Method for automatically generating hoisting path of offshore wind power split installation fan assembly
By automatically generating lifting paths through 3D modeling and virtual engine technology, the inefficiency and safety of traditional manual simulation lifting path planning are solved, enabling efficient and safe lifting of offshore wind turbine components and providing data-supported optimization decisions.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CCCC THIRD HARBOR ENGINEERING CO LTD
- Filing Date
- 2026-01-05
- Publication Date
- 2026-05-08
AI Technical Summary
Traditional hoisting path planning relies on manual simulation, which leads to problems such as high collision risk, long cycle, reliance on experience and lack of quantitative basis during the installation of offshore wind turbine components.
Using 3D modeling and virtual engine technology, the lifting path is automatically generated. Collision detection is performed using a physics engine. The rotation and pitch step values of the crane boom and priority motion rules are set. The path is optimized using an adaptive algorithm to achieve dynamic adjustment.
It improves the efficiency and safety of hoisting path planning, reduces trial and error costs, provides multiple feasible solutions to support data-driven decision-making, and enhances the overall efficiency and reliability of offshore wind power component installation operations.
Smart Images
Figure CN121990470A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of offshore wind power engineering technology, specifically a method for automatically generating the hoisting path of offshore wind turbine components for separate installation. Background Technology
[0002] Against the backdrop of a global push for energy transition and vigorous development of renewable energy to address climate change and achieve carbon neutrality, offshore wind power, as a key component of renewable energy, has experienced rapid growth due to its significant advantages, including not occupying land resources, abundant wind resources, stable wind speeds, high power generation efficiency, and proximity to electricity load centers along the eastern coast. my country's installed offshore wind power capacity has seen remarkable growth, accounting for nearly half of the global total, and has established a relatively complete technology and industrial chain.
[0003] However, the modular installation of offshore wind turbine components presents numerous challenges. As wind turbines become increasingly larger, such as the 26 MW offshore wind turbine already in production, the size and weight of turbine components have increased dramatically. For example, the blade span of a 20MW turbine exceeds 120 meters, far exceeding the deck dimensions of construction vessels. Before installation, meticulous planning of the placement of various turbine components on the deck and the available workspace is crucial; otherwise, collision risks are high. Furthermore, the performance parameters of the cranes must be carefully considered to ensure they can meet the lifting requirements of large and heavy components. Traditional lifting path planning relies heavily on manual simulation in 3D models by construction technicians. This involves manually checking for collision risks between the lifted objects / equipment and on-site buildings and components. If a collision occurs, the path must be manually adjusted, resulting in high trial-and-error costs and long cycles, which fails to meet the demands of efficient and safe offshore wind power construction.
[0004] Therefore, a method for automatically generating the hoisting path of offshore wind turbine components for separate installation is provided. Summary of the Invention
[0005] To address the aforementioned problems in existing technologies, this invention provides an automatic method for generating hoisting paths for split-installation wind turbine components in offshore wind power systems. This method can quickly and automatically generate multiple hoisting path schemes, quantitatively compare key parameters such as boom angle, number of collision detections, and hoisting time, and assist the construction team in selecting the optimal scheme. This solves the problems of long trial-and-error cycles, reliance on experience for selection, and lack of quantitative basis in traditional manual simulation.
[0006] The technical solution to achieve the above objectives is: A method for automatically generating the hoisting path of a split-installation offshore wind turbine component includes: Step S1: Obtain basic project data; Step S2: Calculate the center of gravity of the wind turbine assembly and determine the lifting points; Step S3: Create a 3D model with millimeter-level precision. Import the ship, wind turbine components, and existing buildings using 3D modeling software. After completing the modeling, export the model file for later use. Step S4: Import all generated 3D models into the virtual scene and set attributes for the objects that need to be collided. Step S5: Establish a spatial coordinate system and record the initial on-site layout plan, and record it as the starting reference value for path calculation; Step S6: Set motion parameters and priorities; Step S7: Determine the direction of crane boom rotation; Step S8: Calculate the path of the object to be lifted by the crane boom. Based on the construction process, and following the strategy of lifting first and then moving laterally, plan the path for lifting the wind turbine components. Step S9: Simulate the movement of the crane boom along the path in step S8. The virtual engine physics engine monitors the collision status between the crane boom and obstacles in real time. If a collision is detected, the movement is immediately paused, and the collision location, the current horizontal position of the crane boom, and the pitch angle are recorded. Step S10: Calculate the path for installing the object on the crane boom, control the crane to lift the wind turbine assembly to a preset height, and obtain the position of the hook at this time; Step S11: Simulate the movement of the crane boom along the path in step S10. The virtual engine physics engine monitors the collision status between the fan components and surrounding objects in real time after lifting. If a collision is detected, the movement is immediately paused, and the collision location, the current crane boom level, and the pitch angle are recorded. Step S12: Check whether the "horizontal angle adjustable range" and "pitch angle adjustable range" of the crane boom have been traversed. If not, proceed to step S10. Step S13: If the obstacle cannot be avoided after traversing the "horizontal angle adjustable range" and "pitch angle adjustable range" of the crane boom, the current solution is determined to be infeasible, and step S14 is executed; if the entire hoisting process is completed, step S15 is executed. Step S14 requires readjusting the on-site spatial layout of the wind turbine components, updating the construction plan, and then returning to step S1 to restart the path calculation. Step S15: Automatically record the core indicators of the technical solution, including the maximum rotation angle of the crane boom, the maximum pitch angle, the number of collision detections, the number of path adjustments, the total hoisting time, and the path length. Step S16: Extract the key node data from step S15, generate a "hoisting action playback video" in the virtual engine, and output the complete installation path file to obtain the complete installation path.
[0007] Preferably, in step S1, the basic engineering data includes: geographic information of the offshore wind power project, design parameters of the construction vessel, and design drawings of the wind turbine components; The geographic information for offshore wind power projects includes the location of the wind farm, seabed topography, and ocean current data; the design parameters of the construction vessels include hull dimensions, maximum lifting weight of the crane, lifting height, working radius, and stability parameters; and the wind turbine components include, but are not limited to, towers, nacelles, hubs, and blades. In step S2, based on the parameters of the wind turbine component drawings, the center of gravity position of each component is determined through mechanical calculations; according to the component weight, center of gravity distribution and hoisting safety requirements, the appropriate hoisting tooling type is determined; and in combination with the tooling and component structure, the specific location of the hoisting point of each component is clarified.
[0008] Preferably, in step S4, the attributes for classifying the objects to be collided are set, including: Simple, regular objects can be directly labeled as "convex" or "concave". Complex objects are first broken down into convex and concave sub-modules, and then collision attributes are configured for each, with collision determination thresholds clearly defined.
[0009] Preferably, in step S5, a dedicated engineering coordinate system is constructed in the virtual engine, and the "horizontal rotation 0-degree direction" and "vertical rotation 0-degree direction" are set; the initial site layout is carried out according to the construction plan; the horizontal and vertical angles of the crane boom in the initial state are obtained and recorded as the starting reference values for path calculation.
[0010] Preferably, in step S6, the "rotational motion step value" and "pitch motion step value" of the crane boom are set according to the crane's performance and construction accuracy requirements; the motion priority rules are clarified, with rotational motion being executed first, and pitch motion being executed only after the rotational direction approaches the target.
[0011] Preferably, in step S7, based on the specific location of the lifting point of each component determined in step S2 and the starting reference value of the path calculation recorded in step S5, the angle between the line connecting the "lifting arm hook and the lifting point of the object being lifted" is calculated. Combined with the current vertical rotation angle of the lifting arm, the rotation direction of the crane toward the object being lifted is determined by trigonometric function calculation.
[0012] Preferably, in step S8, starting from the initial angle, the crane arm is driven to rotate toward the object being lifted by a rotation step value until it rotates to the position closest to the object being lifted; then the pitch angle is adjusted by a pitch step value to gradually approach the lifting point of the object being lifted, forming a docking path of first rotating and then pitching. When the crane boom is adjusted to the same horizontal position as the lifting point of the object being lifted, the distance between the two is calculated, and the hook is driven to move downward in the vertical direction. When the lifting point of the hook is aligned with the calculated lifting point of the object being lifted, the virtual connection is completed and step S10 is executed.
[0013] Preferably, in step S9, if a collision is triggered, the crane arm is controlled to retract to the angle position where there was no collision in the previous step. Try adjusting the motion parameters: If a collision occurs due to the rotation angle, the crane boom is rotated once according to the pitch step value, and then the rotation operation continues until the target horizontal angle is reached. Then, the crane boom is operated to the target vertical angle according to the pitch step value, and step S8 is repeated during the process.
[0014] Preferably, in step S10, a virtual connection line is established between the "current hook position and the target installation position lifting point", and the angle between the line and the horizontal direction of the boom is calculated. The direction of rotation is determined based on the included angle. Drive the boom to rotate according to the rotation step value, so that the included angle gradually decreases until the hoisted object is rotated away from the deck area of the crane ship and into the sea. Adjust the elevation angle according to the pitch step value, gradually increasing it above the height of the lifting point at the installation position of the object being lifted; then rotate the hook according to the rotation step value until it is aligned with the plane of the lifting point. When the crane hook is lowered, if the current lifting point of the object being lifted coincides with the calculated lifting point of the installation position, it is determined that the object has been lifted into place, and step S12 is executed.
[0015] Preferably, in step S11, if a collision is triggered, the crane arm is controlled to retract to the angle position where there was no collision in the previous step. Try adjusting the motion parameters: If a collision occurs due to the rotation angle, the crane boom will be rotated once according to the pitch step value, and then the rotation operation will continue.
[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention automatically generates hoisting paths for wind turbine components using precise algorithms and models. By performing millimeter-level precision 3D modeling of ships, wind turbine components, etc., and combining it with a physics engine to set collision detection logic, it achieves accurate identification of collision risks throughout the hoisting process. At the same time, by setting the crane boom rotation, pitch step values, and priority movement rules, and using an adaptive algorithm, it can automatically adjust the path when encountering obstacles, achieving dynamic optimization and ensuring that the path always efficiently approaches the target installation position, significantly improving the efficiency and safety of hoisting path planning. In addition, this invention aims to provide construction teams with multiple feasible solutions by quantitatively analyzing key parameters such as the range of changes in boom angle, collision detection frequency, and hoisting time, and to support data-driven optimal decision-making, thereby reducing reliance on human experience, lowering trial-and-error costs, and comprehensively improving the overall efficiency and reliability of offshore wind power modular installation operations. In summary, this invention not only meets the technical requirements for hoisting large-scale wind turbine components, but also maintains a high degree of adaptability in complex and ever-changing marine environments, helping offshore wind power projects to develop towards intelligence and precision. Attached Figure Description
[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of a method for automatically generating the hoisting path of a split-installation wind turbine component in offshore wind power according to the present invention. Detailed Implementation
[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0019] like Figure 1 As shown, a method for automatically generating the hoisting path of a split-installation offshore wind turbine component includes: Step S1: Obtain basic project data.
[0020] In this embodiment, the basic engineering data includes: geographic information of the offshore wind power project, design parameters of the construction vessel, and design drawings of the wind turbine components, ensuring that the dimensions of the drawings are consistent with the actual objects; The geographical information for offshore wind power projects includes the location of the wind farm, seabed topography, and ocean current data; the design parameters of the construction vessels include hull dimensions, maximum lifting weight of the crane, lifting height, working radius, and stability parameters; and the wind turbine components include, but are not limited to, towers, nacelles, hubs, and blades.
[0021] Step S2: Calculate the center of gravity of the wind turbine assembly and determine the lifting points.
[0022] In this embodiment, based on the parameters of the wind turbine components drawings, the center of gravity position of each component is determined through mechanical calculations; according to the component weight, center of gravity distribution and hoisting safety requirements, the appropriate hoisting tooling type is determined; and combining the tooling with the component structure, the specific location of the hoisting point of each component is clarified.
[0023] Step S3: Create a millimeter-precision 3D model. Import the ship, wind turbine components, and existing buildings using 3D modeling software. Build the 3D model according to the 1mm standard to ensure that the appearance surface and structural details of the model completely match the actual objects. After completing the modeling, export the model file for later use. By performing millimeter-precision 3D modeling on the ship, wind turbine components, etc., and combining it with the physics engine to set up collision detection logic, accurate identification of collision risks in the entire scene during the hoisting process can be achieved.
[0024] Step S4: Import all generated 3D models into the virtual scene and set attributes for the objects that need to be collided.
[0025] In this embodiment, the attributes for classifying objects requiring collision detection include: Simple, regular objects can be directly labeled as "convex" or "concave". Complex objects are first broken down into convex and concave sub-modules, and then collision attributes are configured for each, with collision determination thresholds clearly defined.
[0026] Step S5: Establish a spatial coordinate system and record the initial on-site layout plan, and record it as the starting reference value for path calculation.
[0027] In this embodiment, a dedicated coordinate system for engineering is constructed in the virtual engine, and the "horizontal rotation 0-degree direction" and "vertical rotation 0-degree direction" are set; the initial site layout is carried out according to the construction plan; the horizontal and vertical angles of the crane boom in the initial state are obtained and recorded as the starting reference values for path calculation.
[0028] Step S6: Set motion parameters and priorities, set the crane boom rotation, pitch step values and priority motion rules, and use an adaptive algorithm to automatically adjust the path when encountering obstacles to achieve dynamic optimization, ensuring that the path always efficiently approaches the target installation position, significantly improving the efficiency and safety of hoisting path planning.
[0029] In this embodiment, based on the crane's performance and construction accuracy requirements, the "rotational motion step value" and "pitch motion step value" of the crane boom are set; the motion priority rules are clarified, with rotational motion being executed first, and pitch motion being executed only after the rotational direction approaches the target, thus avoiding motion conflicts.
[0030] Step S7: Determine the direction of crane boom rotation.
[0031] In this embodiment, based on the specific location of the lifting point of each component determined in step S2 and the starting reference value of the path calculation recorded in step S5, the angle between the line connecting the "lifting arm hook and the lifting point of the object" is calculated. Combined with the current vertical rotation angle of the lifting arm, the rotation direction (clockwise or counterclockwise) of the crane toward the object to be lifted is determined by trigonometric function calculation.
[0032] Step S8: Calculate the path of the object to be lifted by the crane arm. Based on the construction process, and following the strategy of lifting first and then moving laterally, plan the path for lifting the wind turbine components.
[0033] In this embodiment, starting from the initial angle, the crane arm is driven to rotate toward the object being lifted by a rotation step value until it rotates to the position closest to the object being lifted; then the pitch angle is adjusted by a pitch step value to gradually approach the lifting point of the object being lifted, forming a docking path of first rotating and then pitching. When the crane boom is adjusted to the same horizontal position as the lifting point of the object being lifted, the distance between the two is calculated, and the hook is driven to move downward in the vertical direction. When the lifting point of the hook is aligned with the calculated lifting point of the object being lifted, the virtual connection is completed and step S10 is executed.
[0034] Step S9: Simulate the movement of the crane boom along the path in step S8. The virtual engine's physics engine monitors the collision status between the crane boom and obstacles in real time. If a collision is detected, the movement is immediately paused, and the collision location, the current crane boom level, and the pitch angle are recorded.
[0035] In this embodiment, if a collision is triggered, the crane arm is controlled to retract to the angle position where there was no collision in the previous step; Try adjusting the motion parameters: If a collision occurs due to the rotation angle, the crane boom is rotated once according to the pitch step value, and then the rotation operation continues until the target horizontal angle is reached. Then, the crane boom is operated to the target vertical angle according to the pitch step value, and step S8 is repeated during the process.
[0036] Step S10: Calculate the path for installing the object on the crane boom, control the crane to lift the wind turbine assembly to a preset height, and obtain the position of the hook at this time.
[0037] In this embodiment, a virtual connection line is established between the current hook position and the target installation position lifting point, and the angle between this line and the horizontal direction of the crane boom is calculated. The direction of rotation is determined based on the included angle. Drive the boom to rotate according to the rotation step value, so that the included angle gradually decreases until the hoisted object is rotated away from the deck area of the crane ship and into the sea. Adjust the elevation angle according to the pitch step value, gradually increasing it above the height of the lifting point at the installation position of the object being lifted; then rotate the hook according to the rotation step value until it is aligned with the plane of the lifting point. When the crane hook is lowered, if the current lifting point of the object being lifted coincides with the calculated lifting point of the installation position, it is determined that the object has been lifted into place, and step S12 is executed.
[0038] Step S11: Simulate the movement of the crane boom along the path in step S10. The virtual engine's physics engine monitors the collision status between the fan assembly and surrounding objects in real time after lifting. If a collision is detected, the movement is immediately paused, and the collision location, the current crane boom level, and the pitch angle are recorded.
[0039] In this embodiment, if a collision is triggered, the crane arm is controlled to retract to the angle position where there was no collision in the previous step; Try adjusting the motion parameters: If a collision occurs due to the rotation angle, the crane boom will be rotated once according to the pitch step value, and then the rotation operation will continue.
[0040] By quantitatively analyzing key parameters such as the range of changes in boom angle, collision detection frequency, and hoisting time, multiple feasible solutions are provided to the construction team, and data-driven optimal decision-making is supported. This reduces reliance on human experience, lowers trial-and-error costs, and comprehensively improves the overall efficiency and reliability of offshore wind turbine modular installation operations.
[0041] Step S12: Check whether the "horizontal angle adjustable range" and "pitch angle adjustable range" of the crane boom have been traversed. If not, proceed to step S10.
[0042] Step S13: If the obstacle cannot be avoided after traversing the "horizontal angle adjustable range" and "pitch angle adjustable range" of the crane boom, the current plan is deemed infeasible, and step S14 is executed; if the entire hoisting process is completed, step S15 is executed.
[0043] Step S14 requires readjusting the on-site spatial layout of the wind turbine components, updating the construction plan, and then returning to step S1 to restart the path calculation.
[0044] Step S15: Automatically record the core indicators of the technical solution, including the maximum rotation angle of the crane boom, the maximum pitch angle, the number of collision detections, the number of path adjustments, the total hoisting time, and the path length.
[0045] Step S16: Extract the key node data from step S15, generate a "hoisting action playback video" in the virtual engine, and output the complete installation path file to obtain the complete installation path.
[0046] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A method for automatically generating the hoisting path of a split-installation offshore wind turbine component, characterized in that, include: Step S1: Obtain basic project data; Step S2: Calculate the center of gravity of the wind turbine assembly and determine the lifting points; Step S3: Create a 3D model with millimeter-level precision. Import the ship, wind turbine components, and existing buildings using 3D modeling software. After completing the modeling, export the model file for later use. Step S4: Import all generated 3D models into the virtual scene and set attributes for the objects that need to be collided. Step S5: Establish a spatial coordinate system and record the initial on-site layout plan, and record it as the starting reference value for path calculation; Step S6: Set motion parameters and priorities; Step S7: Determine the direction of crane boom rotation; Step S8: Calculate the path of the object to be lifted by the crane boom. Based on the construction process, and following the strategy of lifting first and then moving laterally, plan the path for lifting the wind turbine components. Step S9: Simulate the movement of the crane boom along the path in step S8. The virtual engine physics engine monitors the collision status between the crane boom and obstacles in real time. If a collision is detected, the movement is immediately paused, and the collision location, the current horizontal position of the crane boom, and the pitch angle are recorded. Step S10: Calculate the path for installing the object on the crane boom, control the crane to lift the wind turbine assembly to a preset height, and obtain the position of the hook at this time; Step S11: Simulate the movement of the crane boom along the path in step S10. The virtual engine physics engine monitors the collision status between the fan components and surrounding objects in real time after lifting. If a collision is detected, the movement is immediately paused, and the collision location, the current crane boom level, and the pitch angle are recorded. Step S12: Check whether the "horizontal angle adjustable range" and "pitch angle adjustable range" of the crane boom have been traversed. If not, proceed to step S10. Step S13: If the obstacle cannot be avoided after traversing the "horizontal angle adjustable range" and "pitch angle adjustable range" of the crane boom, the current plan is deemed infeasible, and step S14 is executed; if the entire hoisting process is completed, step S15 is executed. Step S14 requires readjusting the on-site spatial layout of the wind turbine components, updating the construction plan, and then returning to step S1 to restart the path calculation. Step S15: Automatically record the core indicators of the technical solution, including the maximum rotation angle of the crane boom, the maximum pitch angle, the number of collision detections, the number of path adjustments, the total hoisting time, and the path length. Step S16: Extract the key node data from step S15, generate a "hoisting action playback video" in the virtual engine, and output the complete installation path file to obtain the complete installation path.
2. The method for automatically generating the hoisting path of a split-installation offshore wind turbine component according to claim 1, characterized in that, In step S1, the basic engineering data includes: geographic information of the offshore wind power project, design parameters of the construction vessel, and design drawings of the wind turbine components; The geographic information for offshore wind power projects includes the location of the wind farm, seabed topography, and ocean current data; the design parameters of the construction vessels include hull dimensions, maximum lifting weight of the crane, lifting height, working radius, and stability parameters; and the wind turbine components include, but are not limited to, towers, nacelles, hubs, and blades. In step S2, based on the parameters of the wind turbine component drawings, the center of gravity position of each component is determined through mechanical calculations; according to the component weight, center of gravity distribution and hoisting safety requirements, the appropriate hoisting tooling type is determined; and in combination with the tooling and component structure, the specific location of the hoisting point of each component is clarified.
3. The method for automatically generating the hoisting path of a split-installation offshore wind turbine component according to claim 1, characterized in that, In step S4, attributes are set for the categories of objects requiring collision detection, including: Simple, regular objects can be directly labeled as "convex" or "concave". Complex objects are first broken down into convex and concave sub-modules, and then collision attributes are configured for each, with collision determination thresholds clearly defined.
4. The method for automatically generating the hoisting path of a split-installation offshore wind turbine component according to claim 1, characterized in that, In step S5, a dedicated coordinate system for the project is constructed in the virtual engine, and the "horizontal rotation 0-degree direction" and "vertical rotation 0-degree direction" are set; the initial site layout is carried out according to the construction plan; the horizontal and vertical angles of the crane boom in the initial state are obtained and recorded as the starting reference values for path calculation.
5. The method for automatically generating the hoisting path of a split-installation offshore wind turbine component according to claim 1, characterized in that, In step S6, based on the crane's performance and construction accuracy requirements, the "rotational motion step value" and "pitch motion step value" of the crane boom are set; the motion priority rules are clarified, with rotational motion being executed first, and pitch motion being executed only after the rotational direction approaches the target.
6. The method for automatically generating the hoisting path of a split-installation offshore wind turbine component according to claim 1, characterized in that, In step S7, based on the specific positions of the lifting points of each component determined in step S2 and the starting reference value of the path calculation recorded in step S5, the angle between the line connecting the "lifting arm hook and the lifting point of the object" is calculated. Combined with the current vertical rotation angle of the lifting arm, the rotation direction of the crane toward the object to be lifted is determined by trigonometric function calculation.
7. The method for automatically generating the hoisting path of a split-installation offshore wind turbine component according to claim 1, characterized in that, In step S8, starting from the initial angle, the crane arm is driven to rotate toward the object being lifted by the rotation step value until it rotates to the position closest to the object being lifted; then the pitch angle is adjusted by the pitch step value to gradually approach the lifting point of the object being lifted, forming a docking path of first rotating and then pitching. When the boom is adjusted to the same horizontal position as the lifting point of the object being lifted, the distance between the two is calculated, and the hook is driven to move downward in the vertical direction. When the lifting point of the hook is aligned with the calculated lifting point of the object being lifted, the virtual connection is completed and step S10 is executed.
8. The method for automatically generating the hoisting path of a split-installation offshore wind turbine component according to claim 1, characterized in that, In step S9, if a collision is triggered, control the crane arm to retract to the angle position where there was no collision in the previous step; Try adjusting the motion parameters: If a collision occurs due to the rotation angle, the crane boom is rotated once according to the pitch step value, and then the rotation operation continues until the target horizontal angle is reached. Then, the crane boom is operated to the target vertical angle according to the pitch step value, and step S8 is repeated during the process.
9. The method for automatically generating the hoisting path of a split-installation offshore wind turbine component according to claim 1, characterized in that, In step S10, a virtual connection line is established between the "current hook position and the target installation position lifting point", and the angle between the line and the horizontal direction of the boom is calculated. The direction of rotation is determined based on the included angle. Drive the boom to rotate according to the rotation step value, so that the included angle gradually decreases until the suspended object is rotated away from the deck area of the crane ship and into the sea. Adjust the elevation angle according to the pitch step value, gradually increasing it above the height of the lifting point at the installation position of the object being lifted; then rotate the hook according to the rotation step value until it is aligned with the plane of the lifting point. When the crane hook is lowered, if the current lifting point of the object being lifted coincides with the calculated lifting point of the installation position, it is determined that the object has been lifted into place, and step S12 is executed.
10. The method for automatically generating the hoisting path of a split-installation offshore wind turbine component according to claim 1, characterized in that, In step S11, if a collision is triggered, the crane arm is controlled to retract to the angle position where there was no collision in the previous step. Try adjusting the motion parameters: If a collision occurs due to the rotation angle, the crane boom will be rotated once according to the pitch step value, and then the rotation operation will continue.