Dredging Specific Drivers

• Tide+100cm
• Fwd/Aft draft pressure
• Draghead Wire Payout (cm)
• Gymbal Wire Payout (cm)
• Draghead Water Depth+100cm
• Gymbal Water Depth+100cm

• Draghead wire encoder vertical angle in degrees 90=vertical

• Gymbal wire encoder vertical angle in degrees 90=vertical

• Dredge status 1=dredging, 2=sailing, 3=dumping, 4=bucket

• Latitude/Longitude (DDMM N/S / DDDMM E/W)

Notes:

1. Driver automatically converts the 'tide+100cm' value to survey units.
2. Driver automatically converts the 'depth+100cm' to survey units.
3. For calculated pitch use the Slot number field to fill in the distance between the two depth sensors on the pipe object in cm's
4. Normally Pitch convention is set to 'Positive bow down'
5. Add dredging status translation table in Dredging System definition.

Draghead payout
Gymbal payout
Draghead vert. angle
Gymbal vert. angle

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• Tide, Tide Status, 
• Antenna E/N/Height, 
• DGPS Quality, 
• Antenna XYZ Offsets, 
• Cutter E/N, Heading, 
• Spud Pole dAlong/dAcross, 
• Mainline Begin E/N/KP, 
• Mainline End E/N/KP, 
• Emergency Hoist, 
• Cut Height, 
• Cut Volume, 
• Left Anchor E/N, 
• Right Anchor E/N.

• Cutter Depth/Width
• Ship's Length
• Trunnion Depth
• Spud X/Y/Z position
• Pitch/Roll
• Tide Value/Status
• Heading
• Density/Velocity
• Center Cutter X/Y/Z
• Ladder Angle
• Profile Point X/Y/Z
• User Value 1-10
• Cutter Depth WaterLevel

Notes:

1. Output node position may be selected in Controller
2. DGPS quality convention: 0=Unknown, 1=GPS, 2=DGPS, 4=LRK, 5=EDGPS,
3. User should set up quality translation table as found in file 'DrvOutIhcUdp.xml'
4. The source field in this table the positioning mode of the original Positioning System.
5. 'DrvOutIhcUdp.xml' located in C:\Program Files (x86)\QPS\Qinsy\Drivers\Settings.
6. The cutter position is the center of the dredging model
7. The spud pole node is selected in the parameters of the dredging system
8. All distances and coordinates assume a survey unit set to meters
9. Tide field is only filled when dredge result are valid and a tide value was used in computation.

Notes:

1. All distances and coordinates assume a survey unit set to meters
2. Depths convention: +=above CD & -=below CD
3. Pitch convention: +=bow down, -=bow up
4. Roll convention: +=stbd up, -=stbd down
5. Status convention: 0=invalid, 1=valid
6. Only roll & pitch fields of PRH system filled in.
7. Pitch ladder = pitch pontoon + ladder angle, Roll ladder = roll pontoon
8. Only Y-field of USBL observation is filled in
9. HdgPontoon & HdgLadder are duplicates and will contain the same data

• Starboard/Port Dredge Head Depth

• Starboard/Port Set Point
• Starboard/Port DTM Depth
• Starboard/Port DTM Depth + 10m
• Starboard/Port DTM Depth + 20m
• Starboard/Port DTM Depth + 30m
• Starboard/Port DTM Depth + 40m
• Starboard/Port DTM Depth + 50m
• Starboard/Port Dredge Head Speed
• Starboard/Port dAcross/dAlong
• Starboard/Port E/N
• Tide Value
• Starboard/Port Emergency Hoist

• Starboard Dredge Head X/Y/Z
• Port Dredge Head X/Y/Z
• Starboard/Port Dredge Depth
• List (roll)
• Trim (pitch)
• Heading
• Actual Tide
• Dredge Status
• Draft Fore/Center/Aft

Notes:

1. All distances and coordinates assume a survey unit set to meters
2. All speeds are in knots
3. Tide field is only filled when dredge result are valid and a tide value was used in computation.

Notes:

1. All distances and coordinates assume a survey unit set to meters
2. Dredge status convention: 0=Unknown, 1=Trailing, 2=Sailing Loaded, 3=Dumping, 4=Discharging, 5=Sailing Empty.

• Hopper Name
• Dredging Status
• Dredgehead Position (pseudo USBL X/Y/Z
• Displacement
• Draft Fore/Aft
• Hopper Level 1-6
• Hopper Volume
• Density/Velocity
• Pressure before/after dredge pump
• PMO Status
• Trimtank 0, 1, 2
• Dredge Pump On/Off
• Valve Open/Closed
• Ballast Volume
• TDS

Notes:

1. For the 'At Node' you may select the reference node of the vessel.
2. When Online the user must define a KP versus water density / solid density table and the empty hopper displacement.
3. Dredge status convention: 0=Unknown, 1=Sailing Empty, 2= Dredging, 3=Sailing Full, 4=Dumping, 5=Pumping Ashore.

Mixture Velocity
Mixture Density
Weight (displacement)
Volume
Hopper Level (1-6)
Status
Flag 

• Pitch, Pitch Sign, Pitch Mode (T=True, E=Error)
• Roll, Roll Sign, Roll Mode (T=True, E=Error)
• Heading, Heading Mode (T=True, R=Relative to field 03, E=Error)
• Realtive Position (pseudo USBL X/Y/Z
• Depth
• Tide
• MIxture Velocity
• Mixture Density
• Weight (displacement)
• Volume
• Hopper Level
• Status
• Flag
• Miscellaneous, e.g. Temperature, Wind Speed etc..

Notes:

1. All strings contain a slot number. For the Heading, USBL and Draft system enter a slot number in Database Setup

2. The driver has a user-interface for assigning the VRU systems to the slot information

3. P-R-H slot numbers entered Online when the Controller is started with the U/I of the drive
4. The relationships VRU system - slot number are stored in the registry and are automatically retrieved when the driver starts.
5. If the VRU system is not selected in the User Interface then it will not decode any VRU data!

Mixture Velocity
Mixture Density
Weight (displacement)
Volume
Hopper Level (1-6)
Status
Flag 

UpperTablePivot_To_ShellPivot

(K) The length of the long arm that connects the upper table with the shell.

LowerTablePivot_To_ShellPivot

(L) The short distance between pivot on lower table around which shell rotates and the pivot which connects the long arm to the upper table.

UpperTable_To_LowerTable_Closed

(Mc) Distance from upper to lower table when grab is closed.

UpperTable_To_LowerTable_Open

(Mo) Distance from upper to lower table when grab is fully opened (Not on image).

LowerTablePivot_To_ShellBottom

(N) Vertical distance between lower table pivot and shell tip when grab is closed.

Grab_Opening_Angle_Threshold

[Degrees] Used for the open close flag. If calculated grab angles become lower than this value, the flag observation will become closed else open.

LowerTable_Pivot_Separation

(O) Horizontal distance between lower table pivot points (used for tip positioning).

• Boom Angle
• Real wire length displacement of front drum
• Real wire length displacement of rear drum

Notes:

1. Wire length sign convention: when wire is unwound (reeling out, hook lowered) the value becomes more POSITIVE and reeling in, more NEGATIVE.

2. The driver shows a message status box that shows the communication progress and a grid control with a variable content depending on which page is selected.

3. The wires can be rigged to the grab or bucket in various ways. In principle the following combinations are possible:

   • Both hoisting.
     The average wire length for both winches is used to calculate the upper table. Lower table will be same as upper, grab angle not calculated.
   • One hoisting, one open/close.
     The upper table will be positioned with the shortest wire length of the two wire length measurements. The lower table will depend on the difference between the wire measurements. The grab angle is derived via cosine rule from the difference between upper and lower table.
   • One hoisting, other not used.
     The upper table will be positioned with the selected wire measurement. Lower table will be equal to upper table. Grab angle is not used.

4. The calibration procedure is pretty straightforward.

5. Add a flag observation; it can be used for the grab open close switch required for the grab dredging system. The observation is "0" when the grab is closed and "1" when the grab is opened, the grab angle is larger than the defined threshold. Slot String should be "OPEN".

Flag 

Mixture Velocity
Mixture Density
Weight (displacement)
Volume
Hopper Level (1-6)
Status
Flag