| 摘要 |
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. |
