CN118094920A - Intelligent deck arrangement system and method based on offshore wind power construction ship - Google Patents
Intelligent deck arrangement system and method based on offshore wind power construction ship Download PDFInfo
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Abstract
The invention discloses an intelligent deck arrangement system based on an offshore wind power construction ship, which comprises the following components: the user management module is used for logging in the system through login information; the simulation parameter configuration module is used for configuring simulation object data; the temporary data module is used for importing the simulation object data; the scheme simulation module is used for generating a simulation environment according to the simulation object data, performing ship deck arrangement simulation, and further generating a simulation scheme; the enhancement realization module is used for realizing synchronous mapping of the virtual scheme in the real environment of the construction ship according to the AR technology, and constructors place the fan assembly at the corresponding position of the deck according to the final simulation result, transport the fan assembly and assemble the fan assembly according to the simulation sequence; and the database is used for storing the simulation object data and the simulation scheme. An intelligent deck arrangement method based on the offshore wind power construction ship is also disclosed. The construction efficiency is improved, the misoperation is reduced, and the safety risk is reduced.
Description
Technical Field
The invention relates to an intelligent deck arrangement system and method based on an offshore wind power construction ship.
Background
The split installation of the offshore wind turbine by using the self-elevating platform ship is one of the most common methods for installing the offshore wind turbine at present. The self-elevating platform ship can elevate the platform to a certain height at sea, thereby avoiding the influence of environmental factors such as waves, tides and the like and providing a relatively stable construction environment. When the offshore wind turbine component is installed, a plurality of parts such as a wind motor component Cheng Da cylinder, a cabin and blades are assembled and debugged on the sea, so that the transportation and hoisting difficulty is reduced, and the construction efficiency is improved.
Along with the continuous increase of the installed capacity of a single fan, the fan assembly is also more large, and especially the blades and the hub are assembled and then installed, the diameter of the impeller of the fan assembly far exceeds the size of the deck of the self-elevating platform ship, more space beyond the deck is needed to be used, so that the placement position, the assembly position and the operation space of each fan assembly on the deck are needed to be planned in advance, the problem of collision between objects in the construction process is avoided, the performance requirement of a crane is met, and the construction safety is ensured.
At present, the placing positions of all parts of a fan are designed mainly according to a plane design drawing, the plane drawing is difficult to reflect the collision relation between fan components and between the components and a crane boom from a space angle, data are not directly combined with a real scene in the construction process, and the effect of guiding construction is difficult to be truly exerted.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an intelligent deck arrangement system and method based on an offshore wind power construction ship, which improve the construction efficiency, reduce the misoperation and reduce the safety risk.
The technical scheme for achieving the purpose is as follows:
The invention discloses an intelligent deck arrangement system based on an offshore wind power construction ship, which comprises the following components:
the user management module is used for logging in the system through login information;
the simulation parameter configuration module is used for configuring simulation object data;
the temporary data module is used for importing the simulation object data;
The scheme simulation module is used for generating a simulation environment according to the simulation object data, performing ship deck arrangement simulation, and further generating a simulation scheme;
The enhancement realization module is used for realizing synchronous mapping of the virtual scheme in the real environment of the construction ship according to the AR technology, and constructors place the fan assembly at the corresponding position of the deck according to the final simulation result, transport the fan assembly and assemble the fan assembly according to the simulation sequence;
And the database is used for storing the simulation object data and the simulation scheme.
Preferably, the simulation parameter configuration module includes:
the construction ship model selection unit is used for selecting corresponding ship data according to project requirements so as to create a corresponding construction ship model;
The fan type selecting unit is used for selecting corresponding fan power according to project requirements and further selecting corresponding fan data;
The model self-adaptive unit is used for adjusting the size parameters and the weight parameters of each part of the fan;
and the fan component creation unit is used for creating a fan component model and adding newly created fan data into the database.
Preferably, in the database, the simulated object data includes ship data and wind turbine data, wherein the ship data includes, but is not limited to, ship carrying capacity, ship crane lifting load capacity and ship deck placeable range.
Preferably, the solution simulation module includes:
the fan loading quantity determining unit is used for determining the fan loading quantity according to the transportation carrying capacity of the selected construction ship and the weight parameters of all parts of the fan;
the impeller assembling and hoisting simulation unit is used for carrying out impeller assembling and hoisting simulation on the construction ship model created by the construction ship selecting unit and determining the temporary fixing position of the impeller;
the impeller assembly range determining unit is used for simulating the assembly route of the blades according to the determined temporary fixing position of the impeller, recording the safe operation range in the blade assembly process and obtaining the impeller assembly range;
the collision detection unit is used for detecting interference conditions of all the components in real time;
The crane hoisting capacity analysis unit is used for judging whether an object is positioned in the operable radius of the crane according to the linear distance between the placement point of the fan component and the center of the crane, and then analyzing whether the fan component meets the hoisting condition at the position through the weight of the fan component and the load capacity of the crane;
The ship deck layout simulation unit is used for analyzing and judging the layout according to the conditions in the impeller assembly range determination unit, the collision detection unit and the crane hoisting capacity analysis unit and the ship layout capable range, and determining the layout of all the components of the fan on the ship deck;
And the ship carrying balance analysis unit is used for carrying out ship carrying balance analysis after the layout of all the components of the fan on the ship deck is reasonable, finally obtaining the placement position of the fan assembly and the lifting sequence of the fan assembly, and outputting a simulation scheme result.
Preferably, the enhancement implementation module includes:
A data importing unit for importing result data of the simulation scheme into the AR device;
The real environment scanning unit is used for scanning the physical environment of the construction ship and constructing a virtual environment grid surface;
The ship positioning and calibrating unit is used for performing ship positioning and calibrating on the ships in the virtual world and the physical world;
the AR display unit is used for displaying the space positions and the front-back sequence of the virtual models of all the components of the fan in a real environment;
And the fan assembly construction unit is used for installing the appointed fan assembly to the target position according to the positioning of the model on the real environment and assembling the fan assemblies according to the simulation sequence.
The second invention relates to an intelligent deck arrangement method based on an offshore wind power construction ship, which comprises the following steps:
Step S1, a user logs in an arrangement system through login information;
S2, configuring simulation object data;
Step S3, importing simulation object data, generating a simulation environment according to the simulation object data, and performing ship deck arrangement simulation to generate a simulation scheme;
and S4, realizing synchronous mapping of the virtual scheme in the real environment of the construction ship according to the AR technology, placing the fan assembly at a corresponding position of a deck by constructors according to a final simulation result, transporting the fan assembly, and assembling the fan assembly according to a simulation sequence.
Preferably, the step S2 includes:
step S21, selecting corresponding ship data from a database according to project requirements, and further creating a corresponding construction ship model;
Step S22, selecting corresponding fan power in the database according to project requirements, and further selecting corresponding fan data;
step S23, adjusting the size parameters and the weight parameters of all parts of the fan;
and step S24, creating a model of each part of the fan, and adding newly created fan data into the database.
Preferably, the step S3 includes:
Step S31, importing simulation object data;
s32, performing impeller assembly and hoisting simulation on a construction ship model, and determining a temporary fixing position of an impeller;
Step S33, simulating the splicing route of the blades according to the determined temporary fixing position of the impeller, and recording the safe operation range in the blade splicing process to obtain the impeller splicing range;
Step S34, detecting interference conditions of all components in real time;
Step S35, judging whether an object is positioned in the operable radius of the crane according to the linear distance between the placement point of the fan component and the center of the crane, and analyzing whether the fan component meets the hoisting condition at the position through the weight of the fan component and the load capacity of the crane;
Step S36, analyzing and judging the layout through the conditions and the ship layout range in the steps S33-S35, and determining the layout of all parts of the fan on a ship deck;
And S37, carrying out ship carrying balance analysis after the layout of all the components of the fan on a ship deck is reasonable, finally obtaining the placement position of the fan assembly and the lifting sequence of the fan assembly, and outputting a simulation scheme result.
Preferably, the step S4 includes:
Step S41, importing the result data of the simulation scheme into the AR equipment;
s42, sweeping the physical environment of the construction ship, and constructing a virtual environment grid surface;
s43, performing ship positioning calibration on the ships in the virtual and physical worlds;
step S44, displaying the space positions and the front-back sequence of the virtual models of all the components of the fan in a real environment;
And step S45, installing the appointed fan assembly to a target position according to the positioning of the model on the real environment, and assembling the fan assembly according to the simulation sequence.
The beneficial effects of the invention are as follows: according to the invention, intelligent arrangement of the fan assembly on the deck of the ship is realized by establishing rules, the utilization rate of the deck of the ship is effectively improved while the layout of the deck is reasonably planned, and the safety risk of collision between the fan assembly and the crane is avoided in advance; the simulation result is mapped to the real environment of the construction ship to form an interactive construction guidance system, so that specific guidance on construction operation can be provided for site constructors, construction steps and requirements can be understood more intuitively, construction efficiency is improved, misoperation is reduced, and safety risk is reduced.
Drawings
FIG. 1 is a block diagram of an intelligent deck arrangement system for a marine wind power construction vessel in accordance with the present invention;
FIG. 2 is a block diagram of a particular simulation parameter configuration module of the present invention;
FIG. 3 is a block diagram of a solution simulation module according to the present invention;
FIG. 4 is a block diagram of an embodiment of the enhancement implementation module of the present invention;
FIG. 5 is a flow chart of an intelligent deck arrangement for an offshore wind construction vessel based on the present invention;
FIG. 6 is a specific flow chart of configuring simulated object data in the present invention;
FIG. 7 is a specific flow chart of the generation of a simulation scheme in the present invention;
FIG. 8 is a specific flow chart of the fan assembly according to the simulated sequence of the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying positive importance.
The invention will be further described with reference to the accompanying drawings.
Offshore wind power is a renewable energy technology that converts ocean wind energy into electrical energy. The offshore wind power construction is an important link for realizing the offshore wind power project, and the difficulty is mainly reflected in the aspects of severe environmental conditions, difficult construction resource allocation, high safety risk, high precision requirement and the like. In order to overcome the difficulties, measures such as scientific planning, reasonable deployment, enhanced coordination and management and the like are needed to be adopted, so that engineering quality and progress are ensured. The offshore wind power is used as a clean energy source, has higher energy utilization efficiency and sustainability, and has important significance in the aspects of coping with climate change, promoting green development and the like, so the invention provides an intelligent deck arrangement system and method based on an offshore wind power construction ship, and the specific implementation process is as follows.
As shown in fig. 1, an intelligent deck arrangement system based on an offshore wind power construction vessel, comprising: the system comprises a user management module 1, a simulation parameter configuration module 2, a temporary data module 3, a scheme simulation module 4, an enhancement implementation module 5 and a database 6.
The user management module 1 is used for logging in the system through login information.
Specifically, the user uploads the user information to the server through the user management module 1, and logs in the system after passing the examination.
And the simulation parameter configuration module 2 is used for configuring the simulation object data.
As shown in fig. 2, the simulation parameter configuration module 2 specifically includes: a construction ship model selection unit 21, a fan model selection unit 22, a model self-adaptation unit 23 and a fan component creation unit 24; a construction ship model selection unit 21, configured to select corresponding ship data in the database 6 according to project requirements, thereby creating a corresponding construction ship model; the fan type selecting unit 22 is configured to select corresponding fan power in the database 6 according to project requirements, and further select corresponding fan data; the model self-adapting unit 23 is used for adjusting the size parameters and the weight parameters of each part of the fan; and the fan component creation unit 24 is used for creating a fan component model and adding newly created fan data to the database.
A temporary data module 3 for importing the simulation object data.
And the scheme simulation module 4 is used for generating a simulation environment according to the simulation object data, performing ship deck arrangement simulation and further generating a simulation scheme.
As shown in fig. 3, the scenario simulation module 4 specifically includes: the device comprises a fan loading quantity determining unit 41, an impeller assembling and hoisting simulation unit 42, an impeller assembling range determining unit 43, a collision detecting unit 44, a crane hoisting capacity analyzing unit 45, a ship deck arrangement simulation unit 46 and a ship carrying balance analyzing unit 47; a fan loading number determining unit 41 for determining a fan loading number according to the transport carrying capacity of the selected construction vessel and the weight parameters of each component of the fan; the impeller assembling and hoisting simulation unit 42 is used for performing impeller assembling and hoisting simulation on the construction ship model created by the construction ship selecting unit and determining the temporary fixing position of the impeller; an impeller assembly range determining unit 43, configured to simulate an assembly route of the blade according to the determined temporary fixing position of the impeller, record a safe operation range in the blade assembly process, and obtain an impeller assembly range; a collision detection unit 44 for detecting interference conditions of the respective components in real time; the crane hoisting capacity analysis unit 45 is configured to determine whether the object is within a radius where the crane can operate according to a linear distance between a placement point of the fan component and a center of the crane, and then analyze whether the fan component meets a hoisting condition at the position according to a weight of the fan component and a load capacity of the crane, where a load capacity algorithm of the crane is a function of a hoisting angle and a corresponding maximum load fitted by a ship crane design load data table according to a hoisting working radius, and set an angle limit; the ship deck arrangement simulation unit 46 is used for analyzing and judging the layout according to the conditions in the impeller assembly range determination unit 43, the collision detection unit 44 and the crane hoisting capacity analysis unit 45 and the ship layout-capable range, and determining the layout of all the components of the fan on the ship deck; and the ship carrying balance analysis unit 47 is used for carrying out ship carrying balance analysis after the layout of all the components of the fan on the ship deck is reasonable, finally obtaining the placement position of the fan assembly and the lifting sequence of the fan assembly, and outputting the simulation scheme result.
And the enhancement realization module 5 is used for realizing synchronous mapping of the virtual scheme in the real environment of the construction ship according to the AR technology, and constructors place the fan assembly at the corresponding position of the deck according to the final simulation result, transport the fan assembly and assemble the fan assembly according to the simulation sequence.
And a database 6 for storing simulation object data and simulation schemes.
Specifically, in the database 6, the simulation object data includes ship data and wind turbine data, wherein the ship data includes, but is not limited to, ship carrying capacity, ship crane hoisting load capacity, and ship deck placeable range.
As shown in fig. 4, the enhancement implementation module 5 includes: a data importing unit 51, a real environment scanning unit 52, a ship positioning calibration unit 53, and an AR display unit 54; a data importing unit 51 for importing result data of the simulation scheme into the AR device; the real environment scanning unit 52 is used for scanning the physical environment of the construction ship and constructing a virtual environment grid surface; a ship positioning and calibrating unit 53 for performing ship positioning and calibration on the ship in the virtual and physical world; the AR display unit 54 is configured to display the spatial position and the front-back order of the virtual model of each component of the fan in a real environment; and the fan assembly construction unit 55 is used for installing the appointed fan assembly to the target position according to the positioning of the model on the real environment and assembling the fan assemblies according to the simulation sequence.
As shown in fig. 5, an intelligent deck arrangement method based on an offshore wind power construction ship comprises the following steps:
Step S1, a user logs in the arrangement system through login information.
Step S2, configuring simulation object data.
As shown in fig. 6, step S2 specifically includes:
and S21, selecting corresponding ship data from the database according to project requirements, and further creating a corresponding construction ship model.
Step S22, selecting corresponding fan power in the database according to project requirements, and further selecting corresponding fan data.
Step S23, adjusting the size parameters and the weight parameters of all the components of the fan.
And step S24, creating a model of each part of the fan, and adding newly created fan data into the database.
And S3, importing simulation object data, generating a simulation environment according to the simulation object data, and performing ship deck arrangement simulation to generate a simulation scheme.
As shown in fig. 7, step S3 specifically includes:
step S31, importing the simulation object data.
And S32, performing impeller assembly and hoisting simulation on the construction ship model, and determining the temporary fixing position of the impeller.
And step S33, simulating the splicing route of the blades according to the determined temporary fixing position of the impeller, and recording the safe operation range in the blade splicing process to obtain the impeller splicing range.
Step S34, interference conditions of all the components are detected in real time.
And step S35, judging whether the object is positioned in the operable radius of the crane according to the linear distance between the placement point of the fan component and the center of the crane, and analyzing whether the fan component meets the lifting condition at the position through the weight of the fan component and the load capacity of the crane.
And S36, analyzing and judging the layout through the conditions and the ship layout range in the steps S33-S35, and determining the layout of all the components of the fan on the deck of the ship.
And S37, carrying out ship carrying balance analysis after the layout of all the components of the fan on a ship deck is reasonable, finally obtaining the placement position of the fan assembly and the lifting sequence of the fan assembly, and outputting a simulation scheme result.
And S4, realizing synchronous mapping of the virtual scheme in the real environment of the construction ship according to the AR technology, placing the fan assembly at a corresponding position of a deck by constructors according to a final simulation result, transporting the fan assembly, and assembling the fan assembly according to a simulation sequence.
As shown in fig. 8, step S4 specifically includes:
step S41, importing the result data of the simulation scheme into the AR device.
And S42, sweeping the physical environment of the construction ship, and constructing a virtual environment grid surface.
And step S43, performing ship positioning calibration on the ships in the virtual and physical worlds.
And S44, displaying the spatial positions and the front-back sequence of the virtual models of all the components of the fan in a real environment.
And step S45, installing the appointed fan assembly to a target position according to the positioning of the model on the real environment, and assembling the fan assembly according to the simulation sequence.
And further, the crane operators are instructed to construct step by step according to the simulated hoisting steps, so that the construction safety is ensured, and the construction efficiency is improved.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (9)
1. An intelligent deck arrangement system based on an offshore wind power construction ship, which is characterized by comprising:
the user management module is used for logging in the system through login information;
the simulation parameter configuration module is used for configuring simulation object data;
the temporary data module is used for importing the simulation object data;
The scheme simulation module is used for generating a simulation environment according to the simulation object data, performing ship deck arrangement simulation, and further generating a simulation scheme;
The enhancement realization module is used for realizing synchronous mapping of the virtual scheme in the real environment of the construction ship according to the AR technology, and constructors place the fan assembly at the corresponding position of the deck according to the final simulation result, transport the fan assembly and assemble the fan assembly according to the simulation sequence;
And the database is used for storing the simulation object data and the simulation scheme.
2. An intelligent deck arrangement system for an offshore wind construction vessel according to claim 1, wherein the simulation parameter configuration module comprises:
the construction ship model selection unit is used for selecting corresponding ship data according to project requirements so as to create a corresponding construction ship model;
The fan type selecting unit is used for selecting corresponding fan power according to project requirements and further selecting corresponding fan data;
The model self-adaptive unit is used for adjusting the size parameters and the weight parameters of each part of the fan;
and the fan component creation unit is used for creating a fan component model and adding newly created fan data into the database.
3. An intelligent deck arrangement system for a marine wind power construction vessel according to claim 2, wherein in the database, the simulated object data comprises vessel data and wind turbine data, wherein the vessel data includes, but is not limited to, vessel carrying capacity, vessel crane lifting load capacity and vessel deck placeable range.
4. An intelligent deck arrangement system for an offshore wind construction vessel according to claim 3, wherein the solution simulation module comprises:
the fan loading quantity determining unit is used for determining the fan loading quantity according to the transportation carrying capacity of the selected construction ship and the weight parameters of all parts of the fan;
the impeller assembling and hoisting simulation unit is used for carrying out impeller assembling and hoisting simulation on the construction ship model created by the construction ship selecting unit and determining the temporary fixing position of the impeller;
the impeller assembly range determining unit is used for simulating the assembly route of the blades according to the determined temporary fixing position of the impeller, recording the safe operation range in the blade assembly process and obtaining the impeller assembly range;
the collision detection unit is used for detecting interference conditions of all the components in real time;
The crane hoisting capacity analysis unit is used for judging whether an object is positioned in the operable radius of the crane according to the linear distance between the placement point of the fan component and the center of the crane, and then analyzing whether the fan component meets the hoisting condition at the position through the weight of the fan component and the load capacity of the crane;
The ship deck layout simulation unit is used for analyzing and judging the layout according to the conditions in the impeller assembly range determination unit, the collision detection unit and the crane hoisting capacity analysis unit and the ship layout capable range, and determining the layout of all the components of the fan on the ship deck;
And the ship carrying balance analysis unit is used for carrying out ship carrying balance analysis after the layout of all the components of the fan on the ship deck is reasonable, finally obtaining the placement position of the fan assembly and the lifting sequence of the fan assembly, and outputting a simulation scheme result.
5. An intelligent deck arrangement system for an offshore wind construction vessel according to claim 4, wherein the augmentation implementation module comprises:
A data importing unit for importing result data of the simulation scheme into the AR device;
The real environment scanning unit is used for scanning the physical environment of the construction ship and constructing a virtual environment grid surface;
The ship positioning and calibrating unit is used for performing ship positioning and calibrating on the ships in the virtual world and the physical world;
the AR display unit is used for displaying the space positions and the front-back sequence of the virtual models of all the components of the fan in a real environment;
And the fan assembly construction unit is used for installing the appointed fan assembly to the target position according to the positioning of the model on the real environment and assembling the fan assemblies according to the simulation sequence.
6. An intelligent deck arrangement method based on an offshore wind power construction ship is characterized by comprising the following steps of:
Step S1, a user logs in an arrangement system through login information;
S2, configuring simulation object data;
Step S3, importing simulation object data, generating a simulation environment according to the simulation object data, and performing ship deck arrangement simulation to generate a simulation scheme;
and S4, realizing synchronous mapping of the virtual scheme in the real environment of the construction ship according to the AR technology, placing the fan assembly at a corresponding position of a deck by constructors according to a final simulation result, transporting the fan assembly, and assembling the fan assembly according to a simulation sequence.
7. The method for arranging an intelligent deck of a marine wind power construction vessel according to claim 6, wherein the step S2 comprises:
step S21, selecting corresponding ship data from a database according to project requirements, and further creating a corresponding construction ship model;
Step S22, selecting corresponding fan power in the database according to project requirements, and further selecting corresponding fan data;
step S23, adjusting the size parameters and the weight parameters of all parts of the fan;
and step S24, creating a model of each part of the fan, and adding newly created fan data into the database.
8. The method for intelligent deck arrangement of a marine wind power construction vessel according to claim 7, wherein the step S3 comprises:
Step S31, importing simulation object data;
s32, performing impeller assembly and hoisting simulation on a construction ship model, and determining a temporary fixing position of an impeller;
Step S33, simulating the splicing route of the blades according to the determined temporary fixing position of the impeller, and recording the safe operation range in the blade splicing process to obtain the impeller splicing range;
Step S34, detecting interference conditions of all components in real time;
Step S35, judging whether an object is positioned in the operable radius of the crane according to the linear distance between the placement point of the fan component and the center of the crane, and analyzing whether the fan component meets the hoisting condition at the position through the weight of the fan component and the load capacity of the crane;
Step S36, analyzing and judging the layout through the conditions and the ship layout range in the steps S33-S35, and determining the layout of all parts of the fan on a ship deck;
And S37, carrying out ship carrying balance analysis after the layout of all the components of the fan on a ship deck is reasonable, finally obtaining the placement position of the fan assembly and the lifting sequence of the fan assembly, and outputting a simulation scheme result.
9. The method for intelligent deck arrangement of a marine wind power construction vessel according to claim 8, wherein the step S4 comprises:
Step S41, importing the result data of the simulation scheme into the AR equipment;
s42, sweeping the physical environment of the construction ship, and constructing a virtual environment grid surface;
s43, performing ship positioning calibration on the ships in the virtual and physical worlds;
step S44, displaying the space positions and the front-back sequence of the virtual models of all the components of the fan in a real environment;
And step S45, installing the appointed fan assembly to a target position according to the positioning of the model on the real environment, and assembling the fan assembly according to the simulation sequence.
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| CN202410229155.6A CN118094920A (en) | 2024-02-29 | 2024-02-29 | Intelligent deck arrangement system and method based on offshore wind power construction ship |
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| CN202410229155.6A CN118094920A (en) | 2024-02-29 | 2024-02-29 | Intelligent deck arrangement system and method based on offshore wind power construction ship |
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