CN115640708A - Design method of hydraulic electric control system for ultra-large piling ship - Google Patents
Design method of hydraulic electric control system for ultra-large piling ship Download PDFInfo
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Abstract
The invention relates to a design method of a hydraulic electric control system for an ultra-large piling ship, which comprises the following steps: firstly, determining equipment related to the whole hydraulic electric control system, wherein the equipment comprises eight hoisting winches, two rigging winches, eight ship moving winches, two morning glory winches, a hydraulic system, a variable-amplitude oil cylinder, a main generator, an operation generator, an electric-drive full-slewing rudder propeller device, an electric side pushing device, an electric pilot pump, a hoisting winch operating platform and a ship moving winch operating platform; and then respectively designing a luffing cylinder and a hoisting winch control system, a ship moving winch control system, a hydraulic pump side control box, an electric pilot pump control box, a cable trunk trend and a cable path optimization design. The invention has the advantages that: the shortest straight path is taken by optimizing the positions of the operation distribution board, the main distribution board and the related generators, so that the purpose that the driving power supply path is nearest is achieved.
Description
Technical Field
The invention relates to the field of pile driving ships, in particular to a design method of a hydraulic electric control system for an ultra-large pile driving ship.
Background
The pile driving boat is a project boat for driving foundation piles and pulling piles in hydraulic construction, and is generally named after the pile driving length, such as a 36-meter pile driving boat, a 54-meter pile driving boat and the like. The ship is of a steel box structure and does not have self-navigation, and a firm triangular truss type pile frame mechanism and a pile driving hammer are arranged in the center of the bow of the ship. During operation, the linkage mechanisms such as a steel cable, a pulley, a winch and the like are used for completing the operations of lifting a pile, moving a ship and positioning, the pile is driven into the water by virtue of the explosive force of the pile hammer, the pile driven into the soil can be pulled up by replacing the pile hammer with the pile hammer, and the pile can be used as a crane ship after the pile hammer is removed. The pile driving barge can operate on coastal areas, rivers and lakes with a certain water depth, and needs to be matched with an anchor throwing boat, a tugboat and a pile barge during operation.
Generally, the longer the pile driving vessel, the more hydraulic pumps and winches are arranged on the vessel to realize the heavy operation of larger piles. For example, a 140-meter-level pile driving ship is provided with a DP0 dynamic positioning unit, wherein the total length is 136 meters, the profile width is 39 meters, the profile depth is 8 meters, and the world maximum pile frame is provided with the height of 142 meters, the maximum operation pile weight is 700 tons, the maximum pile sinking length is 118 meters + the water depth, and the maximum pile driving diameter is 6 meters. The hydraulic electric control system of the ship can drive 20 hydraulic pumps arranged in a hydraulic pump cabin, 20 hydraulic winches arranged on the main deck surface, a plug pin oil cylinder, a variable amplitude oil cylinder, an auxiliary oil cylinder, an adjusting oil cylinder and the like for pushing the pile frame to complete all pile driving working conditions of the ship.
The hydraulic electric control system is a controllable system for controlling the hydraulic machinery to be converted into automation. On the basis that the PLC controls the switching value, closed-loop control of the analog value is achieved, and the problem that the accuracy of pressure control of a hydraulic system is not high is solved. Meanwhile, the PLC communicates with the touch screen on line, man-machine conversation is achieved, the hydraulic system is monitored and managed in an all-around mode, and working conditions and fault conditions of the hydraulic system are known in real time.
When the hydraulic electric control system of the 140-meter piling ship is designed, the work of 20 hydraulic pumps and 20 hydraulic winches needs to be realized, 285 electromagnetic valves and 250 sensors need to be added, in order to ensure continuous operation, about 150 PLC modules, more than 600 relays (with indicating lamps) and fuses need to be used for the whole ship to serve as hardware safety measures, the whole system is very large and complex, when the hydraulic electric control system is connected in a conventional mode, nearly 2000 hard points (namely the number of the connected cables) are generated, the hard point connection is more, and although the logic is simple, the realization is very complex; in addition, the whole system adopts a control station to be intensively arranged, has more functions and is inconvenient to operate, and adopts a diesel engine to directly drive the hydraulic pump, so that the system is one-purpose and only can independently drive a steering oar or independently drive the hydraulic pump.
Disclosure of Invention
The invention aims to provide a design method of a hydraulic electric control system for an ultra-large piling ship.
In order to solve the technical problems, the technical scheme of the invention is as follows: a design method of a hydraulic electric control system for an ultra-large piling ship is characterized by comprising the following innovation points: the method comprises the following steps:
s1: firstly, determining equipment related to the whole hydraulic electric control system, wherein the equipment comprises eight hoisting winches, two rigging winches, eight ship moving winches, two towing winch, a hydraulic system, a luffing cylinder, a main generator, an operation generator, an electric driving full-rotation rudder propeller device, an electric side pushing device, an electric pilot pump, a hoisting winch operating platform and a ship moving winch operating platform, wherein each winch is arranged on a main deck of a pile driving ship, a hoisting winch substation control cabinet is arranged beside each hoisting winch, a ship moving winch substation control cabinet is arranged beside each ship moving winch, and all the equipment have high noise resistance and low radiation characteristics;
s2: the control system of the luffing cylinder and the hoisting winch is designed, the luffing cylinder and the hoisting winch operating platform are both arranged in the center of a cab of a pile driving vessel, the hoisting winch operating platform realizes electric control proportional operation on the hoisting winch, the rigging winch and the luffing cylinder through a friction type stepless speed change control electric handle, and a brake clutch switching button and a state indicator lamp, a fast and slow gear switching button and an indicator lamp, hydraulic pressure digital display and overload/overhigh alarm are arranged on the hoisting winch operating platform;
s3: the design of a ship moving winch control system is characterized in that a ship moving winch operating platform is arranged on the right side of a control room of a pile driving ship, the ship moving winch operating platform controls an electric handle to realize electric control proportional operation on a ship moving winch and a traction winch through friction type stepless speed change, and a brake clutch switching button and a state indicator lamp, a fast and slow gear switching button and an indicator lamp and hydraulic pressure digital display are arranged on the ship moving winch operating platform;
s4: the design of a hydraulic pump machine side control box, the hydraulic pump machine side control box is arranged at a machine side operation position of each winch, a spring reset type stepless speed change control electric handle, a brake clutch switching button and a state indicator lamp, a fast-slow gear switching button and an indicator lamp are arranged in the hydraulic pump machine side control box, 8 hoisting winches, 8 ship moving winches, 2 rigging winches and 2 cow pulling winches on a ship are operated on site, and a machine side portable operation box is also arranged on a luffing cylinder;
s5: the design of the electric pilot pump control box is that the electric pilot pump control box is arranged in the cabin of the piling ship;
s6: the design of the main trend of the cable is characterized in that an electrically-driven full-rotation rudder propeller device is respectively arranged on the port and the starboard of a stern rudder propeller cabin of a pile driving ship, two main generators and four operation generators are arranged in a middle cabin of the ship, twenty hydraulic pumps are arranged in a hydraulic pump cabin on the partition wall of the middle cabin of the ship and used for driving twenty winches, and two electric side-pushing devices are arranged in a stern side-pushing cabin;
s7: the cable path optimization design is characterized in that a centralized control room is arranged obliquely above a main generator and an operation generator, an operation distribution board and the main distribution board are all located in the centralized control room, a ship moving winch operation platform, a hoisting winch operation platform, a hydraulic pump side control box, a ship moving winch substation control cabinet and a hoisting winch substation control cabinet are connected through a ProfiNet ring network communication link, a power cable in a ring network and a network cable of a signal link are all laid separately, network redundancy is arranged, and a management type switch is used for carrying out data transmission, acquisition and sharing on the whole hydraulic electric control system.
Further, in the step S2, the hoisting winch control system is further provided with a touch screen and a first display, the touch screen is used for parameter setting, system start and stop and pump set selection switching operation of the hydraulic system, and the first display is used for displaying the height position, the speed and the tonnage of the hook hammer of the hoisting winch and the rigging winch, the working state of a hydraulic pump station, the operation direction indication of each group of winches, the real-time parameters of the related sensors and alarming.
Furthermore, a torquer and a CCTV system interface are reserved on the first display and used for real-time calculation, monitoring and video recording.
Further, in the step S3, the ship moving winch control system is further equipped with a second display, and the second display is used for displaying the rope length and the pulling force of the ship moving winch, the operation direction indication of each group of winches, the working state of the hydraulic pump station of the ship moving winch, and the real-time parameters and the alarm of the related sensors.
Furthermore, a GPS piling and positioning measurement system and a CCTV system interface are reserved on the second display and used for winch action display, clutch and brake control.
Furthermore, the hydraulic electric control system adopts a frequency conversion system to drive the steering oar and the hydraulic pump, and the frequency conversion system is provided with a switch cabinet.
Furthermore, the hydraulic electric control system adopts an OPC Server general interface to provide data sharing for users.
The invention has the advantages that: the design method of the hydraulic electric control system provided by the invention achieves the purpose of nearest driving power supply path by optimizing the positions of the operation distribution board, the main distribution board and the related generators and taking the shortest straight path, and saves about 200 meters of main power supply power cables.
Secondly, the ring network design is utilized to reduce the hard point connection from the hydraulic winch to the control center, reduce the cable laying quantity and outfitting layout, release space for a cable channel, save about two kilometers of control and signal cables, and save 0.5 ton of electrical outfitting at the same time.
Then, the traditional scheme that a diesel engine is used for directly driving a hydraulic pump is changed, so that the pump set which is not needed can be selectively shut down under the condition that the switching cabinet is used under the piling working condition which cannot be stopped originally, and electricity and oil are saved to the maximum extent.
And intelligent management is realized, all OPC Server universal interfaces are used, and users can share system data through a data center conveniently.
In order to ensure the signal accuracy, the plug pin oil cylinder on the pile frame is changed from electric control liquid to hydraulic control liquid, and a set of electric control system and pump station are saved.
The hydraulic and electric control combined system not only enables an electronic integration technology and a computer science technology to be applied to the aspects of instruction, signal processing and detection feedback of an engineering control system, but also enables the hydraulic control system to convert heat generated by power loss into energy of other types, and can efficiently complete a series of actions such as starting, braking, reversing and the like through an executing mechanism with higher response speed.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic diagram of an electronic control system according to the present invention.
Fig. 2 is a hydraulic pump arrangement and control diagram of the present invention.
Fig. 3 is a ring network connection diagram of the hydraulic electric control system in the invention.
FIG. 4 is a schematic interface diagram of the hoist control system of the present invention.
FIG. 5 is a schematic interface diagram of the control system of the ship-moving winch of the present invention.
Detailed Description
The following examples are presented to enable one of ordinary skill in the art to more fully understand the present invention and are not intended to limit the scope of the embodiments described herein.
The design method of the hydraulic electric control system for the ultra-large piling ship is realized by the following steps:
s1: firstly, determining equipment related to the whole hydraulic electric control system, wherein the equipment comprises eight hoisting winches, two rigging winches, eight ship moving winches, two towing winch, a hydraulic system, a luffing cylinder, a main generator, an operation generator, an electric driving full-rotation rudder propeller device, an electric side pushing device, an electric pilot pump, a hoisting winch operating platform and a ship moving winch operating platform, wherein each winch is arranged on a main deck of a pile driving ship, a hoisting winch substation control cabinet is arranged beside each hoisting winch, a ship moving winch substation control cabinet is arranged beside each ship moving winch, and all the equipment has high noise resistance and low radiation characteristics.
S2: the control system of the luffing cylinder and the hoisting winch is designed, the luffing cylinder and the hoisting winch operating platform are both arranged in the center of a cab of a pile driving vessel, the hoisting winch operating platform realizes electric control proportional operation on eight hoisting winches, two rigging winches and the luffing cylinder through a friction type stepless speed change control electric handle, and a brake clutch switching button and a state indicator lamp, a fast and slow gear switching button and an indicator lamp, a hydraulic pressure digital display and an overload/overhigh alarm are arranged on the hoisting winch operating platform.
The hoisting winch control system is further provided with a Siemens 12-inch touch screen and a 24-inch first display, the touch screen is used for parameter setting, system starting and stopping and pump set selection switching operation of a hydraulic system, and the first display is used for displaying the height position, the speed and the tonnage of a hook hammer of a hoisting winch and a rigging winch, the working state of a hydraulic pump station, the operation direction indication of each group of winches and the real-time parameters of related sensors and alarming, and is shown in figure 4.
The first display is also provided with a torquer and a CCTV system interface for real-time calculation, monitoring and video recording.
S3: the ship moving winch control system is designed, a ship moving winch operating platform is arranged on the right side of a control room of a pile driving ship, the ship moving winch operating platform realizes electric control proportional operation on eight ship moving winches and two cow pulling winches through a friction type stepless speed change control electric handle, and a brake clutch switching button and a state indicator lamp, a fast and slow gear switching button and an indicator lamp and hydraulic pressure digital display are arranged on the ship moving winch operating platform.
The ship moving winch control system is also provided with a 24-inch second display, and the second display is used for displaying the rope length and the pulling force of the ship moving winch, the operation direction indication of each group of winches, the working state of a hydraulic pump station of the ship moving winch and the real-time parameters and the alarm of related sensors, as shown in figure 5.
And a GPS piling positioning measurement system and a CCTV system interface are reserved on the second display and are used for winch action display, clutch and brake control conditions.
S4: the design of the hydraulic pump side control box is characterized in that the hydraulic pump side control box is arranged at the side operation position of each winch, a spring reset type stepless speed change control electric handle, a brake clutch switching button and a state indicator lamp, a fast-slow gear switching button and an indicator lamp are arranged in the hydraulic pump side control box, 8 hoisting winches, 8 ship moving winches, 2 rigging winches and 2 towing winch on a ship are operated on the spot, and a side portable variable amplitude oil cylinder is also arranged, so that the operation visual field of constructors is facilitated, and safety prevention is well achieved.
S5: the design of electronic pilot pump control box, electronic pilot pump control box arranges in pile driver's cabin, two electronic pilot pumps are 11kW power, 1 electronic pilot pump is responsible for the start/stop control of winch hydraulic system pilot pump, 1 electronic pilot pump is responsible for the start/stop control of the hydraulic system pilot pump that becomes width of cloth in addition, its main objective is before the main pump starts to provide low pressure oil for hydraulic control system such as operating handle, control valve, diverter valve etc. makes the main pump can open safely, can also provide the function of preheating simultaneously, guarantee whole hydraulic system's normal work with this.
S6: the design of cable trunk trend, 9800mm department respectively sets up an electric drive full-slewing rudder propeller device of 1500kW in the stern rudder cabin side distance of driving a pile, set up two 350 kW's main generator and four 1250kW operation generators in the cabin, set up twenty hydraulic pumps in the hydraulic pump storehouse of cabin next door in the ship and be used for driving twenty winches of installing on the main deck of driving a pile, in twenty hydraulic pumps, wherein, 16 are 250 kW's hydraulic pump, the remaining 4 are 160 kW's hydraulic pumps, set up two 600 kW's electronic sideslip devices in the stern sideslip cabin.
S7: the cable path optimization design is characterized in that a centralized control room is arranged above a main generator and an operation generator, the operation distribution board and the main distribution board are all located in the centralized control room, the main generator is matched with the main distribution board of the centralized control room and used for supplying power to daily equipment of a whole ship, and the operation distribution board of the operation generator is matched with the centralized control room and used for driving main push, side push, 20 hydraulic pumps and other main equipment.
The ship-moving winch operating platform, the hoisting winch operating platform, the hydraulic pump side control box, the ship-moving winch substation control cabinet and the hoisting winch substation control cabinet are connected through a ProfiNet looped network communication link, as shown in figure 3, all hard points such as electromagnetic valves, encoders, brake clutch proximity switches and the like which are originally connected to the local winch and the control platform are completely omitted, the cable laying quantity and the use of electric fittings are reduced, the arrangement space of a cable channel is saved, and a certain amount of cable purchasing cost is saved.
The power cable in the ring network and the network cable of the signal link are all laid separately, network redundancy is set, and a management type switch is used for transmitting, collecting and sharing data of the whole hydraulic electric control system.
The hydraulic electric control system adopts a frequency conversion system to drive the steering oar and the hydraulic pump, the frequency conversion system is provided with a switch cabinet, and the hydraulic electric control system can be used for one machine and two purposes, can drive the steering oar and the hydraulic pump and is mutually standby. The working condition of the ship is that the ship does not move when piling, does not drive when moving, and the working condition that the ship and the ship move simultaneously can not appear, so under the working condition that the piling operation is satisfied, the pump can be selectively stopped according to the actual working condition, and the purpose of saving electric energy and oil consumption is achieved.
The hydraulic electric control system adopts an OPC Server general interface to provide data sharing for users. The OPC Server is a set of architecture for realizing industrial automation data acquisition by using COM/DCOM technology of Microsoft. The OPC Server provides an OPC interface, which returns information values of a physical device (PLC) connected thereto to a client application through the interface. Through the interfaces, the client can obtain the information of the physical device connected with the OPC Server. OPC is a communication standard that has the advantages of language independence, code reusability, ease of integration, and the like.
The design scheme firstly achieves the purpose of driving the nearest power supply path by optimizing the positions of the operation distribution board, the main distribution board and the related generators, and saves about 200 meters of main power supply power cables; secondly, hard point connection from the hydraulic winch to a control center is reduced by utilizing ring network design, about two kilometers of control and signal cables are saved, and 0.5 ton of electric outfitting is saved; then, the traditional scheme that a diesel engine is used for directly driving a hydraulic pump is changed, so that the pump set which is not needed to be used can be selectively shut down under the condition that the switching cabinet is used under the piling working condition which cannot be stopped originally, and electricity and oil are saved to the maximum extent; finally, in order to ensure the signal accuracy, the plug pin oil cylinder on the pile frame is changed from electric control liquid to hydraulic control liquid, and a set of electric control system and a pump station are saved.
Based on the above discussion, the system combining hydraulic pressure and electric control not only enables the electronic integration technology and the computer science technology to be applied to the aspects of instruction, signal processing and detection feedback of the engineering control system, but also enables the hydraulic control system to convert heat generated by power loss into energy of other types, and can efficiently complete a series of actions such as starting, braking, reversing and the like through an executing mechanism with higher response speed.
It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A design method of a hydraulic electric control system for an ultra-large piling ship is characterized by comprising the following steps: the method comprises the following steps:
s1: firstly, determining equipment related to the whole hydraulic electric control system, wherein the equipment comprises eight hoisting winches, two rigging winches, eight ship moving winches, two towing winch, a hydraulic system, a luffing cylinder, a main generator, an operation generator, an electric driving full-rotation rudder propeller device, an electric side pushing device, an electric pilot pump, a hoisting winch operating platform and a ship moving winch operating platform, wherein each winch is arranged on a main deck of a pile driving ship, a hoisting winch substation control cabinet is arranged beside each hoisting winch, a ship moving winch substation control cabinet is arranged beside each ship moving winch, and all the equipment have high noise resistance and low radiation characteristics;
s2: the control system of the luffing cylinder and the hoisting winch is designed, the luffing cylinder and the hoisting winch operating platform are both arranged in the center of a cab of a pile driving vessel, the hoisting winch operating platform realizes electric control proportional operation on the hoisting winch, the rigging winch and the luffing cylinder through a friction type stepless speed change control electric handle, and a brake clutch switching button and a state indicator lamp, a fast and slow gear switching button and an indicator lamp, hydraulic pressure digital display and overload/overhigh alarm are arranged on the hoisting winch operating platform;
s3: the design of a ship moving winch control system is characterized in that a ship moving winch operating platform is arranged on the right side of a control room of a pile driving ship, the ship moving winch operating platform controls an electric handle to realize electric control proportional operation on a ship moving winch and a traction winch through friction type stepless speed change, and a brake clutch switching button and a state indicator lamp, a fast and slow gear switching button and an indicator lamp and hydraulic pressure digital display are arranged on the ship moving winch operating platform;
s4: the design of a hydraulic pump machine side control box, the hydraulic pump machine side control box is arranged at a machine side operation position of each winch, a spring reset type stepless speed change control electric handle, a brake clutch switching button and a state indicator lamp, a fast-slow gear switching button and an indicator lamp are arranged in the hydraulic pump machine side control box, 8 hoisting winches, 8 ship moving winches, 2 rigging winches and 2 cow pulling winches on a ship are operated on site, and a machine side portable operation box is also arranged on a luffing cylinder;
s5: the design of the electric pilot pump control box is that the electric pilot pump control box is arranged in the cabin of the piling ship;
s6: the design of the main trend of the cable is characterized in that an electrically-driven full-rotation rudder propeller device is respectively arranged on the port and the starboard of a stern rudder propeller cabin of a pile driving ship, two main generators and four operation generators are arranged in a middle cabin of the ship, twenty hydraulic pumps are arranged in a hydraulic pump cabin on the partition wall of the middle cabin of the ship and used for driving twenty winches, and two electric side-pushing devices are arranged in a stern side-pushing cabin;
s7: the cable path optimization design is characterized in that a centralized control room is arranged obliquely above a main generator and an operation generator, an operation distribution board and the main distribution board are all located in the centralized control room, a ship moving winch operation platform, a hoisting winch operation platform, a hydraulic pump side control box, a ship moving winch substation control cabinet and a hoisting winch substation control cabinet are connected through a ProfiNet ring network communication link, a power cable in a ring network and a network cable of a signal link are all laid separately, network redundancy is arranged, and a management type switch is used for carrying out data transmission, acquisition and sharing on the whole hydraulic electric control system.
2. The design method of the hydraulic electric control system for the ultra-large piling ship according to claim 1, characterized in that: in the step S2, the hoisting winch control system is further provided with a touch screen and a first display, the touch screen is used for parameter setting, system start and stop and pump set selection switching operation of the hydraulic system, and the first display is used for displaying the height position, speed and tonnage of the hook hammer of the hoisting winch and rigging winch, the working state of a hydraulic pump station, the operation direction indication of each group of winches, the real-time parameters of related sensors and alarming.
3. The design method of the hydraulic electric control system for the ultra-large pile driving ship according to claim 2, characterized in that: and a torquer and a CCTV system interface are reserved on the first display and used for real-time calculation, monitoring and video recording.
4. The design method of the hydraulic electric control system for the ultra-large piling ship according to claim 1, characterized in that: in the step S3, the ship moving winch control system is further equipped with a second display, and the second display is used for displaying the rope length and the pulling force of the ship moving winch, the operation direction indication of each group of winches, the working state of the hydraulic pump station of the ship moving winch and the real-time parameters and the alarm of related sensors.
5. The design method of the hydraulic electric control system for the ultra-large piling ship according to claim 4, characterized in that: and a GPS piling positioning measurement system and a CCTV system interface are reserved on the second display and are used for winch action display, clutch and brake control.
6. The design method of the hydraulic electric control system for the ultra-large piling ship according to claim 1, characterized in that: the hydraulic electric control system adopts a frequency conversion system to drive the steering oar and the hydraulic pump, and the frequency conversion system is provided with a switch cabinet.
7. The design method of the hydraulic electric control system for the ultra-large piling ship according to claim 1, characterized in that: the hydraulic electric control system adopts an OPC Server general interface to provide data sharing for users.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116065581A (en) * | 2023-03-04 | 2023-05-05 | 中交一航局第一工程有限公司 | Distributed large pile driving ship and pile driving operation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857521A (en) * | 2016-03-31 | 2016-08-17 | 中交第三航务工程局有限公司 | Boat positioning system and method used for wind-power work boat |
| CN216269866U (en) * | 2021-12-22 | 2022-04-12 | 中交第一航务工程局有限公司 | Integrative ship hydraulic control system and integrative ship |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857521A (en) * | 2016-03-31 | 2016-08-17 | 中交第三航务工程局有限公司 | Boat positioning system and method used for wind-power work boat |
| CN216269866U (en) * | 2021-12-22 | 2022-04-12 | 中交第一航务工程局有限公司 | Integrative ship hydraulic control system and integrative ship |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116065581A (en) * | 2023-03-04 | 2023-05-05 | 中交一航局第一工程有限公司 | Distributed large pile driving ship and pile driving operation method |
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