starting point, and allocate all barges in each barge group to each docking slot in each docking layer in order according to the grouping sequence number from large to small, so as to obtain the allocation order and allocation position corresponding to each docking layer; An adjustment module is configured to determine a weight distribution of a docking layer based on a distribution position corresponding to any docking layer, and to balance and adjust a distribution position of a docking layer above the docking layer based on the weight distribution; The control module is configured to control the gantry crane to lift all barges in each barge group in sequence based on the allocation order, and move each barge to a corresponding docking slot based on the allocation position.

[0066] In the description provided herein, algorithms and displays are not inherently related to any particular computer, virtual system or other device. Various general purpose systems can also be used together with the examples of the present invention. According to the above description, it is obvious that the structure required for constructing such systems. In addition, the present invention is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to implement the content of the present invention described herein, and the above description of specific languages ​​is for the purpose of disclosing the preferred embodiment of the present invention.

[0067] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0068] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this method of disclosure should not be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim.

[0069] Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in the devices described in the embodiment, or alternatively may be located in one or more devices different from the devices in the examples. The modules in the foregoing examples may be combined into one module or may be divided into multiple submodules.

[0070] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and further may be divided into a plurality of submodules or subunits or subcomponents. All features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device so disclosed may be combined in any combination, except that at least some of such features and / or processes or units are mutually exclusive. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0071] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present invention and to form different embodiments.

[0072] In addition, some of the embodiments are described herein as methods or combinations of method elements that can be implemented by a processor of a computer system or by other devices that perform the functions. Therefore, a processor with necessary instructions for implementing the method or method elements forms a device for implementing the method or method elements. In addition, the elements described herein of the device embodiments are examples of devices for implementing the functions performed by the elements for the purpose of implementing the invention.

[0073] As used herein, unless otherwise specified, the use of ordinal numbers "first," "second," "third," etc. to describe common objects merely indicates that different instances of similar objects are involved, and is not intended to imply that the objects so described must have a given order in time, space, order, or in any other manner.

[0074] Although the present invention has been described according to a limited number of embodiments, it will be apparent to those skilled in the art, with the benefit of the above description, that other embodiments may be envisioned within the scope of the invention thus described. In addition, it should be noted that the language used in this specification is selected primarily for readability and teaching purposes, rather than for explaining or defining the subject matter of the present invention. Therefore, many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the appended claims. The disclosure of the present invention is illustrative and not restrictive with respect to the scope of the present invention, and the scope of the present invention is defined by the appended claims.

Claims

1. A method for loading a semi-high container barge. It is characterized in that The following steps are involved: Determine each unloading destination corresponding to each barge, and group all barges corresponding to the same unloading destination into the same barge group to obtain each barge group; Calculate the average of the barge weights corresponding to all barges in the same barge group to obtain the group weight corresponding to the barge group, and sort the barge groups according to the sorting rule from light to heavy based on the group weights of all barge groups to obtain the group numbers corresponding to each barge group; Determine the docking layers arranged from top to bottom on the docking ship, and take the docking layer at the bottom as the docking starting point, and allocate all barges in each barge group to the docking slots in each docking layer in order according to the grouping sequence numbers from large to small, and obtain the allocation order and allocation position corresponding to each docking layer; Determine the weight distribution of any docking layer based on the distribution position corresponding to the docking layer, and balance and adjust the distribution position of the docking layer above the docking layer based on the weight distribution; The gantry crane is controlled to lift all barges in each barge group in sequence based on the allocation sequence, and each barge is moved to a corresponding docking slot based on the allocation position.

2. The semi-high container barge loading method according to claim 1, It is characterized in that Taking the docking layer at the bottom as the docking starting point, all barges in each barge group are sequentially allocated to each docking slot in each docking layer according to the grouping sequence from large to small, and the allocation sequence and allocation position corresponding to each docking layer are obtained, including: Determine the central floating point located in each docking layer in turn, and determine the docking slot located at the central floating point as the floating point slot; Select the docking layer at the bottom as the docking starting point, and select the barge group with the largest group number as the group starting point according to the group numbers from large to small; Determine the barge weights of all barges located at the starting point of the grouping, and sort them according to a sorting rule from light to heavy to obtain barge serial numbers corresponding to each barge; Obtaining a first weight difference between a barge with a largest barge number and its adjacent barge, and a second weight difference between a barge with a smallest barge number and its adjacent barge, and determining the barge with the largest corresponding weight difference as a floating point barge, and allocating the floating point barge to the floating point slot; Taking the floating point slot as the center, determining the docking slots that are radially arranged around the floating point slot, and grouping and dividing the docking slots based on the arrangement rules to obtain groupings of various circles; Based on the slot symmetric matching strategy, the remaining barges in the barge group with the largest group number are sequentially allocated to each circle group to obtain the allocation position corresponding to the docking starting point, and the radial arrangement is determined as the allocation sequence corresponding to the docking starting point; The docking layer located above the docking starting point is determined as a new docking starting point, and the above steps are repeated until all remaining barges are respectively and sequentially allocated to the docking slots located in each docking layer, and the allocation position and allocation order corresponding to each docking layer are obtained.

3. The semi-high container barge loading method according to claim 2, It is characterized in that Based on the slot symmetric matching strategy, the remaining barges in the barge group corresponding to the largest group number are allocated to each circle group in turn to obtain the allocation position corresponding to the docking starting point, including: Grouping the remaining barges in pairs based on the serial numbers of adjacent barges to obtain balanced groups; Obtaining the distances between each level group and the floating point slot, and determining the allocation priority corresponding to each level group based on the distances between the slots, wherein the smaller the slot distance, the higher the allocation priority; Based on the allocation priorities corresponding to the respective circle-level groups, the corresponding circle-level groups are selected in order, and two docking slots in the selected circle-level groups that are symmetrical to the floating-point slots are determined as symmetrical slot groups, to obtain all symmetrical slot groups in the same circle-level group; A one-to-one matching relationship between the balancing group and the symmetric slot group is established, and the two barges in the balancing group are respectively allocated to two docking slots in the symmetric slot group having a matching relationship therewith, so as to obtain the allocated position corresponding to the docking starting point.

4. The method for loading a semi-high container barge according to claim 3, It is characterized in that The method further comprises: When the number of slots of the docking slots included in the selected docking layer is greater than the number of barges included in the selected barge group, determining a first quantity difference, and determining a group weight corresponding to the selected barge group; Based on the group sequence number, other barge groups adjacent to and larger than the selected barge group are determined as supplementary groups, and barges corresponding to the first quantity difference and having a barge weight close to the group weight are selected from the supplementary groups as supplementary barges, and the supplementary barges are added to the selected barge group; or When the number of docking slots included in the selected docking layer is less than the number of barges included in the selected barge group, a second quantity difference is determined, and other barge groups adjacent to and larger than the selected barge group are determined as merged groups based on the group sequence number; The group weight corresponding to the merged group is determined, and barges corresponding to the second quantity difference and having a barge weight close to the group weight are selected from the selected barge groups as merged barges, and the merged barges are added to the merged group.

5. The method for loading a semi-high container barge according to claim 4, It is characterized in that Determining the weight distribution of a docking layer based on the distribution position corresponding to any docking layer, and balancing and adjusting the distribution position of a docking layer above the docking layer based on the weight distribution, including: Retrieving a preset partition table, wherein the preset partition table includes different partition intervals and the number of partitions corresponding to each partition interval; Traversing the preset division table, determining a division interval including a number of slots corresponding to any of the docking layers, and determining a number of divisions corresponding to the docking layer based on the division interval; Dividing the docking layer into regions based on the number of divisions to obtain each divided region, and determining the barge weights of barges located in all docking slots included in each divided region based on the allocation positions corresponding to the docking layer; The weights of the barges corresponding to the divided areas are summed up to obtain the divided weights corresponding to the divided areas, and the divided weights are sorted in order from heavy to light to obtain a first weight sequence; The first weight sequence is reversely sorted, and based on the obtained second weight sequence, the positions of the barges corresponding to the divided areas of the docking layer above the docking layer are adjusted, thereby completing the balance adjustment of the distribution position corresponding to the docking layer.

6. The method for loading a semi-high container barge according to claim 5, It is characterized in that The method further comprises: In response to completing the balance adjustment of the distribution positions corresponding to all the docking layers, summing up the divided weights located in the same divided area corresponding to each docking layer to obtain the divided total weights corresponding to each divided area; Determine the maximum total weight among the divided total weights as the reference total weight, and determine the total weight differences between all the remaining divided total weights and the reference total weight; Each total weight difference is compared with the total weight threshold value, and when any total weight difference is less than the total weight threshold value, the total weight of the divided area corresponding to the total weight difference value on the uppermost connecting layer is supplemented.

7. The semi-high container barge loading method according to claim 1, It is characterized in that Controlling the gantry crane to sequentially hoist all barges in each barge group based on the allocation sequence, and moving each barge to a corresponding docking slot based on the allocation position, including: Determine the adjacent distances between adjacent docking layers on the docking vessel, and determine the adjacent distances as a distance threshold; In response to the hoisting request sent by the management node, the distance collection value output by the distance sensor respectively arranged on each docking layer on the docking vessel is obtained; In response to the distance collection value corresponding to any docking layer being greater than the distance threshold, the gantry crane is controlled to lift all barges in each barge group in sequence based on the allocation order corresponding to the docking layer, and move each barge to the corresponding docking slot based on the allocation position.

8. The method for loading a semi-high container barge according to claim 7, It is characterized in that Moving each barge to a corresponding docking slot based on the allocated position includes: For each docking slot, control the flight unit to move to each vertex position of the docking slot in sequence, and determine the corresponding GPS coordinate points based on each vertex position; Determine a preset fence generation threshold based on the slot thickness of the docking slot, and adjust the coordinates of each GPS coordinate point based on the preset fence generation threshold to obtain each fence coordinate point; Establishing a geographic fence surrounding the docking slot based on each fence coordinate point, and obtaining each geographic fence corresponding to each docking slot; In response to the gantry crane hoisting any barge, determining a docking slot corresponding to the barge based on the allocated position, and controlling the gantry crane to move toward the docking slot; In response to the gantry crane moving so that the barge is in a geographic fence corresponding to the docking slot, the relative position between the barge center point of the barge and the slot center point corresponding to the docking slot is determined, and based on the relative position, the gantry crane is controlled to move the barge to the slot center point.

9. The method for loading a semi-high container barge according to claim 8, It is characterized in that In response to the gantry crane moving to make the barge in the geographical fence corresponding to the docking slot, determining the relative position between the barge center point of the barge and the slot center point corresponding to the docking slot, and controlling the gantry crane to move the barge to the slot center point based on the relative position, including: Determine a barge center point corresponding to the barge and a slot center point corresponding to the docking slot, and respectively set a first interconnected sensing unit and a second interconnected sensing unit at the barge center point and the slot center point; In response to the gantry crane moving so that the barge is in a geographic fence corresponding to the docking slot, first position information and second position information output by a first interconnected sensing unit and a second interconnected sensing unit are respectively obtained, and the relative position is determined based on the first position information and the second position information; Based on the relative position, the gantry crane is controlled to move the barge toward the second position information until the first position information overlaps with the second position information.

10. The method for loading a semi-high container barge according to claim 1, It is characterized in that Controlling the gantry crane to sequentially hoist all barges in each barge group based on the allocation sequence, and moving each barge to a corresponding docking slot based on the allocation position, including: Control the flight unit to fly over the upper part of the docking ship to collect the first hull image and coordinate it, identify the docking layer in the first hull image and determine the layer center point of the docking layer so that the flight unit is in a preset flight collection position; After reaching the preset flight collection position, the flight unit collects the second hull image and performs coordinate processing, identifies the docking slot in the second hull image, and obtains the corresponding slot coordinate group; Identify the coordinates corresponding to the gantry crane in the second hull image to obtain a structural coordinate group, determine the corresponding starting slot based on the coordinates of the structural coordinate group, and determine the target slot according to the lifting request; Based on the positional relationship between the horizontal coordinate values ​​and the vertical coordinate values ​​in the starting slot and the target slot, the gantry crane performs a mobile hoisting operation on the corresponding barge, so that the gantry crane reaches the target slot; After determining that the gantry crane has reached the target slot, the image corresponding to the target slot is captured and analyzed, and the gantry crane is controlled to perform secondary movement and lifting of the corresponding barge in the target slot, so that the gantry crane can place the barge into the target slot when it is in the relative middle position of the target slot.

11. The method for loading a semi-high container barge according to claim 10, It is characterized in that Based on the positional relationship between the horizontal coordinate values ​​and the vertical coordinate values ​​in the starting slot and the target slot, the gantry crane performs a mobile hoisting operation on the corresponding barge so that the gantry crane reaches the target slot, including: If the horizontal coordinate value in the target slot is greater than the horizontal coordinate value in the starting slot, the positive direction of the horizontal coordinate is the moving direction; if the horizontal coordinate value in the target slot is less than the horizontal coordinate value in the starting slot, the reverse direction of the horizontal coordinate is the moving direction; If the longitudinal coordinate value in the target slot is greater than the longitudinal coordinate value in the starting slot, the positive direction of the longitudinal coordinate is the moving direction; if the longitudinal coordinate value in the target slot is less than the longitudinal coordinate value in the starting slot, the reverse direction of the longitudinal coordinate is the moving direction; The horizontal coordinate moving distance is obtained by performing difference calculation based on the horizontal coordinate value of the starting slot and the horizontal coordinate value of the target slot, and the vertical coordinate moving distance is obtained by performing difference calculation based on the vertical coordinate value of the starting slot and the vertical coordinate value of the target slot; Based on the moving direction of the horizontal coordinate, the moving direction of the vertical coordinate, the moving distance of the horizontal coordinate and the moving distance of the vertical coordinate, the gantry crane is controlled to perform a moving hoisting operation on the corresponding barge.

12. The method for loading a semi-high container barge according to claim 11, It is characterized in that After determining that the gantry crane has reached the target slot, the image corresponding to the target slot is intercepted and analyzed, and the gantry crane is controlled to perform secondary movement and hoisting of the corresponding barge in the target slot, so that the gantry crane puts the barge into the target slot when it is in the relative middle position of the target slot, including: After determining that the gantry crane has reached the target slot, the image corresponding to the target slot is intercepted to obtain the target slot image, and the abscissa intermediate value and the ordinate intermediate value are obtained based on the maximum abscissa value, the minimum abscissa value, the maximum ordinate value and the minimum ordinate value of the target slot image; The middle value of the horizontal coordinate and the middle value of the vertical coordinate are obtained based on the maximum horizontal coordinate value, the minimum horizontal coordinate value, the maximum vertical coordinate value and the minimum vertical coordinate value of the gantry crane image; Based on the middle value of the horizontal coordinate and the middle value of the vertical coordinate of the target slot, the middle value of the horizontal coordinate and the middle value of the vertical coordinate of the gantry crane perform secondary mobile lifting on the corresponding barge, and the secondary mobile lifting of the barge is completed after the gantry crane contacts the contact sensor at the middle position of the target slot.

13. A half-height container barge loading device, It is characterized in that include: A determination module is configured to determine each unloading destination corresponding to each barge, and classify all barges corresponding to the same unloading destination into the same barge group to obtain each barge group; A sorting module is configured to calculate the average of the barge weights corresponding to all barges in the same barge group to obtain the group weight corresponding to the barge group, and sort the barge groups according to the sorting rule from light to heavy based on the group weights of all barge groups to obtain the group numbers corresponding to each barge group; The allocation module is configured to determine each docking layer arranged from top to bottom on the docking ship, and use the docking layer at the bottom as the docking starting point, and allocate all barges in each barge group to each docking slot in each docking layer in order according to the grouping sequence number from large to small, so as to obtain the allocation order and allocation position corresponding to each docking layer; An adjustment module is configured to determine a weight distribution of a docking layer based on a distribution position corresponding to any docking layer, and to balance and adjust a distribution position of a docking layer above the docking layer based on the weight distribution; The control module is configured to control the gantry crane to lift all barges in each barge group in sequence based on the allocation order, and move each barge to a corresponding docking slot based on the allocation position.

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