Half-height container barge stowage method and device

Abstract

The present invention provides a stowage method and device for semi-high container barges. The method includes: determining the unloading destination and dividing the barges corresponding to the same unloading destination into the same barge group; calculating the average weight of the barges corresponding to all the barges in the same barge group to obtain the group weight, and sorting them according to the sorting rule from light to heavy to obtain the group numbers; determining each connection layer located on the connecting ship, taking the connection layer located at the bottommost layer as the connection starting point, and allocating all the barges in each barge group to each connection slot located in each connection layer to obtain the corresponding allocation order and allocation position; determining the weight distribution situation based on the allocation position, and performing balance adjustment based on the weight distribution situation; controlling the gantry crane to move all the barges in each barge group to the corresponding connection slots. The present invention at least improves the driving safety.

Description

Technical Field

[0001] The present invention relates to data processing technologies, and in particular, to a stowage method and device for semi-high container barges. Background Art

[0002] A lighter aboard ship (LASH), also known as a "mother and daughter ship", refers to a "ship" specifically designed to carry lighters. Its transportation method is as follows: First, the goods are loaded into lighters of a unified specification, and these lighters are used as freight units and loaded onto the LASH. After arriving at the transshipment port, the lighters are unloaded, and then tugboats are used to tow the grouped lighters to the inland destination port. The LASH's ship type is basically similar to that of a container ship, with a flat upper deck, and the bridge and superstructure are as close as possible to the bow to leave more deck area for stacking lighters. The characteristics of LASH transportation are: ① It can shorten the port stay time. ② It is not restricted by the water depth of the port. ③ It is not affected by the congestion of the wharf. ④ It can achieve river-sea combined transportation.

[0003] In the prior art, each lighter carried on the mother ship will load different numbers of semi-high containers, and each semi-high container contains corresponding goods. Due to the different types of goods and the number of semi-high containers, the weight of each lighter may be different. When the weight difference is relatively obvious, it may cause the mother ship to tilt after the corresponding lighter stowage is completed, thus affecting the driving safety. Summary of the Invention

[0004] Based on the above problems, the present invention is proposed to provide a stowage method and device for semi-high container barges that can overcome or at least partially solve the above problems.

[0005] According to one aspect of the present invention, a stowage method for semi-high container barges is provided, including the following steps:

[0006] Determine the unloading destinations corresponding to each lighter respectively, and divide all the lighters corresponding to the same unloading destination into the same lighter group to obtain each lighter group;

[0007] Calculate the average value of the lighter weights corresponding to all the lighters in the same lighter group to obtain the group weight corresponding to the lighter group, and sort the group weights of all the lighter groups according to the sorting rule from light to heavy to obtain the group numbers corresponding to each lighter group respectively;

[0008] Determine each mother layer arranged in sequence from top to bottom on the mother ship, and use the mother layer at the bottommost layer as the mother starting point, and sequentially allocate all the lighters in each lighter group to each mother slot in each mother layer according to the group numbers from large to small to obtain the allocation order and allocation position corresponding to each mother layer;

[0009] Determine the weight distribution corresponding to any connection layer based on the allocated positions corresponding to the connection layer, and perform a balance adjustment on the allocated positions of the connection layers above the connection layer based on the weight distribution;

[0010] Control the gantry crane to hoist all the barges in each barge group in sequence based on the allocation order, and move each barge to the corresponding connection slot based on the allocated position.

[0011] Optionally, in the method according to the present invention, taking the connection layer at the bottommost layer as the connection starting point, and sequentially allocating all the barges in each barge group to each connection slot in each connection layer according to the descending grouping serial numbers, to obtain the allocation order and allocation position corresponding to each connection layer, including:

[0012] Sequentially determine the central floating points in each connection layer, and determine the connection slots at the central floating points as floating point slots;

[0013] Select the connection layer at the bottommost layer as the connection starting point, and select the barge group with the largest corresponding grouping serial number as the grouping starting point according to the descending grouping serial numbers;

[0014] Determine the barge weights of all the barges in the grouping starting point, and sort them according to the sorting rule from light to heavy to obtain the barge serial numbers corresponding to each barge;

[0015] Obtain the first weight difference between the barge with the largest barge serial number and its adjacent barge, and the second weight difference between the barge with the smallest barge serial number and its adjacent barge, 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;

[0016] Taking the floating point slot as the center, determine the connection slots arranged radially around the floating point slot, and group and divide the connection slots based on the arrangement rule to obtain each circle-level grouping;

[0017] Based on the slot symmetric matching strategy, sequentially allocate the remaining barges in the barge group corresponding to the largest grouping serial number to each circle-level grouping to obtain the allocation position corresponding to the connection starting point, and determine the radial arrangement as the allocation order corresponding to the connection starting point;

[0018] Determine the connection layer above the connection starting point as the new connection starting point, and repeat the above steps until all the remaining barges are sequentially allocated to each connection slot in each connection layer to obtain the allocation position and allocation order corresponding to each connection layer.

[0019] Optionally, in the method according to the present invention, based on the slot symmetry matching strategy, the remaining barges in the barge group with the largest grouping number are sequentially allocated to each loop-level grouping to obtain the allocation positions corresponding to the connection starting point, including:

[0020] Group the remaining barges in pairs based on the adjacent barge numbers to obtain each balanced grouping;

[0021] Obtain the slot distances between each loop-level grouping and the floating-point slot, and determine the allocation priorities corresponding to each loop-level grouping based on the proximity of the slot distances, where the smaller the slot distance, the higher the allocation priority;

[0022] Based on the allocation priorities corresponding to each loop-level grouping, select the corresponding loop-level grouping in order, and determine two connection slots presenting a symmetric structure with the floating-point slot as a symmetric slot group in the selected loop-level grouping to obtain all symmetric slot groups in the same loop-level grouping;

[0023] Establish a one-to-one matching relationship between the balanced grouping and the symmetric slot group, and allocate the two barges in the balanced grouping to the two connection slots in the symmetric slot group having a matching relationship with it to obtain the allocation positions corresponding to the connection starting point.

[0024] Optionally, in the method according to the present invention, the method further includes:

[0025] When the number of connection slots included in the selected connection layer is greater than the number of barges included in the selected barge group, determine the first quantity difference and determine the grouping weight corresponding to the selected barge group;

[0026] Based on the grouping number, determine the other barge groups adjacent to and larger than the selected barge group as supplementary groups, and select each barge corresponding to the first quantity difference and with a barge weight close to the grouping weight in the supplementary groups as each supplementary barge, and supplement each supplementary barge to the selected barge group;

[0027] Or

[0028] When the number of connection slots included in the selected connection layer is less than the number of barges included in the selected barge group, determine the second quantity difference, and based on the grouping number, determine the other barge groups adjacent to and larger than the selected barge group as merging groups;

[0029] Determine the grouping weight corresponding to the merged grouping, and select, from the selected barge groupings, the barges corresponding to the second quantity difference and with barge weights close to the grouping weight as respective merged barges, and supplement the respective merged barges into the merged grouping.

[0030] Optionally, in the method according to the present invention, based on the allocation positions corresponding to any one connection layer, determine the weight distribution corresponding to this connection layer, and perform a balance adjustment on the allocation positions of the connection layers above this connection layer based on the weight distribution, including:

[0031] Retrieve a preset division table, where the preset division table includes each different division interval and the respective division quantities corresponding to each division interval;

[0032] Traverse the preset division table, determine the division interval including the slot quantity corresponding to any one of the connection layers, and determine the division quantity corresponding to the connection layer based on the division interval;

[0033] Perform a regional division on the connection layer based on the division quantity to obtain respective division regions, and determine the barge weights of the barges located in all the connection slots included in each division region based on the allocation positions corresponding to the connection layer;

[0034] Perform a summation calculation on the barge weights corresponding to each division region respectively to obtain the respective division weights corresponding to each division region, and perform a weight sorting on the respective division weights based on the descending order of weights to obtain a first weight sequence;

[0035] Perform a reverse sorting on the first weight sequence, and perform a position adjustment on the barges in the respective division regions corresponding to the connection layers above this connection layer based on the obtained second weight sequence to complete the balance adjustment of the allocation positions corresponding to this connection layer.

[0036] Optionally, in the method according to the present invention, the method further includes:

[0037] In response to completing the balance adjustment of the allocation positions corresponding to all the connection layers, perform a summation calculation on the respective division weights located in the same division region corresponding to each connection layer to obtain the respective division total weights corresponding to each division region;

[0038] Determine the maximum total weight among the respective division total weights as the reference total weight, and determine the respective total weight differences between the remaining all division total weights and the reference total weight;

[0039] Compare the respective total weight differences with a total weight threshold respectively, and in the case where any one total weight difference is less than the total weight threshold, perform a total weight supplement on the division region corresponding to the connection layer at the topmost layer corresponding to the total weight difference.

[0040] Optionally, in the method according to the present invention, controlling the gantry crane to hoist all the barges in each barge group in sequence based on the allocation order, and moving each barge to the corresponding connection slot based on the allocation position, includes:

[0041] Determine the adjacent distance between adjacent connection layers located on the connection ship, and determine the adjacent distance as the distance threshold;

[0042] In response to the hoisting request sent by the management node, obtain the distance acquisition values output by the distance sensors respectively arranged on each connection layer located on the connection ship;

[0043] In response to the distance acquisition value corresponding to any connection layer being greater than the distance threshold, control the gantry crane to hoist all the barges in each barge group in sequence based on the allocation order corresponding to this connection layer, and move each barge to the corresponding connection slot based on the allocation position.

[0044] Optionally, in the method according to the present invention, moving each barge to the corresponding connection slot based on the allocation position includes:

[0045] For each connection slot, control the flying unit to move to each vertex position of the connection slot in sequence, and respectively determine the corresponding GPS coordinate points based on each vertex position;

[0046] Determine the preset fence generation threshold based on the slot thickness of the connection slot, and perform coordinate adjustment on each GPS coordinate point based on the preset fence generation threshold to obtain each fence coordinate point;

[0047] Establish a geographical fence surrounding the connection slot based on each fence coordinate point to obtain the geographical fences corresponding to each connection slot respectively;

[0048] In response to the gantry crane hoisting any barge, determine the connection slot corresponding to this barge based on the allocation position, and control the gantry crane to move towards this connection slot;

[0049] In response to the gantry crane moving to make the barge in the geographical fence corresponding to the connection slot, determine the relative position between the barge center point of the barge and the slot center point corresponding to the connection slot, and control the gantry crane to move the barge to the slot center point based on the relative position.

[0050] Optionally, in the method according to the present invention, in response to the gantry crane moving to place the barge within the geofence corresponding to the connection slot, determining the relative position between the center point of the barge and the center point of the slot corresponding to the connection slot, and controlling the gantry crane to move the barge to the center point of the slot based on the relative position, includes:

[0051] Determining the center point of the barge corresponding to the barge and the center point of the slot corresponding to the connection slot, and respectively setting a first interconnected sensing unit and a second interconnected sensing unit at the center point of the barge and the center point of the slot;

[0052] In response to the gantry crane moving to place the barge within the geofence corresponding to the connection slot, respectively obtaining the first position information and the second position information output by the first interconnected sensing unit and the second interconnected sensing unit, and determining the relative position based on the first position information and the second position information;

[0053] Controlling the gantry crane to move the barge towards the second position information based on the relative position until the first position information coincides with the second position information.

[0054] Optionally, in the method according to the present invention, controlling the gantry crane to hoist all the barges in each barge group in sequence based on the allocation order, and moving each barge to the corresponding connection slot based on the allocated position, includes:

[0055] Controlling the flight unit to fly above the hull of the connecting ship to collect the first hull image and perform coordinate processing, identifying the connecting layer in the first hull image and determining the center point of the connecting layer to make the flight unit in the preset flight collection position;

[0056] After the flight unit reaches the preset flight collection position, collecting the second hull image and performing coordinate processing, identifying the connection slots in the second hull image, and obtaining the corresponding slot coordinate group;

[0057] Identifying the coordinates corresponding to the gantry crane in the second hull image to obtain the structure coordinate group, determining the corresponding starting slot based on the coordinates of the structure coordinate group, and determining the target slot according to the hoisting request;

[0058] Based on the positional relationship between the horizontal coordinate values and the vertical coordinate values in the starting slot and the target slot, causing the gantry crane to perform a single moving hoisting on the corresponding barge so that the gantry crane reaches the target slot;

[0059] After determining that the gantry crane reaches the target slot, the image corresponding to the target slot is intercepted and analyzed, and the gantry crane is controlled to perform a secondary moving and hoisting operation on the corresponding barge within the target slot, so that the gantry crane places the barge into the target slot when it is in the relatively middle position of the target slot.

[0060] Optionally, in the method according to the present invention, 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 primary moving and hoisting operation on the corresponding barge to make the gantry crane reach the target slot, including:

[0061] If it is determined that the horizontal coordinate value in the target slot is greater than the horizontal coordinate value in the starting slot, the positive direction of the abscissa is taken as the moving direction; if it is determined that the horizontal coordinate value in the target slot is less than the horizontal coordinate value in the starting slot, the reverse direction of the abscissa is taken as the moving direction;

[0062] If it is determined that the vertical coordinate value in the target slot is greater than the vertical coordinate value in the starting slot, the positive direction of the ordinate is taken as the moving direction; if it is determined that the vertical coordinate value in the target slot is less than the vertical coordinate value in the starting slot, the reverse direction of the ordinate is taken as the moving direction;

[0063] The difference calculation is performed based on the horizontal coordinate value of the starting slot and the horizontal coordinate value of the target slot to obtain the abscissa moving distance, and the difference calculation is performed based on the vertical coordinate value of the starting slot and the vertical coordinate value of the target slot to obtain the ordinate moving distance;

[0064] Based on the moving direction of the abscissa, the moving direction of the ordinate, the abscissa moving distance, and the ordinate moving distance, the gantry crane is controlled to perform a primary moving and hoisting operation on the corresponding barge.

[0065] Optionally, in the method according to the present invention, after determining that the gantry crane reaches the target slot, the image corresponding to the target slot is intercepted and analyzed, and the gantry crane is controlled to perform a secondary moving and hoisting operation on the corresponding barge within the target slot, so that the gantry crane places the barge into the target slot when it is in the relatively middle position of the target slot, including:

[0066] After determining that the gantry crane reaches the target slot, the image corresponding to the target slot is intercepted to obtain the target slot image, and the abscissa middle value and the ordinate middle 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;

[0067] The abscissa middle value and the ordinate middle value are obtained based on the maximum abscissa value, the minimum abscissa value, the maximum ordinate value, and the minimum ordinate value of the gantry crane image;

[0068] Based on the median abscissa and median ordinate of the target slot, the median abscissa and median ordinate of the gantry crane perform secondary moving hoisting on the corresponding barge, and the secondary moving hoisting of the barge is completed after the contact sensor at the middle position between the gantry crane and the target slot makes contact.

[0069] According to another aspect of the present invention, there is provided a semi-high container barge stowage device, comprising:

[0070] A determination module, configured to determine the respective unloading destinations corresponding to each barge, and divide all the barges corresponding to the same unloading destination into the same barge group to obtain each barge group;

[0071] A sorting module, configured to calculate the average value of the barge weights corresponding to all the barges in the same barge group to obtain the group weight corresponding to the barge group, and sort according to the sorting rule from light to heavy based on the group weights of all the barge groups to obtain the respective group numbers corresponding to each barge group;

[0072] An allocation module, configured to determine each connection layer arranged in sequence from top to bottom on the connection ship, and use the connection layer at the bottommost layer as the connection starting point, and sequentially allocate all the barges in each barge group to each connection slot in each connection layer according to the group numbers from large to small, to obtain the allocation order and allocation position corresponding to each connection layer;

[0073] An adjustment module, configured to determine the weight distribution situation corresponding to the connection layer based on the allocation position corresponding to any connection layer, and perform balance adjustment on the allocation positions of the connection layers above the connection layer based on the weight distribution situation;

[0074] A control module, configured to control the gantry crane to hoist all the barges in each barge group in sequence based on the allocation order, and move each barge to the corresponding connection slot based on the allocation position.

[0075] 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 further, the barge weights corresponding to all barges in the same barge group are averaged to obtain the group weight of the corresponding barge group. Since the feeder ship may include various barge groups corresponding to different unloading destinations, therefore, in order to ensure better overall balance of the feeder ship, 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 are sequentially assigned to each stacking layer from bottom to top on the feeder ship according to the group numbers from large to small; after the assignment is completed, the weight distribution corresponding to each stacking layer can also be obtained to perform further balance adjustment based on the weight distribution to further improve the overall balance of the feeder ship; in addition, after all balance adjustments are completed, the gantry crane can be controlled to automatically hoist the barges based on the obtained assignment order, and the barges are further moved to the corresponding barge slots based on the obtained assignment positions, thereby completing the corresponding loading process, realizing fully automated operation, improving the corresponding processing efficiency, and also being able to ensure the driving safety of the feeder ship during subsequent driving, and avoiding the phenomenon of tipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 FIG. shows a flowchart of a semi-high container barge stowage method according to an embodiment of the present invention;

[0077] Figure 2 FIG. shows a distribution diagram of all barge slots in a certain stacking layer in this embodiment;

[0078] Figure 3 FIG. shows a structural diagram of each stacking layer in a stacked setting in this embodiment;

[0079] Figure 4 FIG. shows a structural block diagram of a semi-high container barge stowage system according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0080] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the 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 so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0081] A lighter aboard ship (LASH), also known as a "mother - and - daughter ship", refers to a "vessel" specifically designed to carry lighters. Its transportation method is as follows: First, the goods are loaded into lighters of a unified specification. These lighters, serving as freight units, are then loaded onto the LASH. After arriving at the transfer port, the lighters are unloaded, and then tugboats are used to tow the grouped lighters to the inland destination port. The LASH's hull form is basically similar to that of a container ship. The upper deck is flat, and the bridge and superstructure are placed as close as possible to the bow to leave more deck area for stacking lighters. The characteristics of LASH transportation are: ① It can shorten the port stay time. ② It is not restricted by the port water depth. ③ It is not affected by the congestion of the wharf. ④ It can achieve river - sea through - transport.

[0082] In the prior art, each lighter carried on the feeder ship loads different numbers of half - height containers, and each half - height container contains corresponding goods. Due to the different types of goods and the number of half - height containers, the weight of each lighter may be different. When the weight difference is relatively obvious, it may cause the feeder ship to tilt after the corresponding lighter stowage is completed, thus affecting the driving safety.

[0083] To solve the problems existing in the above - mentioned prior art, the inventor proposed the solution of the present invention. An embodiment of the present invention provides a method for stowing half - height container lighters, which can be executed in a computing device. Here, the computing device can be understood as a terminal such as a mobile phone or a computer with data - processing functions.

[0084] Figure 1 The flowchart of the method for half - height container lighters according to an embodiment of the present invention is shown. As Figure 1 shown, the method starts from step S102. In step S102, it includes the following content:

[0085] Determine the unloading destinations corresponding to each lighter respectively, and divide all the lighters corresponding to the same unloading destination into the same lighter group to obtain each lighter group.

[0086] For example, in this embodiment, since the feeder ship is a vessel specifically designed to carry lighters, it is necessary to plan the corresponding driving route according to the unloading destinations of all the lighters carried, that is, the driving route needs to include each unloading destination. In order to be able to stow the lighters with the same unloading destination in the same area or adjacent areas on the feeder ship for subsequent unified loading and unloading, it is necessary to classify the lighters with the same unloading destination, divide all the lighters corresponding to the same unloading destination into the same lighter group to obtain the corresponding lighter groups. That is, the unloading destinations corresponding to each lighter group are all different.

[0087] In step S104, the following is included: calculating the average value of the barge weights corresponding to all barges in the same barge group to obtain the group weight corresponding to the barge group, and sorting the group weights of all barge groups according to the sorting rule from lightest to heaviest to obtain the group numbers corresponding to each barge group respectively.

[0088] It should be noted that after the above solution completes the grouping of all barges that need to be loaded on the barge, it is necessary to consider the barge loading for each barge group. It can be known that generally, a connecting barge includes multiple connecting layers with a stacked structure, and each connecting layer includes corresponding multiple connecting slots. Here, the connecting slot can be understood as a slot for placing a barge, and generally, one connecting slot corresponds to only one barge, that is, only one barge can be placed. In order to consider the overall weight distribution and avoid the hull tilting due to a lighter area in a certain region, which may cause corresponding safety hazards, therefore, it is not only necessary to perform barge distribution based on balance for each connecting layer, but also to ensure that all connecting layers after barge loading show a gradually decreasing weight gradient from bottom to top, so as to ensure the safety of the hull and avoid the phenomenon of tilting.

[0089] For example, in this embodiment, in order to enable all connecting layers after barge loading to show a gradually decreasing weight gradient from bottom to top, therefore, the average value of the barge weights corresponding to all barges in the same barge group can be calculated to obtain the group weight corresponding to each barge group. At the same time, the group weights of all barge groups are sorted according to the sorting rule from lightest to heaviest to obtain the group numbers corresponding to each barge group respectively. 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, through the corresponding sorting rule, the group numbers of No. 1, No. 2, and No. 3 can be obtained respectively. After determining the group numbers, the corresponding barge loading can be carried out.

[0090] In step S106, the following is included: determining each connecting layer arranged in sequence from top to bottom on the connecting barge, and taking the connecting layer located at the bottommost layer as the connecting starting point, and respectively and sequentially allocating all barges in each barge group to each connecting slot in each connecting layer according to the group numbers from largest to smallest to obtain the allocation order and allocation position corresponding to each connecting layer.

[0091] For example, in this embodiment, when starting to perform barge stowage on each barge on the lightering barge, the barge at the bottommost layer on the lightering barge can be used as the lightering starting point to perform barge stowage in sequence. Since the larger the grouping serial number, the heavier the weight of the barges in the corresponding barge grouping, all the barges in each barge grouping can be sequentially allocated to each barge slot position in each lightering layer in descending order of the grouping serial number, so as to obtain the allocation sequence and allocation position corresponding to each lightering layer;

[0092] It should be noted that the above allocation sequence can be understood as the sequence of stowing the barges in the corresponding barge slot positions (since barge stowage and barge unloading are two corresponding processes, the allocation sequence can also be understood as the sequence during corresponding unloading), and the allocation position can be understood as the position where the barge slot corresponding to the barge stowage is located; during the process of barge stowage, since the bottommost lightering layer is first used as the lightering starting point to perform barge allocation, after completing the barge allocation work for this lightering layer, other lightering layers will be selected as the lightering starting point according to the arrangement sequence, and the corresponding barge allocation work will be repeated until the barge stowage for all lightering layers is completed; here, by selecting the corresponding barge grouping based on the grouping serial number to perform the corresponding barge stowage, it can be ensured that all the lightering layers after barge stowage show a gradually decreasing weight change process from bottom to top, thereby improving the corresponding driving safety, enhancing the overall structural strength, and also ensuring that the barges corresponding to the same unloading destination can be located in the same lightering layer or adjacent lightering layers, which is convenient for subsequent searching of the corresponding barges during unloading.

[0093] Furthermore, in this embodiment, the above "using the lightering layer at the bottommost layer as the lightering starting point, and sequentially allocating all the barges in each barge grouping to each barge slot position in each lightering layer in descending order of the grouping serial number to obtain the allocation sequence and allocation position corresponding to each lightering layer" may further include the following content:

[0094] Sequentially determine the central floating points in each lightering layer, and determine the barge slots at the central floating points as floating point slots;

[0095] Select the lightering layer at the bottommost layer as the lightering starting point, and select the barge grouping with the largest corresponding grouping serial number as the grouping starting point in descending order of the grouping serial number;

[0096] Determine the barge weights of all the barges in the grouping starting point, and sort them according to the sorting rule from light to heavy to obtain the barge serial numbers corresponding to each barge;

[0097] Obtain the first weight difference between the barge with the largest barge serial number and its adjacent barge, and the second weight difference between the barge with the smallest barge serial number and its adjacent barge, and determine the barge with the largest corresponding weight difference as the floating barge, and allocate the floating barge to the floating slot;

[0098] Taking the floating slot as the center, determine each connection slot arranged radially around the floating slot, and group and divide each connection slot based on the arrangement rule to obtain each circle-level grouping;

[0099] Based on the slot symmetric matching strategy, sequentially allocate the remaining barges in the barge group with the largest corresponding group number to each circle-level grouping to obtain the allocation positions corresponding to the connection starting point, and determine the radial arrangement as the allocation order corresponding to the connection starting point;

[0100] Determine the connection layer above the connection starting point as the new connection starting point, and repeat the above steps until all the remaining barges are sequentially allocated to each connection slot in each connection layer to obtain the allocation positions and allocation orders corresponding to each connection layer.

[0101] For example, in this embodiment, in order to achieve balanced barge allocation for each connection layer, the following specific strategy can be adopted:

[0102] First, it is necessary to sequentially determine the central floating points in each connection layer. Here, the central floating point can be understood as the point of action of the resultant force of the gravity received by the connection layer, or it can be understood as the balance point of the connection layer. When a connection layer is suspended, it will rotate around its center of buoyancy, and if the fulcrum is above the center of buoyancy, the connection layer will remain balanced. For a connection layer with uniform density, the center of buoyancy is usually located at the geometric center of the connection layer; after determining the central floating point, the connection slot located at the central floating point can be determined as the floating slot;

[0103] Next, during the process of barge stowage, the connection layer at the lowest layer can be used as the connection starting point according to the sorting of the connection layers. And since the larger the group number, the greater the weight of the corresponding barge, therefore, the barge group with the largest corresponding group number can be selected as the grouping starting point in the order from largest to smallest group number;

[0104] Then, after obtaining the corresponding connection starting point and the corresponding grouping starting point, the barge weights of all the barges in the grouping starting point can be determined, and the barges can be sorted according to the sorting rule from lightest to heaviest to obtain the barge serial numbers corresponding to each barge;

[0105] Then, based on each barge serial number, determine the barge with the largest corresponding barge serial number and the barge with the smallest corresponding barge serial number, that is, the barge with the largest barge weight and the barge with the smallest barge weight. Then, based on the two obtained barges, determine the first weight difference and the second weight difference between the adjacent barges, and determine the barge with the largest corresponding weight difference as the floating barge, and allocate the floating barge to the floating slot;

[0106] Then, taking this floating slot as the center, determine each connection slot arranged in a radial pattern around the floating slot, and group and divide each connection slot based on the above radial arrangement rule to obtain each circle-level grouping. Here, the number of each circle-level grouping needs to be determined according to the number of connection slots corresponding to each connection layer. For example, when the connection slots corresponding to a certain connection layer are arranged in the form of a nine-square grid, a circle-level grouping with a quantity of one will be obtained, and if the connection slots corresponding to a certain connection layer are in the form of a sixteen-square grid, a circle-level grouping with a quantity of two will be obtained. For example, as Figure 2 shown, Figure 2 shows the connection layer corresponding to the connection slots in the form of a nine-square grid. It can be seen from the content of Figure 2 that the floating slot is located at the center position of the connection layer and only includes a circle-level grouping with a quantity of one; it should be further noted that in order to ensure that the floating slot can be at the center position of the connection layer, therefore, it is necessary to ensure that the number of slots of the connection slots is , where n is greater than or equal to 2 and is an integer;

[0107] Then, after obtaining the corresponding circle-level groupings, the remaining barges in the barge group with the largest corresponding group serial number can be sequentially allocated to each circle-level grouping based on the corresponding slot symmetric matching strategy to obtain the allocation positions corresponding to the connection starting points, and determine the above radial arrangement as the allocation order corresponding to the connection starting point;

[0108] Finally, after completing the barge allocation for the connection starting point, the next connection layer can be selected as the new connection starting point based on the arrangement order of each connection layer, and the foregoing corresponding process can be executed, thereby completing the barge allocation for all connection layers to obtain the allocation positions and allocation orders corresponding to each connection layer.

[0109] It should be noted that since the position of the floating slot is the central floating point of the corresponding connection layer, in order to ensure that the barge weights of the connection slots around the floating slot do not differ much and ensure the overall weight balance, it is necessary to select the barges with the largest and smallest barge weights, calculate the weight differences based on the adjacent barges, and determine the barge with the largest corresponding weight difference as the floating barge, so as to improve the corresponding weight balance and ensure driving safety.

[0110] Further, in this embodiment, the step of "sequentially allocating the remaining barges in the barge group with the largest grouping number corresponding to the slot number to each circle-level grouping based on the slot symmetry matching strategy to obtain the allocation positions corresponding to the connection starting point" may further include the following steps:

[0111] Group the remaining barges in pairs based on the adjacent barge numbers to obtain each balanced grouping;

[0112] Obtain the slot distances between each circle-level grouping and the floating-point slot, and determine the allocation priorities corresponding to each circle-level grouping based on the proximity of the slot distances, where the smaller the slot distance, the higher the allocation priority;

[0113] Based on the allocation priorities corresponding to each circle-level grouping, sequentially select the corresponding circle-level grouping, and determine two connection slots presenting a symmetric structure with the floating-point slot as a symmetric slot group in the selected circle-level grouping to obtain all symmetric slot groups in the same circle-level grouping;

[0114] Establish a one-to-one matching relationship between the balanced grouping and the symmetric slot group, and allocate the two barges in the balanced grouping to the two connection slots in the symmetric slot group having a matching relationship with it respectively to obtain the allocation positions corresponding to the connection starting point.

[0115] For example, in this embodiment, in order to perform propagation allocation based on weight balance for each connection layer, the following method needs to be adopted:

[0116] First, since the barge numbers corresponding to each barge are set based on the corresponding barge weights, that is, the larger the barge number, the larger the corresponding barge weight, and the weight difference between the barge weights corresponding to the two barge numbers at adjacent positions is the smallest. Therefore, based on this characteristic, the remaining barges (that is, all other barges except the floating-point barges that have been allocated) can be grouped to obtain each balanced grouping; for example, when the remaining barges respectively 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 divided into the same balanced grouping, and barge number 3 and barge number 4 can be divided into the same balanced grouping;

[0117] Then, after completing the corresponding pairwise grouping, the slot distances between each circle-level grouping and the floating-point slot can be obtained, and the allocation priorities of each circle-level grouping can be determined according to the rule from near to far, where the smaller the slot distance, the higher the corresponding allocation priority, and the higher the allocation priority, the more preferentially the corresponding barge allocation will be performed;

[0118] Next, according to the allocation priorities corresponding to each loop-level grouping, select the corresponding loop-level grouping in sequence from each loop-level grouping to perform the subsequent barge allocation work. After the selection is completed, it is necessary to determine two connection slots presenting a symmetric structure with the floating-point slot as a symmetric slot group in the selected loop-level grouping, so as to obtain all symmetric slot groups in the same loop-level grouping;

[0119] Finally, after obtaining all the balanced groupings and all the symmetric slot groups, a one-to-one matching relationship can be established between the two, and the two barges in the balanced grouping are respectively allocated to the two connection slots in the symmetric slot group with a matching relationship therewith, so as to obtain the allocation positions corresponding to the connection starting points.

[0120] It should be noted that in order to ensure that the connection layer is in a weight-balanced state after the barge stowage is completed, it is necessary to make the weight distribution at each place in the connection layer as symmetric as possible based on the floating-point slots. Through the above solution, it can be ensured that the overall connection layer will not tilt, thus ensuring the safety of driving.

[0121] Here, it should be noted that in actual situations, since the number of slots in the connection slots included in the selected connection layer may be different from the number of barges included in the selected barge grouping, based on the existence of this situation, in this embodiment, the corresponding processing can be carried out according to the following steps;

[0122] When the number of slots in the connection slots included in the selected connection layer is greater than the number of barges included in the selected barge grouping, determine the first quantity difference and determine the grouping weight corresponding to the selected barge grouping;

[0123] Based on the grouping serial number, determine other barge groupings adjacent to and greater than the selected barge grouping as supplementary groupings, and select each barge corresponding to the first quantity difference and with a barge weight close to the grouping weight in the supplementary groupings as each supplementary barge, and supplement each supplementary barge to the selected barge grouping;

[0124] Or

[0125] When the number of slots in the connection slots included in the selected connection layer is less than the number of barges included in the selected barge grouping, determine the second quantity difference, and based on the grouping serial number, determine other barge groupings adjacent to and greater than the selected barge grouping as merging groupings;

[0126] Determine the grouping weight corresponding to the merging grouping, and select each barge corresponding to the second quantity difference and with a barge weight close to the grouping weight in the selected barge grouping as each merging barge, and supplement each merging barge to the merging grouping.

[0127] For example, in this embodiment, when the number of slot positions in the selected connection layer is greater than the number of barges in the selected barge group, the barge group needs to be supplemented with corresponding barges. The supplementation methods include:

[0128] First, determine the first quantity difference between the number of slot positions and the number of barges, and based on the group number, determine other barge groups that have an adjacent relationship with this barge group, and determine the other barge groups as the supplementary groups corresponding to this barge group;

[0129] Next, determine the group weight corresponding to the selected barge group, and select each barge in the supplementary group that corresponds to the first quantity difference and whose barge weight is close to the group weight as each supplementary barge;

[0130] Finally, the corresponding supplementary barges can be supplemented into the selected barge group, thereby completing the supplementation of the corresponding barges.

[0131] It should be noted that the "close" in the above "the 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. By searching, it can be seen that the barges corresponding to 1.8 tons, 2.0 tons, and 2.1 tons are the 3 barges closest to the group weight. Therefore, these three barges can be correspondingly determined as supplementary barges for subsequent corresponding supplementation.

[0132] Similarly, in this embodiment, when the number of slot positions in the selected connection layer is less than the number of barges in the selected barge group, the barge group needs to have corresponding barges removed. The removal methods include:

[0133] First, determine the second quantity difference between the number of slot positions and the number of barges, and based on the group number, determine other barge groups that have an adjacent relationship with this barge group, and determine the other barge groups as the merging groups corresponding to this barge group;

[0134] Next, determine the group weight corresponding to the merging group, and select each barge in the selected barge group that corresponds to the second quantity difference and whose barge weight is close to the group weight as each merging barge;

[0135] Finally, the corresponding merging barges can be supplemented into the merging group, thereby completing the removal of the corresponding barges.

[0136] It should be noted that the "close to" in the above "the barge weight is close to the corresponding grouped weight" can be understood as the same or similar. For example, when the corresponding grouped weight of 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 found that the barges corresponding to 1.8 tons, 2.0 tons, and 2.1 tons are the 3 barges closest to the grouped weight. Therefore, these three barges can be correspondingly determined as the merged barges for subsequent corresponding removal.

[0137] In step S108, it includes the following content: determining the weight distribution corresponding to any connection layer based on the allocation position corresponding to the connection layer, and performing a balance adjustment on the allocation positions of the connection layers above this connection layer based on the weight distribution.

[0138] For example, in this embodiment, after the barge allocation for any connection layer is completed, in order to further ensure the overall balance of the hull, therefore, it is also necessary to perform a further balance adjustment on the allocation positions of the connection layers above it according to the weight distribution of each connection layer, so as to improve the corresponding weight balance and improve the driving safety.

[0139] Furthermore, in this embodiment, the above "determining the weight distribution corresponding to any connection layer based on the allocation position corresponding to the connection layer, and performing a balance adjustment on the allocation positions of the connection layers above this connection layer based on the weight distribution" may further include the following steps:

[0140] Retrieving a preset division table, where the preset division table includes each different division interval and the respective division quantities corresponding to each division interval;

[0141] Traversing the preset division table, determining the division interval including the slot quantity corresponding to any connection layer, and determining the division quantity corresponding to the connection layer based on the division interval;

[0142] Based on the division quantity, dividing the connection layer to obtain each division area, and determining the barge weights of the barges in all connection slots included in each division area based on the allocation position corresponding to the connection layer;

[0143] Performing a summation calculation on the barge weights corresponding to each division area respectively to obtain the respective division weights corresponding to each division area, and performing a weight sorting on the division weights based on the descending order of weights to obtain a first weight sequence;

[0144] Reverse-sort the first weight sequence, and adjust the positions of the barges in each divided area corresponding to the transfer layer above this transfer layer based on the obtained second weight sequence, so as to complete the balance adjustment of the assigned positions corresponding to the transfer layer.

[0145] For example, in this embodiment, when performing the corresponding balance adjustment, it can be executed according to the following scheme:

[0146] First, in order to determine the weight distribution of each transfer layer, the same area division can be performed on each transfer layer. Since the sizes of different transfer barges are different, the sizes of the corresponding transfer layers can also be different. Therefore, in this embodiment, a corresponding preset division table can be pre-stored, where the preset division table includes each different division interval and the respective division quantities corresponding to each division interval. Furthermore, the quantity comparison can be performed through the preset division table to determine the quantity of area division required. It should be noted that the respective slot quantities corresponding to each transfer layer mentioned in this embodiment should be the same;

[0147] Next, based on the slot quantity corresponding to the transfer layer, view the preset division table, determine the division interval including this slot quantity, and determine the division quantity corresponding to the division interval. For example, the preset division table includes three division intervals: [0.10], [11.20], and [21.30], and the respective division quantities corresponding to the three division intervals are 4, 6, and 8. When the slot quantity corresponding to a certain transfer layer is 15, in this case, it can be determined that [11.20] is the division interval that can include this slot quantity, and correspondingly, 6 can also be determined as the division quantity corresponding to this transfer layer;

[0148] Then, after determining the division quantity, the transfer layer can be divided into the same quantity. It should be noted that this division is performed on all transfer layers simultaneously. After completing the corresponding division and obtaining the respective divided areas corresponding to each transfer layer, the respective barge weights corresponding to the barges in each divided area can be determined based on the assigned positions corresponding to the transfer layer obtained above;

[0149] Then, the barge weights of all the barges corresponding to the same divided area can be summed up to obtain the respective divided weights corresponding to each divided area, and the weights of the respective divided weights can be sorted based on the descending order of weights to obtain the first weight sequence;

[0150] Finally, the first weight sequence can be reverse-sorted to obtain the corresponding second weight sequence.

[0151] And the positions of the barges in each divided area corresponding to the connection layers above the connection layer are adjusted according to the second weight sequence, so as to complete the balance adjustment of the assigned positions of the corresponding connection layers.

[0152] It should be noted that in this embodiment, after obtaining the divided weights of each divided area corresponding to any connection layer, the corresponding first weight sequence is obtained through sorting, and it can be known which area corresponding to the connection layer has a larger layer weight and which area has a smaller layer weight. The probability of rollover in the area with a relatively small layer weight is more obvious. Therefore, it is necessary to perform balance adjustment on other connection layers above this connection layer, so as to ensure that other connection layers can play a role in weight compensation. The implementation method is to reverse the sorting of the first weight sequence to obtain the corresponding second weight sequence, and adjust the assigned positions of the barges in each layer area of other connection layers according to the second weight sequence, so as to ensure that the layer area with a relatively large layer weight in other connection layers corresponds to the layer area with a relatively small layer weight in this connection layer, or ensure that the area with a relatively small layer weight in other connection layers corresponds to the layer area with a relatively large layer weight in this connection layer, so as to complete the corresponding balance adjustment, ensure that the overall barge can be in a relatively balanced state, further prevent tilting, and improve the corresponding driving safety.

[0153] Further, in this embodiment, after the balance adjustment of the assigned positions corresponding to all connection layers is completed respectively, in order to further improve the overall balance of the barge, an overall balance adjustment can also be performed based on all connection layers. The specific process can include the following steps:

[0154] In response to the completion of the balance adjustment of the assigned positions corresponding to all connection layers, the divided weights corresponding to the same divided area of each connection layer are summed to obtain the total divided weights corresponding to each divided area;

[0155] The maximum total weight among the total divided weights is determined as the reference total weight, and the total weight differences between the remaining all total divided weights and the reference total weight are determined;

[0156] The total weight differences are respectively 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 in the topmost connection layer is supplemented.

[0157] For example, in this embodiment, after separately completing the balance adjustment of the allocated positions of all connection layers, the divided weights of each divided area corresponding to each connection layer can be correspondingly summed to obtain the corresponding total divided weight. Here, the total divided weight can be understood as the weight of all connection layers corresponding to the same divided area. After obtaining the corresponding total divided weight, the maximum weight can be determined as the reference total weight, and the total weight differences between other total weights and the reference total weight can be obtained. It can be known that the larger the total weight difference, the greater the weight difference between the layer areas, and thus the greater the risk of causing the corresponding roll phenomenon. Therefore, in order to perform further balance adjustment, the total weight of other divided areas of the connection layer at the top layer except the divided area corresponding to the reference total weight can be supplemented based on the total weight differences, so that the total weight corresponding to each layer area is the same or similar, thereby significantly reducing the corresponding roll risk. Here, the method of total weight supplementation can be to fill the corresponding layer area with counterweight items, etc.

[0158] In step S110, the following contents are included: controlling the gantry crane to hoist all the barges located in each barge group in sequence based on the allocation sequence, and moving each barge to the corresponding connection slot based on the allocated position.

[0159] For example, in this embodiment, after completing the allocation sequence and allocation position of each connection layer, the gantry crane located near the connection barge, that is, on the dock open space, can be controlled so that the gantry crane hoists the barges located in each barge group in sequence based on the determined allocation sequence, and moves the corresponding barge to the corresponding connection slot based on the determined allocation position, thereby realizing the fully automated control process of barge allocation and movement, without manual intervention, and improving the corresponding work processing efficiency.

[0160] Furthermore, in this embodiment, when the corresponding connection layer belongs to the type with a larger size, it can be determined that when performing the corresponding barge stowage for this type of connection layer, precise positioning is not required and a larger error is allowed. Therefore, the GPS positioning technology can be used to assist in controlling the gantry crane. On the premise of using GPS, the above "controlling the gantry crane to hoist all the barges located in each barge group in sequence based on the allocation sequence, and moving each barge to the corresponding connection slot based on the allocated position" can include the following steps:

[0161] Determine the adjacent distance between adjacent connection layers located on the connection barge, and determine the adjacent distance as the distance threshold;

[0162] In response to the hoisting request sent by the management node, obtain the distance acquisition values output by the distance sensors respectively arranged on each connection layer located on the connection ship;

[0163] In response to the distance acquisition value corresponding to any connection layer being greater than the distance threshold, control the gantry crane to hoist all the barges in each barge group in sequence based on the allocation order corresponding to this connection layer, and move each barge to the corresponding connection slot based on the allocated position.

[0164] For example, in this embodiment, when the connection ship is waiting for barge stowage of all the barges, since the connection layers are stacked on the deck of the connection ship, for example Figure 3 as shown, therefore, in general common situations, in order to facilitate the execution of the corresponding barge stowage work, it is necessary to hoist all the connection layers except the lowermost connection layer to a temporary parking area (usually located at the dock or other positions not belonging to the connection ship) for parking in advance, and after completing the barge stowage of one connection layer, hoist the parked connection layer from the temporary parking area to the deck of the connection ship to continue the corresponding barge stowage; based on this characteristic, the following solution can be used to enable the gantry crane to automatically execute the barge stowage work of any connection layer:

[0165] First, since the connection layer to be prepared for barge stowage is at the top of the deck, that is, there is no other connection layer above it, based on this characteristic, distance sensors capable of outputting distance acquisition values can be set on the surface of each connection layer, and the distance between adjacent connection layers stacked on the deck of the connection ship is determined as the distance threshold. Among them, when the distance acquisition value output by the distance sensor corresponding to any connection layer on the deck of the connection ship is greater than the distance threshold, it indicates that this connection layer is at the top of the deck, that is, it is in the preparation state for the corresponding barge stowage, and at this time it represents that this connection layer needs to perform the corresponding ship stowage;

[0166] Next, after completing the corresponding implementation configuration and setting of the corresponding trigger conditions, in response to receiving the hoisting request sent by the management node, start to carry out the corresponding hoisting work. At this time, the server will obtain the distance acquisition values output by the distance sensors respectively arranged on each connection layer on the deck of the connection ship;

[0167] Finally, when the corresponding distance acquisition value is greater than the distance threshold, it indicates that there is no other connection layer above this connection layer, that is, this connection layer is in a ready state for corresponding barge stowage. At this time, the server can control the gantry crane to hoist all the barges in each barge group in turn based on the allocation sequence corresponding to this connection layer, and move each barge to the corresponding connection slot based on the corresponding allocation position, so as to complete the assembly of all barges.

[0168] Furthermore, in this embodiment, the above "moving each barge to the corresponding connection slot based on the allocation position" may further include the following steps:

[0169] For each connection slot, control the flight unit to move to each vertex position of the connection slot in turn, and respectively determine the corresponding GPS coordinate points based on each vertex position;

[0170] Determine a preset fence generation threshold based on the slot thickness of the connection slot, and perform coordinate adjustment on each GPS coordinate point based on the preset fence generation threshold to obtain each fence coordinate point;

[0171] Establish a geographical fence surrounding the connection slot based on each fence coordinate point to obtain geographical fences corresponding to each connection slot;

[0172] In response to the gantry crane hoisting any barge, determine the connection slot corresponding to the barge based on the allocation position, and control the gantry crane to move towards the connection slot;

[0173] In response to the gantry crane moving to make the barge in the geographical fence corresponding to the connection slot, determine the relative position between the barge center point of the barge and the slot center point of the corresponding connection slot, and control the gantry crane to move the barge to the slot center point based on the relative position.

[0174] For example, in this embodiment, when controlling the gantry crane to move the barge to the corresponding connection slot, it can be executed by the following method;

[0175] First, the GPS coordinate points respectively corresponding to the vertex positions of the connection slot can be obtained. Here, when the connection slot is rectangular, the corresponding vertex positions are the four corner vertices of the rectangle, and the way to obtain the corresponding vertex positions can be to control a flight unit such as a drone to fly and move to the four corner vertices, and obtain the corresponding GPS coordinate points based on the built-in GPS module;

[0176] Next, since each connection slot has a corresponding slot thickness, in order to improve the corresponding fault tolerance rate, the preset fence generation threshold can be determined based on the slot thickness of the connection slot, and the preset fence generation threshold is given to perform corresponding coordinate adjustment on each GPS coordinate point to obtain the corresponding fence coordinate points. Here, the preset fence generation threshold can be half of the slot thickness, or it can be other values;

[0177] Then, after obtaining the corresponding fence coordinate points for each connection slot, the corresponding geographical fences for each connection slot can be generated. Here, the geographical fence can be understood as a new application of LBS, that is, a virtual fence is used to enclose a virtual geographical boundary. After generating the corresponding geographical fence, the location of the corresponding connection slot can be determined through the geographical fence;

[0178] Finally, when the gantry crane hoists any barge, it can determine the connection slot corresponding to the barge according to the allocated position obtained above, and further control the gantry crane to move towards the connection slot. At the same time, when the gantry crane moves to make the barge in the geographical fence corresponding to the connection 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 the center point of the barge coincides with the center point of the slot.

[0179] Furthermore, in this embodiment, the above-mentioned "in response to the gantry crane moving to make the barge in the geographical fence corresponding to the connection slot, determining the relative position between the center point of the barge and the center point of the slot corresponding to the connection slot, and controlling the gantry crane to move the barge to the center point of the slot based on the relative position" may further include the following steps:

[0180] Determine the center point of the barge corresponding to the barge and the center point of the slot corresponding to the connection slot, and respectively set the first interconnected sensing unit and the second interconnected sensing unit at the center point of the barge and the center point of the slot;

[0181] In response to the gantry crane moving to make the barge in the geographical fence corresponding to the connection slot, respectively obtain the first position information and the second position information output by the first interconnected sensing unit and the second interconnected sensing unit, and determine the relative position based on the first position information and the second position information;

[0182] Control the gantry crane to move the barge towards the second position information based on the relative position until the first position information coincides with the second position information.

[0183] For example, in this embodiment, after the barge center point of the barge and the slot center point of the connection slot are respectively determined, corresponding first and second interconnected sensing units can be set on them. When the gantry crane moves the barge into the corresponding geographical fence of the connection slot, the server can respectively obtain the first position information and the second position information output by the first and second interconnected sensing units, and determine the corresponding relative position based on the two, so that the server can further control the gantry crane to move the barge towards the slot center point based on the relative position, thereby achieving precise control of the moving position and improving the corresponding neatness.

[0184] Similarly, in this embodiment, when the corresponding connection layer belongs to a type with a smaller size, it can be determined that precise positioning is required when loading the barge for this type of connection layer, and large errors are not allowed. Otherwise, it cannot be guaranteed that the barge can be accurately placed in the corresponding connection slot. Therefore, it is necessary to use image processing to assist in controlling the movement of the gantry crane. For example, the above-mentioned "controlling the gantry crane to hoist all the barges in each barge group in sequence based on the allocation order and moving each barge to the corresponding connection slot based on the allocation position" may further include the following steps:

[0185] Controlling the flight unit to fly above the hull of the barge to collect the first hull image and perform coordinate transformation processing, identifying the connection layer in the first hull image and determining the layer center point of the connection layer to make the flight unit in the preset flight collection position;

[0186] After the flight unit reaches the preset flight collection position, it collects the second hull image and performs coordinate transformation processing, identifies the connection slot in the second hull image, and obtains the corresponding slot coordinate group;

[0187] Identifying the coordinates corresponding to the gantry crane in the second hull image to obtain the structure coordinate group, determining the corresponding starting slot based on the coordinates of the structure coordinate group, and determining the target slot according to the hoisting request;

[0188] Based on the positional relationship between the horizontal and vertical coordinate values in the starting slot and the target slot, the gantry crane performs a single movement hoisting on the corresponding barge to make the gantry crane reach the target slot;

[0189] After determining that the gantry crane reaches the target slot, intercept and analyze the image corresponding to the target slot, and control the gantry crane to perform a secondary movement hoisting on the corresponding barge in the target slot, so that the gantry crane places the barge into the target slot when it is in the relatively middle position of the target slot.

[0190] For example, in this embodiment, when performing corresponding ship stowage, the aforementioned flight unit, i.e., the drone, can be controlled to fly and move to the upper part of the hull of the lighter and perform corresponding flight acquisitions on the hull to obtain the corresponding first hull image;

[0191] After obtaining the first hull image, the lighter layer located in the first hull image can be obtained through corresponding image recognition, and the layer center point of the lighter layer can be further determined, so as to control the flight unit to fly to the preset acquisition position. Here, 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 a complete acquisition of the hull of the lighter based on the center;

[0192] 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 lighter to obtain the corresponding second hull image, and perform another image recognition on the second hull image to determine each lighter slot position located in the second hull image. By performing coordinate processing on the second hull image, each slot coordinate group corresponding to each lighter slot position can be determined;

[0193] Here, the slot coordinate group can be understood as a set of slot coordinate points that make up the corresponding lighter slot position. After obtaining the corresponding slot coordinate groups, it is also necessary to determine the coordinates corresponding to the gantry crane in the second hull image again to obtain the corresponding structure coordinate group. Similarly, the structure coordinate group can also be understood as a set of structure coordinate points that make up 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 determined first, and a more suitable one can be selected from all the slot coordinate groups to determine the location of the gantry crane. It should be noted that since the structure coordinate group can be understood as a set of all structure coordinate points that make up the gantry crane, when the structure coordinate group overlaps with any slot coordinate group, it can indicate that the gantry crane is located at the lighter slot position corresponding to the slot coordinate group. Since the size of the gantry crane is generally relatively large, in some cases, the gantry crane may have an overlapping relationship with multiple lighter slot positions. At this time, the lighter slot position with the largest corresponding overlap ratio can be determined as the corresponding starting slot position, and the location of the gantry crane can be determined based on the location of the starting slot position;

[0194] After determining the starting slot position, the corresponding target slot can be determined according to the aforementioned allocated position corresponding to the lighter layer and based on the lifting request, and the gantry crane can be controlled to perform a single moving lift on the corresponding barge based on the positional relationship between the horizontal coordinate values and the vertical coordinate values in the starting slot position and the target slot position, so that the gantry crane can reach the corresponding target slot;

[0195] After the barge arrives at the target slot, it represents that the rough movement of the gantry crane has been completed. However, to completely place the corresponding barge into the corresponding target slot, a secondary fine movement is still required. Here, the process of the fine movement includes intercepting and analyzing the image corresponding to the target slot, so as to control the gantry crane to perform a secondary movement and hoisting of the corresponding barge within the target slot according to the analysis result, so that the gantry crane can be in the relative center position of the target slot to place the corresponding barge into it.

[0196] In this embodiment, the above solution can more accurately determine the positions of the gantry crane and the connection slot based on the coordinate points, thereby improving the corresponding stowage accuracy and the corresponding user experience.

[0197] Further, in this embodiment, the above "making the gantry crane perform a primary movement and hoisting of the corresponding barge based on the positional relationship between the horizontal coordinate values and the vertical coordinate values in the starting slot and the target slot, so that the gantry crane reaches the target slot" may further include the following steps:

[0198] If it is determined that the horizontal coordinate value in the target slot is greater than the horizontal coordinate value in the starting slot, the positive direction of the abscissa is taken as the moving direction; if it is determined that the horizontal coordinate value in the target slot is less than the horizontal coordinate value in the starting slot, the reverse direction of the abscissa is taken as the moving direction;

[0199] If it is determined that the vertical coordinate value in the target slot is greater than the vertical coordinate value in the starting slot, the positive direction of the ordinate is taken as the moving direction; if it is determined that the vertical coordinate value in the target slot is less than the vertical coordinate value in the starting slot, the reverse direction of the ordinate is taken as the moving direction;

[0200] Calculate the abscissa moving distance by taking the difference between the horizontal coordinate value of the starting slot and the horizontal coordinate value of the target slot, and calculate the ordinate moving distance by taking the difference between the vertical coordinate value of the starting slot and the vertical coordinate value of the target slot;

[0201] Control the gantry crane to perform a primary movement and hoisting of the corresponding barge based on the moving direction of the abscissa, the moving direction of the ordinate, the abscissa moving distance, and the ordinate moving distance.

[0202] 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 to the right of the starting slot, that is, in the positive direction of the abscissa. At this time, the positive direction of the abscissa can be determined as the moving direction; when the judgment result is less than, the corresponding reverse direction of the abscissa 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 above the starting slot, that is, in the positive direction of the ordinate. At this time, the positive direction of the ordinate can be determined as the moving direction; when the judgment result is less than, the corresponding reverse direction of the ordinate can be determined as the moving direction.

[0203] After determining the moving direction, the horizontal coordinate value of the starting slot and the horizontal coordinate value of the target slot can be further used to calculate the difference to obtain the horizontal moving distance. At the same time, the vertical coordinate value of the starting slot and the vertical coordinate value of the target slot can be used to calculate the difference to obtain the vertical moving distance.

[0204] Finally, based on the obtained moving direction and moving distance, the gantry crane can be controlled to perform a single moving hoisting on the corresponding barge.

[0205] Furthermore, in this embodiment, the above-mentioned "after determining that the gantry crane reaches the target slot, intercept and analyze the image corresponding to the target slot, control the gantry crane to perform secondary moving hoisting on the corresponding barge within the target slot, and place the barge into the target slot when the gantry crane is at the relatively middle position of the target slot" can further include the following steps:

[0206] After determining that the gantry crane reaches the target slot, intercept the image corresponding to the target slot to obtain the target slot image, and obtain the abscissa middle value and the ordinate middle value based on the maximum abscissa value, minimum abscissa value, maximum ordinate value, and minimum ordinate value of the target slot image.

[0207] Obtain the abscissa middle value and the ordinate middle value based on the maximum abscissa value, minimum abscissa value, maximum ordinate value, and minimum ordinate value of the gantry crane image.

[0208] Based on the abscissa middle value and ordinate middle value of the target slot, and the abscissa middle value and ordinate middle value of the gantry crane, perform secondary moving hoisting on the corresponding barge, and complete the secondary moving hoisting of the barge after the contact sensor between the gantry crane and the middle position of the target slot comes into contact.

[0209] For example, in this embodiment, when the gantry crane reaches the corresponding target slot, the second hull image can be intercepted to obtain the target slot image of the corresponding target slot, and then the corresponding abscissa intermediate value and ordinate intermediate value can be obtained based on the maximum abscissa value, minimum abscissa value, maximum abscissa value, and 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 of the corresponding target slot. Similarly, the minimum abscissa value, maximum abscissa value, and minimum ordinate value are similar to the above description.

[0210] Similarly, the maximum abscissa value, minimum abscissa value, maximum ordinate value, and minimum ordinate value of the corresponding gantry crane image can also be obtained according to the same method described above, and the corresponding abscissa intermediate value and ordinate intermediate value can also be obtained.

[0211] Finally, the relative position between the gantry crane and the target slot can be determined based on the abscissa intermediate value and ordinate intermediate value of the corresponding target slot, as well as the abscissa intermediate value and ordinate intermediate value of the gantry crane, and the gantry crane and the corresponding barge can be controlled for secondary moving and hoisting based on this relative position. In order to further improve the accuracy of hoisting, in this embodiment, corresponding contact sensors are also provided at the intermediate positions of the gantry crane and the target slot. 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, corresponding position adjustment is required, and the secondary moving and hoisting of the barge is regarded as completed when the electrical signal is generated.

[0212] In summary, during the implementation of this embodiment, all barges corresponding to the same unloading destination can be divided into the same barge group, and further, the average value of the barge weights corresponding to all barges in the same barge group can be calculated to obtain the group weight corresponding to the barge group. Since the feeder ship may include various barge groups corresponding to different unloading destinations, in order to ensure better overall balance of the feeder ship, 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 assigned to each stacking layer from bottom to top on the feeder ship in descending order of the group numbers; after the assignment is completed, the weight distribution corresponding to each stacking layer can also be obtained to perform further balance adjustment based on the weight distribution to further improve the overall balance of the feeder ship; in addition, after all balance adjustments are completed, the gantry crane can be controlled to automatically hoist the barges based on the obtained assignment order, and the barges can be further moved to the corresponding barge slots based on the obtained assignment positions, thereby completing the corresponding loading process, realizing fully automated operation, improving the corresponding processing efficiency, and also ensuring the driving safety of the feeder ship during subsequent driving and avoiding the phenomenon of tipping.

[0213] Another embodiment of the present invention provides a semi-high container barge stowage device. Figure 4 The corresponding device block diagram is as follows. The device includes:

[0214] A determination module, configured to determine the respective unloading destinations corresponding to each barge, and divide all barges corresponding to the same unloading destination into the same barge group to obtain each barge group;

[0215] A sorting module, configured to calculate the average value 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 based on the group weights of all barge groups according to the sorting rule from light to heavy to obtain the respective group numbers corresponding to each barge group;

[0216] An assignment module, configured to determine each stacking layer arranged in sequence from top to bottom on the feeder ship, and take the stacking layer at the bottommost as the assignment starting point, and sequentially assign all barges in each barge group to each barge slot in each stacking layer in descending order of the group numbers to obtain the assignment order and assignment position corresponding to each stacking layer;

[0217] An adjustment module, configured to determine the weight distribution corresponding to a stacking layer based on the assignment position corresponding to any stacking layer, and perform balance adjustment on the assignment positions of the stacking layers above the stacking layer based on the weight distribution;

[0218] A control module, configured to control the gantry crane to hoist all the barges in each barge group in sequence based on the allocation order, and move each barge to the corresponding connection slot based on the allocation position.

[0219] In the specification provided herein, the algorithms and displays are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the examples of the present invention. The structure required to construct such systems will be apparent from the above description. Additionally, the present invention is not directed to any particular programming language. It should be understood that the content of the present invention described herein can be implemented using various programming languages, and the description of the specific language above is for the purpose of disclosing the preferred embodiments of the present invention.

[0220] In the specification provided herein, a large number of specific details are set forth. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0221] Similarly, it should be understood that, in order to streamline the present disclosure and assist in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be construed as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim.

[0222] Those skilled in the art should understand that the modules or units or components of the devices in the examples disclosed herein can be arranged in the devices as described in the embodiments, or alternatively can be located in one or more devices different from the devices in the examples. The modules in the foregoing examples can be combined into one module or further divided into multiple sub-modules.

[0223] Those skilled in the art can understand that the modules in the devices of the embodiments can be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and further can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive, any combination can be adopted for all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) can be replaced by an alternative feature that provides the same, equivalent, or similar purpose.

[0224] In addition, those skilled in the art will appreciate that although some of the embodiments described herein include certain features included in other embodiments and not others, combinations of features of different embodiments are meant to be within the scope of the present invention and form different embodiments.

[0225] In addition, some of the embodiments are described herein as a method or combination of method elements that can be implemented by a processor of a computer system or by other devices performing the functions. Accordingly, a processor having the necessary instructions for implementing the method or method element forms a means for implementing the method or method element. In addition, an element described herein in the context of a device embodiment is an example of a means for performing the function performed by the element for the purpose of implementing the invention.

[0226] As used herein, unless otherwise specified, the use of ordinal numbers such as "first", "second", "third", etc. to describe ordinary objects merely indicates different instances of similar objects and is not intended to imply that the objects so described must have a given order in time, space, ranking, or in any other manner.

[0227] Although the present invention has been described in terms of a limited number of embodiments, those skilled in the art within the technology will appreciate that other embodiments can be contemplated within the scope of the invention as thus described. In addition, it should be noted that the language used in this specification has been principally selected for readability and instructional purposes and not for the purpose of explaining or limiting the subject matter of the invention. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. For the scope of the present invention, the disclosure of the present invention is illustrative and not restrictive, and the scope of the present invention is defined by the appended claims.

Claims

1. A method for loading a semi-high container barge, characterized in that: include: Classifying all barges corresponding to the same unloading destination into the same barge group; The barge weights corresponding to all barges in the same barge group are averaged to obtain the group weight, and the barges are sorted from light to heavy based on the group weight to obtain the sequence number of each group; Determine each docking layer arranged in sequence from top to bottom on the docking ship, determine the central floating point located in each docking layer in sequence, and determine the docking slot located at the central floating point as the floating point slot; Select the lowest connection layer as the connection starting point, and select the largest corresponding group number as the group starting point; Sort all barges at the starting point of the group according to the sorting rule from lightest to heaviest to obtain the serial number of each barge; Obtain a first weight difference between the barge with the largest barge number and its adjacent barge, and a second weight difference between the barge with the smallest barge number and its adjacent barge, and determine the barge with the largest weight difference as a floating point barge and assign it to a floating point slot; Taking the floating point slot as the center, determine the docking slots that are arranged radially, and divide them into groups based on the arrangement rules to obtain groupings of each circle level; Allocate the remaining barges in the barge group with the largest group number to each circle group, obtain the allocation position of the corresponding docking starting point, and determine the radial arrangement as the allocation order; The docking layer above the docking starting point is determined as the new docking starting point, and the above steps are repeated until all the remaining barges are allocated to the docking slots to obtain the allocation positions and allocation order; Determine the weight distribution of the docking layer based on the distribution position, 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 sequence based on the allocation order, and move to the docking slot based on the allocation position.

2. The method for loading a semi-high container barge according to claim 1, characterized in that: The remaining barges in the barge group with the largest grouping number are allocated to each circle group to obtain the allocation position of the corresponding 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.

3. The method for loading a semi-high container barge according to claim 2, 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.

4. The method for loading a semi-high container barge according to claim 3, characterized in that: Determine the weight distribution of the docking layer based on the distribution position, and balance the distribution position of the 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.

5. The method for loading a semi-high container barge according to claim 4, 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.

6. The method for loading a semi-high container barge according to claim 1, characterized in that: Control the gantry crane to lift all barges in sequence based on the allocation order, and move them to the docking slots based on the allocation positions, 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.

7. The method for loading a semi-high container barge according to claim 6, characterized in that: Move to a docking slot based on the assigned location, including: 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.

8. The method for loading a semi-high container barge according to claim 7, 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.

9. The method for loading a semi-high container barge according to claim 1, 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.

10. The method for loading a semi-high container barge according to claim 9, 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.

11. The method for loading a semi-high container barge according to claim 10, 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.

12. A half-high container barge loading device, characterized in that: include: A determination module is used to classify all barges corresponding to the same unloading destination into the same barge group; A sorting module calculates the average weight of barges corresponding to all barges in the same barge group to obtain the group weight, and sorts the barges from light to heavy based on the group weight to obtain the sequence number of each group; The allocation module determines the docking layers arranged from top to bottom on the docking ship, determines the central floating point in each docking layer in turn, and determines the docking slot at the central floating point as the floating point slot; selects the docking layer at the bottom as the docking starting point, and selects the barge with the largest corresponding grouping number as the grouping starting point; sorts all the barges at the grouping starting point according to the sorting rule from light to heavy to obtain the serial numbers of each barge; obtains the first weight difference between the barge with the largest corresponding barge serial number and its adjacent barge, and the second weight difference between the barge with the smallest corresponding barge serial number and its adjacent barge, and determines the barge with the largest weight difference as the floating point barge and allocates it to the floating point slot; Taking the floating slot as the center, determine the docking slots that are radially arranged, and divide them into groups based on the arrangement rules to obtain each circle-level group; allocate barges to each circle-level group using the remaining barges in the barge group with the largest grouping sequence number to obtain the allocation position of the corresponding docking starting point, and determine the radial arrangement as the allocation order; determine the docking layer above the docking starting point as the new docking starting point, and repeat the above steps until all the remaining barges are allocated to each docking slot to obtain the allocation position and allocation order; An adjustment module determines the weight distribution of the docking layer based on the distribution position, and performs a balance adjustment on the distribution position of the docking layer above the docking layer based on the weight distribution; The control module controls the gantry crane to lift all barges in sequence based on the allocation order, and move them to the docking slots based on the allocation positions.

Images