The model for automatic moving trajectory of slings is built based on the outline information below the sling with algebraic analytical method, to abstract the outline information of landside and Oceanside as obstacles respectively and design the moving trajectory of slings according to the obstacle.Meantime, the soft landing algorithm is designed for slings based on the outline information below the sling.The mathematical model is established for simulation verification, to actu-ally build the semi-automatic system, with related computer programming and PLC programming, which can realize the semi-automatic moving and soft landing of slings.The practice shows great semi-automatic effect of the system, which has sharply reduced the labor intensity, remarkably improved the efficiency; in addition, the soft landing function of slings can also advance the production safety and extend their service life.% 通过代数分析法，建立了基于吊具下方轮廓信息的吊具自动运行轨迹的模型，将陆、海侧的轮廓信息分别抽象为障碍物，根据障碍物设计吊具的运动轨迹。同时根据吊具下方的轮廓信息，设计吊具的软着陆算法。据此，建立数学模型，对其进行仿真验证，由此实际构建了一套半自动化系统，并进行计算机编程和PLC编程，实现了吊具的半自动化行走和软着陆功能。实际应用表明：该系统具有良好的半自动效果，劳动强度大幅降低，生产效率显著提高；另外，吊具的软着陆功能也提高了生产安全性，延长了吊具的寿命。
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