There is considerable variation in how a dredger is configured in terms of sensors used and whether all or some of the sensor data is read by QINSy directly from the sensors themselves as opposed to being delivered via the PLC.
The following presents one configuration which should provide sufficient guidelines to cope with alternative setups.
It is assumed that:
a template database with Geodetics has been created, including a Mean Water Level Model, leaving the definition of Objects and Systems to this Quickstart.
Geodetics have been tested using the Geodetic Parameters utility.
all node offsets from the pontoon, ladder and cutter Reference Points () have been carefully measured.
By default the Reference Point () is named CoG (Center of Gravity) in the Object Definition wizard.
Add a pontoon Object, type Vessel, locating the object Reference Point in an appropriate place.
Proceed through the Object Definition wizard.
Define a dredger shape from at least a top view perspective, and a side profile perspective. An aft view may be useful. How detailed the object shape needs to be is a personal choice. Remember the option to import a 3D DXF file.
Define one or more Navigation Positioning systems selecting the correct driver for each.
Add a variable node and enter the correct offsets for the GNSS antenna variable node from the CoG.
Define a Pitch Roll Heave system, sometimes called a Motion Reference Unit (MRU) or a Vertical Reference Unit (VRU).
Choose the driver and add a variable node, entering the system offsets from the CoG.
Define an Underwater Sensor system and add one or more draft observations, adding new node(s) for their locations.
Sensors interfaced to QINSy or data from PLC
One or more of these sensors may be directly interfaced to QINSy, or observation data may be received from the dredging PLC.
Define a Dredge Sensor system and add one or more observations.
Add more variable nodes. For example: trunnion (pivot point for the ladder), anchor fairleads (winches), boom pivot points.
Add a ladder Object, type Vessel, locating the object CoG in an appropriate place.
Define a Gyro system on the ladder. Use a System Cloner driver and clone the pontoon heading.
If so equipped, define a Pitch Roll Heave system on the ladder. Choose one of the Slot identifiers:
USBL and pseudo-USBL
Potentially there is no pitch sensor on the ladder and the cutter head is positioned by pseudo-USBL observations received from the PLC. In that case a USBL system must be defined on the pontoon with the correct driver type to decode the data message. Alternatively both pitch and USBL systems may be interfaced.
Add more variable nodes. For example:
the pivot point corresponding to the trunnion node on the pontoon.
the cutter center where the cutter attaches to the ladder.
the tip of the cutter.
If running anchors, it may also be useful to define the port and starboard sheaves.
Define a Link System, linking the trunnion axis node with the ladder pivot point node.
Add a carrier spud Object, type Vessel, locating the object Reference Point (CoG) in an appropriate place (e.g. center of spud pole).
Define a Gyro system on the spud pole. Use a System Cloner driver and clone the pontoon heading.
Typically the carrier spud pole is positioned by pseudo-USBL observations received from the PLC referenced to the pontoon Reference Point (CoG).
Therefore define a USBL system on the pontoon with the center of the spud pole as a USBL target.
Add a cutter Object, type Dredging Tool, locating the object Reference Point (CoG) in an appropriate place (e.g. center of rear face).
For the dredge head model, enter the number of rows and columns, and the overall width and length. Then click on and select . Enter the Max. Z which is measured from the cutter tip to the rear face.
A model is created in a spreadsheet type format. Each cell in the matrix is then treated as a pseudo-echosounder which is used in updating the sounding grid during dredging operations.
Define a Dredge System and select Cutter from the list of Dredger Types.
Check if density and velocity values are decoded from the PLC. If Status is received from the PLC, select that option and establish the Translation Table to decode the correct status.
Define a Gyro system on the cutter. Use a System Cloner driver and clone the pontoon heading.
Define a Pitch Roll Heave system and use a System Cloner driver and clone the ladder pitch.
Define a Link System and link the Cutter Center node on the ladder to the Cutter CoG (center of rear face).
An alternative option for linking the ladder to the cutter is to define a USBL system, with manual input, on the ladder, making the cutter center node the USBL Reference Point. Use the same point as the USBL target. Then leave dX/dYdZ values at zero.
No anchor handling functionality is available online without this system.
A two-way dredger to anchor tug serial data communications radio is a prerequisite.
Anchor tug position and heading is received and dredger position and heading, as well as anchor drop locations, are sent. This exchange of data is configured online in the Tug Manager dialog. The Tug Display utility is run on the tug.
Depending on the how the hardware interfacing is configured, it may be necessary to define one or more data output systems. For example, when positioning, gyro and motion sensor systems are interfaced directly to QINSy, sending that data to the PLC may be required.
Output systems are defined in a single page dialog box, requiring only a System Name, output System Type, Driver, and I/O Parameters for a network or a serial interface.
In cases where the dredging computer (PLC) expects to receive data in a specific format, and that format is not currently supported in your QINSy release, the Generic Output (User-defined ASCII) driver may be used. The template database setup is simple: system name, output system type, Driver, and network or serial interfacing details.
When the Controller is started, the Generic Output icon is found in the task bar. Use the Add button in the dialog box to create the Generic Output content. Please refer to the
In cases where ASCII data must be written to a log file in a specific format not currently supported in your QINSy release, the Generic ASCII Data Logger driver may be used. The template database setup is simple: System Name, output System Type, Driver, and I/O Parameters for a network or a serial interface.
The XML file, in which the output content and format is specified, is created using the Generic Layout Editor, started from the icon located in the Console's lower pane. Please refer to Knowledge Base - Generic Layout Editor for detailed information about this utility.
Written specifically for an IHC PLC this driver outputs a number of TIN triangles from the currently selected dredging design surface. A request for a number of TIN triangles is made by the IHC dredging computer via a TCP/IP connection. The driver fetches the triangles from the design model (manual, DTM/pro or Grid) and sends them to the IHC computer. The driver selects the triangles which are located in an area around the last node position.
When a Manual design is used the driver will send two triangles that represent an area of 500x500 survey units around the node position. When DTM/QGF/PRO file is selected the actual triangles as defined by the user in PM.NET or TerraModel are retrieved from the file. When Grid File is used as input then the grid points are triangulated inside the driver and sent to the IHC computer.
The template database setup is simple: System Name, output System Type, Driver, and I/O Parameters for a network or a serial interface.
