Offshore charging pile floating system based on HDPE floating breakwater
By adopting the design of HDPE floating breakwater in the offshore charging pile floating system, combining wind power and solar power generation, and using AI scheduling modules and sensor systems, the problems of complex and changeable marine environment and large waves are solved, and the stability, safety and high energy self-sufficiency rate of marine charging are achieved for ships.
Patent Information
- Application Number
- CN202510368040.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-26
- Publication Date
- 2025-05-13
AI Technical Summary
The marine environment is complex and changeable and the waves are large, making it difficult to provide stable and safe electrical energy recharge to ships at sea.
The offshore charging pile floating system is adopted based on HDPE floating breakwater, including floating breakwater, floating platform, power generation device, battery pack, charging pile, data center and control unit. The floating breakwater consists of multiple HDPE floating box modules, connected to the seabed through anchor cables. The floating platform is equipped with a counterweight water tank and a control tank. The power generation device includes a wind turbine and a solar photovoltaic module. The control unit uses attitude sensors, wave radars and AI scheduling modules.
It effectively improves the wave attenuation efficiency, and the roll angle of the control platform is within ±5°, ensuring the stability and safety of ships' offshore charging, while improving energy self-sufficiency, reducing carbon emissions and maintenance costs.
Smart Images

Figure CN119975684A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of marine engineering technology, and in particular to an offshore charging pile floating system based on a HDPE floating breakwater. Background Art
[0002] New energy ships will become the main force of future maritime transportation, and the offshore charging system used for stable power supply of ships will occupy an important position. The marine environment is complex and changeable, and a floating offshore charging pile system that can adapt to different sea conditions and weather conditions is needed. This system not only combines the high stability of the offshore charging pile floating platform and the high safety of ship charging, but also ensures the continuity of multi-energy collaborative supply.
[0003] Traditional concrete breakwaters are heavy and non-recyclable, making it difficult to match the flexible needs of floating charging piles. Independent charging pile platforms are prone to capsizing or excessive displacement in severe sea conditions. The offshore power supply is single and lacks a multi-energy collaborative management mechanism. Therefore, the existing technology urgently needs to be further improved. Summary of the invention
[0004] In view of the above-mentioned deficiencies of the prior art, the purpose of the present invention is to propose an offshore charging pile floating system based on HDPE floating breakwater to solve the problem that the marine environment is complex and changeable and the waves are large, making it difficult to supply electricity to ships at sea.
[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:
[0006] An offshore charging pile floating system based on HDPE floating breakwater includes a floating breakwater, a floating platform, a power generation device, a battery pack, a charging pile, a data center and a control unit. The floating breakwater is a circular ring structure with a gap. The floating platform is arranged at the center of the floating breakwater, and a plurality of anchor chains are arranged at the bottom thereof.
[0007] The floating breakwater includes a plurality of HDPE pontoon modules, all of which are arranged in sequence at equal intervals along the circumferential direction, and any two adjacent HDPE pontoon modules are movably connected via a wave-breaking plate, and some of the HDPE pontoon modules are respectively provided with a set of anchor cables and connected to the seabed via the anchor cables.
[0008] The floating platform is a vertically arranged hollow shell, and has an independent ballast water tank and a control cabin inside the floating platform. The ballast water tank is located below the control cabin, and the battery pack and the data center are both arranged inside the control cabin.
[0009] There are a plurality of charging piles which are evenly arranged in a ring shape on the top of the floating platform. Each charging pile is powered by the battery pack, and each charging pile is equipped with a charging interface.
[0010] The power generation device includes a wind turbine and a solar photovoltaic module. There are multiple wind turbines regularly installed on the top of the floating platform. The top of each HDPE pontoon module is provided with a solar photovoltaic module. The wind turbine and the solar photovoltaic module are electrically connected to the battery pack.
[0011] The control unit includes a posture sensor, a wave radar and an AI scheduling module, and the posture sensor, wave radar and AI scheduling module are respectively connected to the data center for communication.
[0012] Furthermore, the HDPE pontoon module is an inverted L-shaped integrated structure consisting of a pontoon monomer 1 and a pontoon monomer 2, and both the pontoon monomer 1 and the pontoon monomer 2 are strip structures with square cross-sections.
[0013] The pontoon monomer 1 is arranged horizontally along the normal direction of the floating breakwater, and the pontoon monomer 2 is arranged vertically, with the upper end fixedly connected to the bottom of the pontoon monomer 1, and the end of the pontoon monomer 1 away from the floating platform protrudes outward relative to the pontoon monomer 2 below it.
[0014] Furthermore, the wave-breaking plate is a curved rectangular parallelepiped, which is vertically arranged between two HDPE pontoon modules, and its arc-shaped convex surface is located on the side away from the floating platform.
[0015] The middle and upper part of the wave-breaking plate has a plurality of regularly distributed circular through holes, and both sides are connected to the side walls of adjacent HDPE buoyancy chamber modules through a set of universal hinges, each set of universal hinges includes two universal hinges arranged one above the other.
[0016] The end surface of the first pontoon monomer is provided with a rectangular groove, which extends to the upper surface or the lower surface of the first pontoon monomer. The upper part of the second pontoon monomer is provided with a plurality of similar circular through holes.
[0017] Furthermore, the first and last HDPE buoy modules are each configured with a set of anchor cables, and the HDPE buoy modules in the middle positions with equal intervals are also each configured with a set of anchor cables.
[0018] Each group of anchor cables includes three configured anchor cables. The upper ends of the three anchor cables in the same group are connected to the middle position of the bottom of the corresponding HDPE pontoon module, and the lower ends are respectively connected to a suction cylinder. The three suction cylinders are arranged in an equilateral triangle and fixed on the seabed.
[0019] Furthermore, the solar photovoltaic assembly includes a photovoltaic panel and a follower bracket, wherein the photovoltaic panel is installed above the pontoon monomer 1 through the follower bracket, and the follower bracket is configured with a servo motor capable of adjusting the tilt angle of the photovoltaic panel.
[0020] The electric energy output by the wind turbine is combined with the electric energy output by the photovoltaic panel through the AC / DC converter, and then charged to the battery pack through the bidirectional converter or directly supplied to the charging pile.
[0021] Furthermore, the upper part of the floating platform is cylindrical and the lower part is conical, and its upper end has a top cover that closes the internal cavity. The inner middle part of the floating platform has a partition that divides the interior of the floating platform into the ballast water tank and the control cabin.
[0022] The lower part of the floating platform is provided with an inlet and outlet pipe connected to the counterweight water tank, and the inlet and outlet pipe is equipped with a submersible pump and an electric control valve. The signal ends of the submersible pump and the electric control valve are both connected to the data center for communication.
[0023] Furthermore, all anchor chains are evenly arranged in a ring shape below the floating platform, and the lower inner side of the floating platform is provided with equipment cabins with the same number as the anchor chains and corresponding positions, and a winch mechanism is arranged inside each equipment cabin.
[0024] The upper end of each anchor chain passes through the outer wall of the floating platform into the corresponding equipment cabin and is connected to the hoisting mechanism in the equipment cabin. The lower end is connected to an anchor foundation. All anchor foundations are evenly distributed in a ring shape and fixed on the seabed.
[0025] Furthermore, the data center is equipped with an edge computing module, each solar photovoltaic module is equipped with an attitude sensor, a wave radar is installed above the floating platform to monitor the wave intensity of each berth outside the floating platform, and the AI scheduling module commands the ship to enter the predetermined berth.
[0026] By adopting the above technical scheme, the beneficial technical effect of the present invention is: the floating breakwater of the present invention can effectively improve the wave attenuation efficiency, and the platform roll angle is controlled within ±5°, maintaining the stability and safety of the ship's offshore charging. At the same time, the charging system has a high energy self-sufficiency rate, effectively reducing carbon emissions and maintenance costs, and promoting the wider application and development of renewable energy in the marine field. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] Figure 1 It is a structural schematic diagram of an offshore charging pile floating system based on a HDPE floating breakwater of the present invention.
[0028] Figure 2 It is a schematic diagram of the combined structure of the HDPE buoy module, the wave-breaking plate and the solar photovoltaic assembly of the present invention.
[0029] Figure 3 It is a structural schematic diagram of the HDPE buoyancy module of the present invention.
[0030] Figure 4It is a schematic diagram of the combined structure of the floating platform and the charging pile of the present invention.
[0031] Figure 5 It is a schematic diagram of the internal structure of the floating platform of the present invention.
[0032] Figure 6 It is a cross-sectional view of the floating platform of the present invention. DETAILED DESCRIPTION
[0033] The present invention is described in detail below in conjunction with the accompanying drawings:
[0034] Example, combined with Figures 1 to 6 A floating system for offshore charging piles based on HDPE floating breakwaters includes a floating breakwater 1, a floating platform 2, a power generation device, a battery pack 3, a charging pile 4, a data center 5, and a control unit. The floating breakwater 1 is a circular ring structure with a gap. The floating breakwater 1 is connected to the seabed through multiple groups of anchor cables 13. The floating breakwater 1 floats on the sea surface, and an area suitable for ships to dock and charge is formed inside the floating breakwater 1. The gap direction of the floating breakwater 1 is determined according to the wind rose diagram of the sea area where the offshore charging pile floating system is anchored, that is, the gap of the floating breakwater 1 deviates from the incident direction of the dominant waves in the sea area, so as to reduce the waves from entering its internal area through the gap of the floating breakwater 1.
[0035] The floating breakwater 1 includes a plurality of HDPE pontoon modules 11, all of which are arranged in sequence at equal intervals along the circumferential direction, and any two adjacent HDPE pontoon modules 11 are movably connected via a wave-breaking plate 12, and some of the HDPE pontoon modules 11 are respectively provided with a set of anchor cables 13 and connected to the seabed via the anchor cables 13.
[0036] Specifically, the HDPE pontoon module 11 is an inverted L-shaped integrated structure consisting of a pontoon monomer 1 111 and a pontoon monomer 2 112 , and both the pontoon monomer 1 111 and the pontoon monomer 2 112 are strip structures with square cross-sections.
[0037] All pontoon monomers 111 are arranged horizontally in their length direction along the normal direction of the floating breakwater 1, and pontoon monomers 112 are arranged vertically, with their upper ends fixedly connected to the bottoms of pontoon monomers 111. One end of pontoon monomer 111 away from the floating platform 2 protrudes outward relative to pontoon monomer 2 112 below it, and has a better ability to resist waves. The impact of waves will be reflected upward and outward, reducing the impact of the next wave.
[0038] The wave-breaking plate 12 is a curved rectangular parallelepiped, which is vertically arranged between two HDPE pontoon modules 11, and its arc-shaped convex surface is located on the side away from the floating platform 2. The middle and upper part of the wave-breaking plate 12 has a plurality of regularly distributed circular through holes 14, and the two sides are respectively connected to the side walls of adjacent HDPE pontoon modules 11 through a set of universal hinges, each set of universal hinges 15 includes two universal hinges 15 arranged one above and one below, specifically, one end of the universal hinge 15 is fixedly connected to the side wall of the wave-breaking plate 12, and the other end is fixedly connected to the side wall of the pontoon monomer 111, and the two adjacent HDPE pontoon modules 11 are flexibly connected through the wave-breaking plate 12, which greatly reduces the wave height in the internal area of the floating breakwater 1 and reduces the intensity of the sea waves after passing through the floating breakwater 1.
[0039] The end surface of the first pontoon monomer 111 has a rectangular groove, which extends to the upper surface or lower surface of the first pontoon monomer 111. The upper part of the second pontoon monomer 112 has the same plurality of circular through holes 14. The wave-breaking plate 12 and the circular through holes 14 on the second pontoon monomer 112 can absorb tidal energy and further block the transmission of sea waves.
[0040] The first and last HDPE pontoon modules 11 are each configured with a set of anchor cables 13, and the HDPE pontoon modules 11 in the middle positions are also configured with a set of anchor cables 13. Each set of anchor cables 13 includes three anchor cables 13 with configurations, and the upper ends of the three anchor cables 13 in the same set are connected to the middle position of the bottom of the corresponding HDPE pontoon module 11, and the lower ends are respectively connected to a suction cylinder, and the three suction cylinders are arranged in an equilateral triangle and fixed on the seabed.
[0041] The number of anchor cables 13 used to connect the floating breakwater 1 to the seabed can be determined according to the wave intensity and frequency reflected by the wind rose diagram of the sea area. When the wave intensity is large and / or the wave frequency is high, the number of anchor cables 13 can be appropriately increased to ensure that the floating breakwater 1 maintains a circular structure, which is crucial for reducing the wave height inside it. A group of anchor cables 13 arranged in an equilateral triangle can minimize the position deviation of the HDPE pontoon module 11 on the sea surface to avoid affecting the stability of the overall structure. The change in the size of the gap of the floating breakwater 1 is controlled within a small range to avoid affecting the entry and exit of ships.
[0042] The floating platform 2 is arranged at the center of the floating breakwater 1, and six anchor chains 23 are arranged at the bottom thereof. The floating platform 2 is a vertically arranged hollow shell 21, and the interior of the floating platform 2 has an independent ballast water tank 201 and a control cabin 202. The ballast water tank 201 is located below the control cabin 202. The battery pack 3 and the data center 5 are both arranged inside the control cabin 202. The battery pack 3 uses a lithium iron phosphate battery pack, and the data center 5 is equipped with a water cooling system to achieve cooling by heat exchange with seawater.
[0043] Specifically, the upper part of the floating platform 2 is cylindrical and the lower part is conical, and the upper end thereof has a top cover 25 that closes the internal cavity, and the inner middle part of the floating platform 2 has a partition 22, and the partition 22 divides the interior of the floating platform 2 into the ballast water tank 201 and the control cabin 202. The control cabin 202 is a closed structure, which provides buoyancy for the floating platform 2 so that the top of the floating platform 2 is always above the sea surface, avoiding the impact of seawater on the charging pile 4.
[0044] The lower part of the floating platform 2 has an inlet and outlet pipe connected to the ballast water tank 201, and the inlet and outlet pipe is equipped with a submersible pump and an electric control valve. The signal ends of the submersible pump and the electric control valve are both connected to the data center 5. The ballast water tank 201 is filled with seawater as a ballast to keep the floating platform 2 vertical and stable. The wave radar is installed above the floating platform 2, which can scan the wave height of the berth area around the floating platform 2 and the roll angle of the floating platform 2 in real time, and dynamically adjust the water volume in the ballast water tank 201 through the submersible pump to change the height of the center of gravity of the floating platform 2, so that the roll angle of the floating platform 2 is controlled within ±5°, and the stability and safety of the ship's charging at sea are maintained.
[0045] All anchor chains 23 are evenly arranged in a ring shape below the floating platform 2. The lower inner side of the floating platform 2 is provided with equipment cabins 203 equal in number to the anchor chains 23 and corresponding in position. A winch mechanism 24 is disposed inside each equipment cabin 203. The winch mechanism adopts a ship winch already available in the prior art.
[0046] The upper end of each anchor chain 23 passes through the outer wall of the floating platform 2 and enters the corresponding equipment cabin 203, and is connected to the hoisting mechanism 24 in the equipment cabin 203. The lower end is connected to an anchor foundation, and all anchor foundations are evenly distributed in a ring shape and fixed on the seabed. The interior of the equipment cabin 203 is divided into two areas by a steel plate, one of which is used to install the drum of the hoist, which is connected to the outside, and the other is a closed area for installing the stepper motor and reducer of the hoist. The reducer is connected to the drum through a transmission shaft, and the transmission shaft is in rotation with the steel plate. The signal end of each stepper motor is respectively connected to the data center 5, and the data center 5 controls the working state of all stepper motors through instructions. When the floating platform 2 descends or rises, each winch works synchronously to tighten or release the anchor chain 23, so that the anchor chain 23 is in the optimal tension state.
[0047] There are multiple charging piles 4, which are evenly arranged in a ring shape on the top of the floating platform 2. Each charging pile 4 is powered by the battery pack 3. The output power of the charging pile 4 is 200kW. Each charging pile 4 is equipped with a ship CCS standard charging interface for replenishing electrical energy for the ship.
[0048] The power generation device includes a wind turbine 61 and a solar photovoltaic module 62. There are multiple wind turbines 61, which are regularly installed on the top of the floating platform 2. A solar photovoltaic module 62 is provided on the top of each HDPE pontoon module 11. The wind turbine 61 and the solar photovoltaic module 62 are both electrically connected to the battery group 3.
[0049] The solar photovoltaic assembly 62 includes a photovoltaic panel and a follower bracket. The photovoltaic panel is installed above the pontoon unit 111 through the follower bracket. The output end of the photovoltaic panel is connected to the battery group 3 via the MPPT controller and the submarine cable. The follower bracket is equipped with a servo motor that can adjust the tilt angle of the photovoltaic panel so that the photovoltaic panel can automatically track the solar azimuth.
[0050] The electric energy output by the wind turbine 61 is combined with the electric energy output by the photovoltaic panel through the AC / DC converter, and is charged to the battery pack 3 through the bidirectional converter or directly supplied to the charging pile 4 .
[0051] The control unit includes a posture sensor, a wave radar and an AI scheduling module, which are respectively connected to the data center 5. The data center 5 is equipped with an edge computing module, each solar photovoltaic module 62 is equipped with a posture sensor, the wave radar is installed above the floating platform 2 to monitor the wave intensity of each berth outside the floating platform 2, and the AI scheduling module commands the ship to enter the predetermined berth.
[0052] When the wind speed and light conditions are good, the AI scheduling module starts the wind turbine 61 and the solar photovoltaic module 62, and the attitude sensor controls the photovoltaic panel to reach the optimal angle, thereby realizing the combined power generation of wind and photovoltaic, and directly supplies the electric energy to the charging pile 4 and the battery pack 3 for charging and energy storage; when the ship passes through the gap of the floating breakwater 1 and enters its internal area, the wave radar detects the wave intensity of each berth, and the AI scheduling module directs the ship to enter the predetermined charging position for charging. During the charging process, the wave radar (detection frequency X band) scans the wave height of the berth area in real time. When the effective wave height is detected to be greater than 1.5m, the AI scheduling module starts the following actions:
[0053] Instruct the counterweight water tank 201 to inject seawater (maximum adjustment rate 10m 3 / min), lower the center of gravity of the floating platform 2, and the winch mechanism 24 dynamically adjusts the tension of each anchor chain 23 to a preset safety threshold (120-150kN). If the roll angle is detected to be greater than 4°, charging is immediately suspended and an audible and visual alarm is triggered.
[0054] Parts not described in the present invention can be implemented by adopting or drawing on existing technologies.
[0055] Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.
[0056] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.
[0057] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.
Claims
1. An offshore charging pile floating system based on HDPE floating breakwater, characterized in that: It includes a floating breakwater, a floating platform, a power generation device, a battery pack, a charging pile, a data center and a control unit. The floating breakwater is a circular ring structure with a gap. The floating platform is arranged at the center of the floating breakwater, and a plurality of anchor chains are arranged at the bottom of the floating breakwater. The floating breakwater comprises a plurality of HDPE pontoon modules, all of which are arranged in sequence at equal intervals along the circumferential direction, and any two adjacent HDPE pontoon modules are movably connected by a wave-breaking plate, and some of the HDPE pontoon modules are respectively provided with a set of anchor cables, and are connected to the seabed through the anchor cables; The floating platform is a vertically arranged hollow shell, and has an independent ballast water tank and a control cabin inside the floating platform. The ballast water tank is located below the control cabin, and the battery pack and the data center are both arranged inside the control cabin; There are multiple charging piles, which are evenly arranged in a ring shape on the top of the floating platform. Each charging pile is powered by the battery pack, and each charging pile is equipped with a charging interface; The power generation device includes a wind turbine and a solar photovoltaic module. There are multiple wind turbines, which are regularly installed on the top of the floating platform. The top of each HDPE pontoon module is provided with a solar photovoltaic module. The wind turbine and the solar photovoltaic module are electrically connected to the battery pack. The control unit includes a posture sensor, a wave radar and an AI scheduling module, and the posture sensor, wave radar and AI scheduling module are respectively connected to the data center for communication.
2. According to claim 1, a floating system for offshore charging piles based on HDPE floating breakwaters is characterized in that: The HDPE pontoon module is an inverted L-shaped integrated structure consisting of a pontoon monomer 1 and a pontoon monomer 2, and both the pontoon monomer 1 and the pontoon monomer 2 are strip structures with square cross-sections; The pontoon monomer 1 is arranged horizontally along the normal direction of the floating breakwater, and the pontoon monomer 2 is arranged vertically, with the upper end fixedly connected to the bottom of the pontoon monomer 1, and the end of the pontoon monomer 1 away from the floating platform protrudes outward relative to the pontoon monomer 2 below it.
3. According to claim 2, a floating system for offshore charging piles based on HDPE floating breakwaters is characterized in that: The wave-breaking plate is a curved rectangular parallelepiped, which is arranged vertically between two HDPE pontoon modules, and its arc-shaped convex surface is located on the side away from the floating platform; The middle and upper part of the wave-breaking plate has a plurality of regularly distributed circular through holes, and the two sides are connected to the side walls of the adjacent HDPE pontoon modules through a set of universal hinges, each set of universal hinges includes two universal hinges arranged one above and one below; The end surface of the first pontoon monomer is provided with a rectangular groove, which extends to the upper surface or the lower surface of the first pontoon monomer. The upper part of the second pontoon monomer is provided with a plurality of similar circular through holes.
4. The offshore charging pile floating system based on HDPE floating breakwater according to claim 1 is characterized in that: The first and last HDPE pontoon modules are each equipped with a set of anchor cables, and the HDPE pontoon modules in the middle positions are also equipped with a set of anchor cables in equal numbers; Each group of anchor cables includes three configured anchor cables. The upper ends of the three anchor cables in the same group are connected to the middle position of the bottom of the corresponding HDPE pontoon module, and the lower ends are respectively connected to a suction cylinder. The three suction cylinders are arranged in an equilateral triangle and fixed on the seabed.
5. The offshore charging pile floating system based on HDPE floating breakwater according to claim 2 is characterized in that: The solar photovoltaic assembly includes a photovoltaic panel and a follower bracket, wherein the photovoltaic panel is installed above the pontoon monomer 1 through the follower bracket, and the follower bracket is equipped with a servo motor to adjust the tilt angle of the photovoltaic panel; The electric energy output by the wind turbine is combined with the electric energy output by the photovoltaic panel through the AC / DC converter, and then charged to the battery pack through the bidirectional converter or directly supplied to the charging pile.
6. The offshore charging pile floating system based on HDPE floating breakwater according to claim 5 is characterized in that: The upper part of the floating platform is cylindrical, and the lower part is conical, and the upper end thereof is provided with a top cover for sealing the internal cavity, and the inner middle part of the floating platform is provided with a partition, and the partition divides the interior of the floating platform into the counterweight water tank and the control cabin; The lower part of the floating platform is provided with an inlet and outlet pipe connected to the counterweight water tank, and the inlet and outlet pipe is equipped with a submersible pump and an electric control valve. The signal ends of the submersible pump and the electric control valve are both connected to the data center for communication.
7. The offshore charging pile floating system based on HDPE floating breakwater according to claim 1 is characterized in that: All anchor chains are evenly arranged in a ring shape below the floating platform. The lower inner side of the floating platform is provided with equipment cabins with the same number as the anchor chains and corresponding positions. A winch mechanism is arranged inside each equipment cabin. The upper end of each anchor chain passes through the outer wall of the floating platform into the corresponding equipment cabin and is connected to the hoisting mechanism in the equipment cabin. The lower end is connected to an anchor foundation. All anchor foundations are evenly distributed in a ring shape and fixed on the seabed.
8. The offshore charging pile floating system based on HDPE floating breakwater according to claim 1 is characterized in that: The data center is equipped with an edge computing module, each solar photovoltaic module is equipped with an attitude sensor, and a wave radar is installed above the floating platform to monitor the wave intensity of each berth outside the floating platform. The AI scheduling module directs the ship to enter the designated berth.
Citation Information
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