A twisted block and riprap combination toe protection structure and visual underwater construction method

Abstract

The application relates to the technical field of hydraulic engineering, and discloses a combined foot protection structure of twisted king blocks and scattered riprap and a visual underwater construction method, which comprises a twisted king block sealing area, a first scattered riprap area and a second scattered riprap area which are sequentially laid transversely from a river slope foot to a bank slope. The combined foot protection structure of twisted king blocks and scattered riprap and the visual underwater construction method sequentially comprise the twisted king block sealing area, the first scattered riprap area, the second scattered riprap area, a slope connecting stone area and a mortar masonry area. The twisted king block sealing area can effectively seal the block stones in the specified area, avoids the rolling and loss of the riprap under the condition of continuous water flow scouring, and can be sequentially divided into blocks and layers according to the divided grid, so that the missing or repetition of the throwing and dropping is avoided, the uniformity of the throwing and dropping is improved, the forming quality of the throwing and dropping section is ensured, and the block stone loss rate is reduced. The slope connecting stone area and the mortar masonry area can effectively slow down the water flow scouring and avoid the water and soil loss.

Description

Technical Field

[0001] This invention relates to the field of water conservancy engineering technology, specifically to a toe protection structure combining twisted blocks and scattered stones, and a visualized underwater construction method. Background Technology

[0002] The middle and lower reaches of the Yangtze River are characterized by varied riverbed geology and complex hydrological conditions, making them a long-term threat to bank collapse. Bank collapse not only disrupts the stability of the river channel but also seriously threatens riverside infrastructure and the lives and property of nearby residents. Rockfill revetment, a common bank protection engineering measure, involves placing stones at the toe of the riverbank and on the bank surface. The accumulated rocks form an "artificial rough surface," dispersing the impact of water flow and reducing the continuous erosion of sediment at the bottom of the bank. Rockfill revetment effectively resists erosion from natural forces such as water flow and waves, thereby achieving long-term bank stability.

[0003] However, during the management of the Yangtze River section, the rock-dropping construction in areas with deep water and rapid currents also faces many challenges:

[0004] Under long-term continuous water scouring, the riprap is prone to rolling instability and loss, which cannot meet the structural stability requirements of the riprap footing to resist continuous water scouring, thus shortening the project's lifespan.

[0005] The riprap is severely impacted and drifted by the water flow, resulting in uneven underwater distribution, low coverage, and increased loss rate of riprap material.

[0006] Furthermore, underwater construction is highly concealed, and the construction process cannot be visualized or inspected to verify the quality of underwater engineering. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a foot protection structure combining twisted blocks and scattered stones, along with a visualized underwater construction method, thus solving the problems mentioned in the background.

[0008] The present invention provides the following technical solution: a toe protection structure composed of a combination of zigzag blocks and loose stones, comprising a zigzag block blocking area, a first loose stone area, a second loose stone area, a slope connecting stone area, and a mortar-laid stone area laid transversely from the riverbed slope to the bank slope.

[0009] The Twisted King Block Block Block Enclosure Area consists of multiple precast concrete Twisted King Blocks connected end to end longitudinally by mortise and tenon joints, forming a continuous single-row strip structure.

[0010] The first loose stone area, the second loose stone area, and the slope-connecting stone area are all composed of multiple blocks of stone;

[0011] The slope-connecting stone area is located above the normal water level and connects the second loose stone area and the mortar-grouted block stone area.

[0012] The masonry riprap area is a masonry riprap slope protection area, and the masonry riprap area extends from the slope-connecting stone area to the top of the bank.

[0013] Preferably, the thickness of the rubble in the first rubble-scattering area is 1.2 meters, and the scattering width is 40 to 50 meters;

[0014] The second rubble-scattering zone has a rubble-scattering thickness of 1.0 meter and a scattering width of 40-50 meters;

[0015] The thickness of the boulders thrown in the slope-connecting stone area is 1.5 meters, and the throwing width is 3 meters.

[0016] Preferably, the height of the twisted block is 2 meters and the width is 2 meters;

[0017] The twisted king block includes a top rod, a middle rod, and a bottom rod. The top rod, the middle rod, and the bottom rod are integrally formed and connected. One end of the middle rod is provided with a tenon, and the other end of the middle rod is provided with a mortise. The top of the top rod is symmetrically provided with lifting lugs.

[0018] The stone boulders have a particle size of 0.2 to 0.5 meters and a mud content of ≤1%.

[0019] A visualized underwater construction method for a toe protection structure combining T-shaped blocks and scattered stones includes the following steps:

[0020] Step S1, Pre-construction underwater measurement;

[0021] Step S2, throw the mesh to divide;

[0022] Step S3: Position and anchor the crane vessel;

[0023] Step S4: The transport ship berths.

[0024] Step S5, Visual assembly of the Twisted King Block Block Enclosure Area;

[0025] Step S6: Grid-based throwing of stones in the first scattered stone area;

[0026] Step S7, grid-based throwing of stones in the second scattered stone area;

[0027] Step S8: Placing and leveling the slab area;

[0028] Step S9, revetment work in the masonry block stone area;

[0029] Step S10: Post-construction underwater measurement.

[0030] Preferably, in step S2, the four areas of the Twisted King Block Blockage Area, the First Scattered Stone Area, the Second Scattered Stone Area, and the Slope Stone Area are divided into throwing grids. The throwing area is divided into several 20m×5m large grids, and the large grids are further divided into four 5m×5m small grids.

[0031] Preferably, in step S3, when the crane vessel is positioned and anchored, the bow and stern sides of the crane vessel are respectively fixed by two fixed anchors at an angle, the underwater drift distance of the boulder is L, and the offset is calculated based on the underwater drift distance of the boulder during positioning.

[0032] Preferably, in step S4, the hull of the transport ship is parallel to the crane ship when it is berthed;

[0033] When transporting the kingpin block, execute step S5; when transporting the stone block, execute steps S6 to S8.

[0034] Preferably, step S5 includes the following steps:

[0035] Step S51: Install the underwater three-dimensional sonar system;

[0036] Step S52: Generate underwater three-dimensional sonar images in real time;

[0037] Step S53: The crane ship lifts and fine-tunes the kingpin block;

[0038] Step S54: Assemble the mortise and tenon structure of the twisted king block based on sonar images;

[0039] Step S55: Check the assembly effect in real time;

[0040] Step S56, repeat the operation until a continuous single-row blockade zone is formed.

[0041] Preferably, in step S51, the three-dimensional sonar system includes: a multi-beam acoustic wave transmitter, a receiver, a real-time signal processing unit, and a display and control unit. During construction, the multi-beam acoustic wave transmitter and receiver are placed underwater. The multi-beam acoustic wave transmitter emits high-frequency sound waves, and the receiver receives underwater objects, reflects the sound waves, and converts them into electrical signals. The real-time signal processing unit is equipped with a high-speed digital signal processor to filter, denoise, and statistically render the received acoustic wave data. The display and control unit generates a real-time three-dimensional image, and the crane operator performs visual assembly of the T-shaped blocks based on the real-time three-dimensional image.

[0042] Preferably, step S6 includes the following steps:

[0043] Step S61: The crane ship lifts the excavator into the hold of the transport ship;

[0044] Step S62: The excavator loads boulders into the hopper;

[0045] Step S63: The crane vessel lifts the hopper to the designated grid area of ​​the first loose rock disposal zone;

[0046] Step S64, throwing the boulder.

[0047] Preferably, in step S63, the crane ship lifts the hopper to the designated grid in the first loose stone area, and after the crane ship is positioned, the hull of the crane ship is parallel to the edge line of the large grid.

[0048] Cast the water in the order of upstream first, then downstream, and deep water first, then near shore, with two casts per small grid.

[0049] Preferably, step S7 adopts the same grid-based throwing process as step S6, and the stones are thrown within the designated grid in the second scattered stone area.

[0050] Preferably, step S8 includes the following steps:

[0051] Step S81: The crane ship lifts the excavator into the hold of the transport ship.

[0052] Step S82: The excavator loads boulders into the hopper;

[0053] Step S83: The crane vessel throws the material into the designated grid using its hopper;

[0054] Step S84: The crane vessel lifts the excavator to the edge of the bank slope;

[0055] Step S85: The excavator levels the surface.

[0056] Compared with the prior art, the present invention has the following beneficial effects:

[0057] 1. This invention comprises, in sequence, a king-shaped block sealing area, a first loose stone area, a second loose stone area, a slope-connecting stone area, and a masonry stone area. The king-shaped block sealing area can effectively seal the stones within a designated area, preventing the stones from rolling and being lost under continuous water erosion. It can also be divided into blocks and layers according to the divided grid, avoiding missed or repeated placement, improving the uniformity of placement, ensuring the forming quality of the placement section, and reducing the stone loss rate. The slope-connecting stone area and the masonry stone area can effectively slow down water erosion and prevent soil erosion.

[0058] 2. This invention, by setting up an underwater three-dimensional sonar system, places a multi-beam acoustic wave transmitter and receiver underwater. The multi-beam acoustic wave transmitter emits high-frequency sound waves, and the receiver receives underwater objects, reflects the sound waves, and converts them into electrical signals. The real-time signal processing unit is equipped with a high-speed digital signal processor to filter, denoise, and statistically render the received acoustic wave data. The display and control unit generates a real-time three-dimensional image. Crane operators can perform visual assembly of the torsion block based on the real-time three-dimensional image, realizing the visual assembly of the torsion block mortise and tenon structure, and can check the assembly effect. Attached Figure Description

[0059] Figure 1 This is a schematic diagram of the foot protection structure combining the twisted king-shaped block and scattered stones of the present invention.

[0060] Figure 2 This is a schematic diagram of the twisted block structure of the present invention;

[0061] Figure 3 This is the construction plan layout diagram for step S5 of the present invention;

[0062] Figure 4 This is the construction plan layout diagram for step S6 of the present invention;

[0063] Figure 5 This is a flowchart of the visual underwater construction method for the foot protection system based on the combination of twisted blocks and scattered stones of the present invention.

[0064] Figure 6 This is a visual assembly flowchart of the Twisted King Block Block Block of the present invention;

[0065] Figure 7 This is a flowchart of the first scattered stone throwing grid-based throwing process of the present invention;

[0066] Figure 8 This is a flowchart of the slope-mounting and leveling operation in the slope-mounting area according to the present invention;

[0067] Figure 9 Three-dimensional imaging image before launch of the present invention

[0068] Figure 10 This is a three-dimensional imaging diagram of the throwing process of the present invention.

[0069] In the diagram: 1. Twisted King-shaped block enclosure area; 2. First scattered rubble area; 3. Second scattered rubble area; 4. Slope stone area; 5. Mortar-grouted rubble area; 6. Twisted King-shaped block; 61. Top bar; 62. Intermediate bar; 63. Bottom bar; 64. Tenon; 65. Mortise; 66. Lifting lug; 7. Stone block; 8. Crane ship; 9. Transport ship; 10. Large grid; 11. Fixed anchor; 12. Multibeam acoustic transmitter; 13. Receiver; 14. Real-time signal processing unit; 15. Display and control unit; 16. GPS positioning system. Detailed Implementation

[0070] 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.

[0071] Please see Figure 1-8 A toe protection structure combining Twisted King Blocks and loose stones, comprising Twisted King Blocks 6 blocking area 1, first loose stone area 2, second loose stone area 3, slope connecting stone area 4 and mortar-grouted stone area 5, laid transversely from the riverbed slope to the bank slope.

[0072] The Twisted King Block 6 Block Block 1 is composed of multiple precast concrete Twisted King Blocks 6 connected end to end in the longitudinal direction through mortise and tenon structure to form a continuous single-row strip structure.

[0073] The first scattered stone area 2, the second scattered stone area 3, and the slope connecting stone area 4 are all composed of multiple stones 7. The first scattered stone area 2 and the second scattered stone area 3 cover the riverbed area between the Twisted King Block 6 Block 1 and the bank slope.

[0074] The slope-connecting stone area 4 is located above the normal water level line, and the slope-connecting stone area 4 connects the second loose stone area 3 and the masonry block stone area 5;

[0075] The masonry block area 5 is a slope protection area for the masonry block area 7, and the masonry block area 5 extends from the slope connecting stone area 4 to the top of the bank.

[0076] The thickness of the 7 stones in the first scattered stone area 2 is 1.2 meters, and the throwing width is 40-50 meters. The thickness of the 7 stones in the second scattered stone area 3 is 1.0 meter, and the throwing width is 40-50 meters. The thickness of the 7 stones in the slope stone area 4 is 1.5 meters, and the throwing width is 3 meters.

[0077] The height and width of the twisted king block 6 are 2 meters. The twisted king block 6 includes a top rod 61, a middle rod 62 and a bottom rod 63. The top rod 61, the middle rod 62 and the bottom rod 63 are integrally formed and connected. One end of the middle rod 62 is provided with a tenon 64 and the other end of the middle rod 62 is provided with a mortise 65. The top of the top rod 61 is symmetrically provided with lifting lugs 66.

[0078] The particle size of the 7-sized stone is 0.2 to 0.5 meters, and the mud content of the 7-sized stone is ≤1%. The 7-sized stone is hard, without weathering, peeling, or cracks, and has strong weathering resistance. It does not disintegrate in water or after freezing. Thin slices, strips, sharp corners, and other shapes of 7-sized stones shall not be used.

[0079] A visualized underwater construction method for a toe protection structure combining T-shaped blocks and scattered stones includes the following steps:

[0080] Step S1, Pre-construction underwater measurement;

[0081] Step S2, throw the mesh to divide;

[0082] Step S3: The crane vessel 8 is positioned and anchored.

[0083] Step S4, transport ship 9 berths;

[0084] Step S5, Visual assembly of Twisted King Block 6 Block 1;

[0085] Step S6, first scattered stone zone 2 grid-based throwing;

[0086] Step S7, second scattered stone zone 3 grid throwing;

[0087] Step S8: Leveling and shoveling work in the sloping rock area 4;

[0088] Step S9, construction of the 5th revetment in the masonry block stone area;

[0089] Step S10: Post-construction underwater measurement.

[0090] In step S2, the four areas of the Twisted King Block 6 Block 1, the first scattered stone area 2, the second scattered stone area 3 and the slope connecting stone area 4 are divided into throwing grids. The throwing area is divided into several 20m×5m large grids 10, and the large grids 10 are further divided into 4 5m×5m small grids.

[0091] In a specific embodiment, in step S3, when the crane vessel 8 is positioned and anchored, the bow side and stern side of the crane vessel 8 are respectively fixed by two fixed anchors 11 at an angle. The underwater drift distance of the boulder 7 is L. The offset is calculated based on the underwater drift distance of the boulder 7 during positioning.

[0092] The crane vessel 8 obtains its planar coordinates in real time through its onboard GPS positioning system 16. Combined with the monitoring data from the water flow velocity sensor, it calculates the underwater drift distance L of the thrown stone and drives the mooring system to dynamically adjust the vessel's position. Using the GPS on the hull, the crane vessel 8 is positioned according to the grid lines, making the hull of the crane vessel 8 parallel to the grid lines of the large grid 10. After the transport vessel 9 arrives at the site, it moors towards the crane vessel 8. When the transport vessel 9 moors, its hull is parallel to the crane vessel 8. The transport vessel 9 is located on the deep water side. The crane vessel 8 is then fine-tuned and repositioned based on the offset. The GPS positioning system 16 can adopt an RTK-GPS real-time dynamic differential positioning system with a horizontal positioning accuracy of ≤10cm.

[0093] The fixed anchor 11 can be made up of four electric anchor winches, each of which is connected to the holding anchor 233 via an anchor chain, and the length of the anchor chain is required.

[0094] In step S4, when the transport ship 9 is docked, its hull is parallel to that of the crane ship 8.

[0095] When transporting the kingpin block 6, execute step S5; when transporting the stone block 7, execute steps S6 to S8.

[0096] Step S5 includes the following steps:

[0097] Step S51: Install the underwater three-dimensional sonar system;

[0098] Step S52: Generate underwater three-dimensional sonar images in real time;

[0099] Step S53: Crane 8 hoists and fine-tunes the torsion block 6;

[0100] Step S54: Assemble the mortise and tenon structure of the twisted king block 6 based on sonar images;

[0101] Step S55: Check the assembly effect in real time;

[0102] Step S56, repeat the operation until a continuous single-row blockade zone is formed.

[0103] In step S51, the three-dimensional sonar system includes: a multi-beam acoustic wave transmitter 12, a receiver 13, a real-time signal processing unit 14, and a display and control unit 15. During construction, the multi-beam acoustic wave transmitter 12 and the receiver 13 are placed underwater. The multi-beam acoustic wave transmitter 12 emits high-frequency sound waves, and the receiver 13 receives underwater objects, reflects the sound waves, and converts them into electrical signals. The real-time signal processing unit 14 is equipped with a high-speed digital signal processor to filter, denoise, and statistically render the received sound wave data. The display and control unit 15 generates a real-time three-dimensional image, and the crane operator performs visual assembly of the Twisted King Block 6 based on the real-time three-dimensional image.

[0104] Step S6 includes the following steps:

[0105] Step S61: Crane ship 8 lifts the excavator into the hold of transport ship 9;

[0106] Step S62: The excavator loads 7 stones into the hopper;

[0107] Step S63: The crane vessel 8 lifts the hopper to the designated grid in the first loose stone area 2;

[0108] Step S64, throw the 7th stone.

[0109] In step S63, the crane vessel 8 lifts the hopper to the designated grid in the first loose stone area 2. After the crane vessel 8 is positioned, the hull of the crane vessel 8 is parallel to the edge line of the large grid 10.

[0110] Cast the water in the order of upstream first, then downstream, and deep water first, then near shore, with two casts per small grid.

[0111] Step S7 uses the same grid-based throwing process as step S6, throwing stones within the designated grid in the second scattered stone zone 3.

[0112] Step S8 includes the following steps:

[0113] Step S81: Crane ship 8 lifts the excavator into the hold of transport ship 9;

[0114] Step S82: The excavator loads 7 stones into the hopper;

[0115] Step S83: The crane vessel 8 throws the material into the designated grid using its hopper;

[0116] Step S84: The crane vessel 8 lifts the excavator to the edge of the bank slope;

[0117] Step S85: The excavator levels the surface.

[0118] Please see Figure 9 This is a 3D image before launch. Please refer to [link / reference]. Figure 10 This is a three-dimensional imaging diagram of the throwing process.

[0119] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A foot protection structure combining a twisted king-shaped block and scattered pebbles, characterized in that, It includes a blockage area (1) consisting of a twisted block (6) laid horizontally from the riverbank slope to the bank slope, a first loose stone area (2) a second loose stone area (3) a slope-connecting stone area (4) and a masonry block area (5). The Twisted King Block (6) Blocking Area (1) is formed by multiple precast concrete Twisted King Blocks (6) connected end to end in the longitudinal direction through mortise and tenon structure, forming a continuous single-row strip structure; The first scattered stone area (2), the second scattered stone area (3) and the slope-connecting stone area (4) are all composed of multiple blocks of stone (7); The slope-connecting stone area (4) is located above the normal water level line, and the slope-connecting stone area (4) connects the second scattered stone area (3) and the masonry block stone area (5). The masonry block area (5) is a masonry block (7) slope protection, and the masonry block area (5) extends from the slope connecting stone area (4) to the top of the bank.

2. The foot protection structure combining twisted blocks and scattered stones according to claim 1, characterized in that, The thickness of the boulders (7) in the first scattered boulders area (2) is 1.2 meters, and the throwing width is 40-50 meters; The second scattered stone area (3) has a stone block (7) with a throwing thickness of 1.0 meter and a throwing width of 40~50 meters; The thickness of the boulders (7) in the slope-connecting stone area (4) is 1.5 meters and the width of the boulders is 3 meters.

3. The foot protection structure combining twisted blocks and scattered stones according to claim 1, characterized in that, The height of the twisted block (6) is 2 meters and the width is 2 meters; The twisted block (6) includes a top rod (61), a middle rod (62) and a bottom rod (63). The top rod (61), the middle rod (62) and the bottom rod (63) are integrally formed and connected. One end of the middle rod (62) is provided with a tenon (64), and the other end of the middle rod (62) is provided with a mortise (65). The top of the top rod (61) is symmetrically provided with lifting lugs (66). The stone (7) has a particle size of 0.2~0.5 meters and a mud content of ≤1%.

4. A visualized underwater construction method for the toe protection structure composed of the Twisted King Block and scattered stones as described in claim 1, characterized in that, Includes the following steps: Step S1, Pre-construction underwater measurement; Step S2, throw the mesh to divide; Step S3, the crane vessel (8) is positioned and anchored; Step S4, the transport ship (9) berths; Step S5, Twisted King Block (6) Blockade Zone (1) Visual Assembly; Step S6, first scattered stone zone (2) gridded throwing; Step S7, second scattered stone zone (3) gridded throwing; Step S8, leveling operation of the slope stone area (4); Step S9, masonry riprap section (5) bank protection operation; Step S10: Post-construction underwater measurement.

5. The visualized underwater construction method according to claim 4, characterized in that, In step S2, the four areas of the Twisted King Block (6) Blockade Area (1), the First Scattered Stone Area (2), the Second Scattered Stone Area (3) and the Slope Stone Area (4) are divided into throwing grids. The throwing area is divided into several 20m×5m large grids (10), and the large grids (10) are further divided into 4 5m×5m small grids.

6. The visualized underwater construction method according to claim 4, characterized in that, In step S3, when the crane vessel (8) is positioned and anchored, the bow and stern sides of the crane vessel (8) are respectively fixed by two fixed anchors (11) at an angle. The underwater drift distance of the boulder (7) is L. The offset is calculated based on the underwater drift distance of the boulder (7) when positioning.

7. The visualized underwater construction method according to claim 4, characterized in that, In step S4, when the transport ship (9) is berthed, its hull is parallel to that of the crane ship (8). When transporting the twisted block (6), execute step S5; when transporting the block (7), execute steps S6 to S8.

8. The visualized underwater construction method according to claim 4, characterized in that, Step S5 includes the following steps: Step S51: Install the underwater three-dimensional sonar system; Step S52: Generate underwater three-dimensional sonar images in real time; Step S53, the crane ship (8) hoists and fine-tunes the twisted king block (6); Step S54: Based on sonar images, guide the assembly of the mortise and tenon structure of the twisted king block (6); Step S55: Check the assembly effect in real time; Step S56, repeat the operation until a continuous single-row blockade zone is formed.

9. The visualized underwater construction method according to claim 8, characterized in that, In step S51, the three-dimensional sonar system includes: a multi-beam acoustic wave transmitter (12), a receiver (13), a real-time signal processing unit (14), and a display and control unit (15). During construction, the multi-beam acoustic wave transmitter (12) and the receiver (13) are placed underwater. The multi-beam acoustic wave transmitter (12) emits high-frequency sound waves. The receiver (13) receives underwater objects and reflects the sound waves and converts them into electrical signals. The real-time signal processing unit (14) is equipped with a high-speed digital signal processor to filter, denoise, and statistically render the received sound wave data. The display and control unit (15) generates a real-time three-dimensional image. The crane operator performs a visual assembly of the Twisted King Block (6) based on the real-time three-dimensional image.

10. The visualized underwater construction method according to claim 4, characterized in that, Step S6 includes the following steps: Step S61, the crane ship (8) lifts the excavator into the hold of the transport ship (9); Step S62, the excavator loads boulders (7) into the hopper; Step S63, the crane vessel (8) lifts the hopper to the designated grid of the first loose stone area (2); Step S64, throw the stone (7).

11. The visualized underwater construction method according to claim 10, characterized in that, In step S63, the crane ship (8) lifts the hopper to the designated grid of the first loose stone area (2). After the crane ship (8) is positioned, the hull of the crane ship (8) is parallel to the edge line of the large grid (10). Cast the water in the order of upstream first, then downstream, and deep water first, then near shore, with two casts per small grid.

12. The visualized underwater construction method according to claim 11, characterized in that, Step S7 adopts the same grid-based throwing process as step S6, and throws within the designated grid in the second scattered stone area (3).

13. The visualized underwater construction method according to claim 4, characterized in that, Step S8 includes the following steps: Step S81, the crane ship (8) lifts the excavator into the hold of the transport ship (9); Step S82, the excavator loads boulders (7) into the hopper; Step S83, the crane vessel (8) throws the material into the designated grid of the hopper; Step S84, the crane vessel (8) lifts the excavator to the edge of the bank slope; Step S85: The excavator levels the surface.

Images