METHOD OF LEVELLING RIPRAP BY SUBMERGED ROBOT AND DEVICE THEREOF

PURPOSE:To perform safe and reliable work, by a method wherein, according to the instruction of a monitoring robot, an intermediate layer during robot levels ripraps, and after small ripraps are thrown, a finishing/grading robot finishes the surface of the ripraps. CONSTITUTION:According to the inst...

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Bibliographic Details
Main Authors KUGE YOSHIHIRO, KANEKO MASARU, WAKABAYASHI AKIRA, EGAWA KIKUJI
Format Patent
LanguageEnglish
Published 06.08.1985
Edition4
Subjects
EMBANKMENTS
EXCAVATIONS
FIXED CONSTRUCTIONS
FOUNDATIONS
HYDRAULIC ENGINEERING
SOIL SHIFTING
UNDERGROUND OR UNDERWATER STRUCTURES
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Summary:PURPOSE:To perform safe and reliable work, by a method wherein, according to the instruction of a monitoring robot, an intermediate layer during robot levels ripraps, and after small ripraps are thrown, a finishing/grading robot finishes the surface of the ripraps. CONSTITUTION:According to the instruction of a monitoring robot, an intermediate layer grading robot 8 measures and analyzes the size of unevenness in a position where ripraps are thrown. After an amount of excess or deficient ripraps in each position is determined to move a levelling device 23, a levelling work is effected. Finish small ripraps, carried by a riprap carrier ship, are spread over an intermediate layer. According to the instruction of the monitoring robot 9, a finish surface grading robot 9 detects an uneven surface by means of an ultrasonic sensor 44 and automatically sets the blade angle of a vibrating rake type blade 45 to perform land-grading, and finishing is effected by a finish blade 46 and a vibrating roller 47.
Bibliography:Application Number: JP19840001845