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1 Introduction 1.1 Rope Excavator

1. H L T7 D 9 Jo Bearing set point Shell attachm separation T8 Viguaksalion mode ed Shape O wireframe Visualisation mode v O Shape Gei wireframe t t w rper wp Edit Grab T able Figure 3 18 Tool page in the Tools page The procedure to fill in the tool page Select a tool configuration or create a new tool configuration with New If the right device driver is selected in the Equipment page then the tool type should be right Backhoe Grab Antwerpen Do not change the tool type Figure 3 19 The offsets of the clamshell bucket lt 8 T1 T3 e i T7 s L q Figure 3 20 The offsets of the orange peel bucket The X offset for the port or starboard shell is the horizontal offset from the rotation point on top of the shell to the origin of the shape In the 18 e Vessel Configuration Teledyne PDS Rope Excavator Teledyne PDS Rope Excavator m m TELEDYNE PDS examples above is for the clamshell bucket no X offset shown Both shells of the clamshell bucket have the same rotation point Port shell If applicable fill in the X offset T1 for the port shell The X offset is always positive Fill in the Z offset T2 for the port shell The Z offset is always negative Select h
2. Index m m 3D DXF File 5 3D Model 15 54 A Acquisition 5 13 15 16 20 22 29 33 34 35 37 41 46 51 52 53 54 55 56 Active Design Model Profile Layer 46 Active Grid Model 39 41 42 Active Grid Model Difference Layer 41 Active Grid Model Layer 41 Active Grid Model Profile Layer 46 Advanced Computation 26 Application Type 3 Attach Point 40 44 45 B Bearing 10 13 14 Boom 5 6 9 15 16 17 29 30 36 46 Boom Calibration 16 30 Boom Pin 30 Boom Pin Point 9 11 40 45 Butterworth Filter 11 e Cabin 5 6 9 17 30 46 Cell Size 21 52 Clamshell Bucket 5 7 8 11 13 19 21 31 32 36 40 43 45 46 51 52 56 Color Table 41 42 51 54 55 Color Table Layer 41 Compass 10 12 13 23 24 Coordinate System 4 12 24 Coverage Settings 39 41 42 54 55 D Data Sources 25 27 Datum Transformation 12 24 Depth Sensor 23 25 27 Teledyne PDS Rope Excavator 2p TELEDYNE PDS Design Model 41 46 47 51 53 54 Dredge Layer 41 46 Dredge Positioning System 10 11 E Equipment 10 23 26 27 Excavation Point 19 40 45 56 EE Follow Vessel 38 39 40 44 45 G Geo Calculator 4 Geometry 5 9 11 13 22 24 25 GPS 11 12 24 25 Grid Model 15 20 21 51 52 53 54 55 56 Guidance 14 41 46 Layer Control 39 40 44 46 47 Layo
3. Rope Excavator Teledyne PDS Version 1 2 2 July 2015 S SS ef gem f e LE E VU NOILLD N PH Lee Saa f ed D KR Lef saa GC EG TeEK le mare MA e d 1 ly T od E n y Sai BS CW Estet Le EN ww Saa Ve ne 7 9 n f gt 2 A I amp 2 A M d Y TELEDYNE PDS Teledyne RESON B V Stuttgartstraat 42 44 3047 AS Rotterdam The Netherlands Tel 31 0 10 245 15 00 www teledyne reson com Amendment Record Sheet Rev Dae Reason for Modifications 22 07 2015 New Teledyne RESON logo added 10 06 2010 New RESON logo added 13 04 2007 Rope Excavator Application Manual is updated to PDS2000 version 3 0 0 15 04 07 2006 Minor modifications to the manual 1 0 21 06 2006 First version of the Rope Excavator Application Manual for PDS2000 version 2 5 3 2 2 TELEDYNE PDS Contents 1 Introduction 1 UN FIO DSH MOA BOM TURNER 1 2 Setup a New Project 3 2 WEVERO CC E 3 2 2 Start a New IPN O CCl ricnienernsneossicetnn laieranedsicetansaiabanteoticetmatshe ans edente bentes aita diera dg 3 2 2 1 New Project Wizard EEN 3 2 2 2 Coordinate OVSLGfTI E 4 E EE eege E 4 2 2A OMNI ON AON EE 4 3 Vessel Configuration 5 SN Ride Lal Drei 6 E 5 3 2 Rope Excavator Configuration sees nennen 5 3 2 1 Geometry Rope Exvcavator 5 3 2 2 Equipment Rope Excavator ssenneneennneeneeonnrrnsrnrrrrnrrnsr
4. Data for grid model logging ER E ae m Standard deviation Dredge Positioning System Ho C Minimum C Maximum Dm Figure 7 1 Create a new grid model in the Logging page Click on and give a new file name in the file dialog and click on to close the file dialog Select in the grid model setup one or more data types for the grid model and enter a cell size The cell size has to be around 1 of the effective area width of the clamshell bucket or orange peel bucket If the cell size is too small the update of the grid model takes too much time and if it is too big it looks like too much data is taken away in one go with the bucket Click on in the grid model setup and then click on in the Logging page to close the page There will be no grid model visible in the Plan View General Dredge Operation view or in the Profile Realtime Design view because the model has no data Switch the logging on see page 33 and the grid model can be used in the Acquisition During the digging the model will become visible in Teledyne PDS Rope Excavator TELEDYNE PDS the Plan View General Dredge Operation view or in the Profile Realtime Design view The steps for a grid model that already contains data See the chapter Grid Model in the PDS2000 User Manual to create a grid model with data Switch the logging off see page 33 Click on in the toolbar or select Logging gt Logging Settings f
5. General Dredge Operation Figure 5 2 Add Display dialog to add a view In the Displays window the views can be checked on or off This means that the checked views will be displayed on the screen The views that are checked off are not removed from the layout file It only means that these views are not shown on the screen A view can be removed from the layout file by using in the Displays window There is also a quick method to add displays or views to the layout Select View gt Add Display from the menu bar Teledyne PDS Rope Excavator See for an explanation of the docking the chapter Using PDS2000 Docking in the PDS2000 User Manual p TELEDYNE PDS Click on in the toolbar Select Add Display in the context menu Displays Dredge Instruction Production Add Displa v Mumerics Messages w Plan View General Dredge Operation Raw Data Standard w Profile Realtime Design Raw Data Survey Coverage Time Series General Dredge Operation Helmsman Messages Status Scatterplot Profile ap view Dynamic Positioning Navigation Numerics Standard 3 Status Equipment Tr mn x we KF OF oo FSF o L3 Figure 5 3 Add Display in the context menu After all the wanted views are selected and placed in the right place in the Acquisition window with or without docking the layout can be stored Use File Save Layout As from the menu bar to save the new layout To open ano
6. If there is no Dredge Positioning System Rope Crane selected yet in the Equipment page see page 11 then the Tools page will stay grey and nothing can be done The X Y and Z offsets in these pages are the offsets from the connection point to the origin of the shape 3 2 4 1 Boom Configuration boom v New Boom Parameters Antenna Offset A offset offset 2 offset offset Y offset 2 offset V B1 B2 B4 B5 B6 Calibration set point B3 ae a ne nie tiit Visualisation mode Visualisation made O Shape wireframe 9 Shape O Wireframe boom 3d i l ki Figure 3 14 Boom page in the Tools page The procedure to fill in the boom page Select a boom configuration or create a new boom configuration with New J Fill in the Y offset B1 and the Z offset B2 for the boom The Y offset is always positive and the Z offset is always negative Vessel Configuration e 15 TELEDYNE PDS 16 e Vessel Configuration ca R2 Bi Figure 3 15 The Y and Z offset of the boom and the sheave distance R2 lt is better to fill in the calibration set point B3 during the boom calibration in the Acquisition See for a detailed explanation of the calibration and the set point in the chapter Calibration on page 30 select how the boom has to be presented in the views a shape or a wireframe and then select the right shape or wireframe for the boom Fill in
7. The Tools Calibration window will be opened where the boom and rope of the rope excavator can be calibrated see page 30 and page 31 Teledyne PDS Rope Excavator 6 Views 6 1 Introduction m m TELEDYNE PDS In the Acquisition several views can be created to display the relevant information for the crane driver The minimum should be a plan view where the rope excavator with or without the pontoon is visible one or more profile views for a side or front view of the rope excavator and a numerics view showing the relevant data numerical See for other views which can be used in the Acquisition the chapter Views in the PDS2000 User Manual 6 2 Plan View General Dredge Operation Teledyne PDS Rope Excavator This plan view will show the rope excavator with or without the pontoon in a top view with additional information Plan View General Dredge Operation QA male cc Qe Figure 6 1 Plan View General Dredge Operation view with orientation mode North Up When this plan view is created automatically the grid model and the dredge layer with the rope excavator information are loaded Only the Views e 37 F TELEDYNE PDS 38 e Views active grid model will be shown in black because there is no color table selected for the grid model yet Click on in the toolbar or select Coverage Setting in the context menu of the plan view to open the Coverage Settings and select the right color table fo
8. The first properties window 4 Bearing Sensor to Bearing This is the ratio between the output of the bearing sensor and the actual rotation of the rope excavator For instance a sensor to bearing Vessel Configuration e 13 TELEDYNE PDS value of 10 means that when the rope excavator rotates 360 the bearing sensor rotates 10 times 360 Bearing Correction This should be the correction derived from the bearing calibration The second properties window CS Heading of bearing computation is only as information to the user 3 2 2 9 Remote Heading The heading information from the pontoon can be used in combination with a bearing sensor to calculate the heading of the rope excavator In combination with the device Remote VRU the attitude of the rope excavator can be calculated The properties window s4 Remote Heading Vessel Identifier Select the vessel ID for the pontoon as is given to the pontoon in the Configuration window see Figure 3 12 on page 13 3 2 2 10 Remote VRU The VRU of the pontoon will be used for the attitude of the rope excavator The attitude of the rope excavator can only be computed in combination with the device Remote Heading The first properties window 4 Remote VRU Vessel Identifier oelect the vessel ID for the pontoon as is given to the pontoon in the Configuration window see Figure 3 12 on page 13 Roll Pitch Correction The roll and pitch cor
9. grid model design model and design difference as indicator ssssssssesenteeeertnrrrrsrnrrrrerrnrrrerrrrereen 43 The Properties of the Profile Realtime Design view 45 The Layers of the Profile Realtime Design view ccccccceseeeeecaeeeeeeeeeeeeeeeeeeesaeeeeens 46 Properties of the Up Down Indicator with the two possible computations 47 Risse ME 48 Numerics page configuration to select data for the Numerics view 48 Create a new grid model in the Logging page ssssssssssssssesssrrnneressssrnnnrrrressrrrrnnnressnnn nn 52 Select an existing grid model in the Logging page 53 The Guidance page for a design model 53 Color table GOS Fal ERREUR ROREM 54 PDS2000 Grid Model is not active in the Logging page ccccceeseeeeeeeeeeeeeeeeeeeeeeeenens 55 The device Dredge Positioning System Rope Crane is used for the grid model OG NMG PR RTT 55 Figures e v p TELEDYNE PDS 1 Introduction 1 1 Rope Excavator The application type Rope Excavator is for a project where a rope excavator is used for dredging A project with the application type Rope Excavator can contain one or two vessels For a one vessel project the vessel is the rope excavator and for a two vessels project the vessels are the rope excavator and a pontoon on which the rope excavator is located In this application ma
10. see page 45 Vertical Zoom In and Vertical Zoom Out The display in the profile view can be zoomed in or out only in the vertical direction of the view These two buttons are only available when in the properties of the profile view the option Scale Mode is set on Fixed Horizontally or on Scale Freely see page 45 Center Screen The cursor will change into a cross Click in the profile view to center on the cursor Move the cursor to the edges of the view it will change to a diamond and the view starts panning or scrolling To deactivate the cursor use the right mouse button This option only works when the Follow Vessel mode is off Vertical Auto Ranging If in a vertical zoom extents is active Follow Vessel If in the attach point selected in the properties see page 45 will always be located in the centre of the view Layer Control Opens the Layers of the profile view with the overview of the foreground layers that are used in the profile view see page 46 Properties Opens the Properties of the profile view with some extra settings for the Follow Vessel mode and the Scale Mode see below 44eViews Teledyne PDS Rope Excavator Teledyne PDS Rope Excavator m m TELEDYNE PDS 6 3 2 Profile Properties Click on in the toolbar or select Properties in the context menu to open the Properties of the profile view Properties Value ER Follow Vesse
11. 10 e Vessel Configuration 3 2 2 Equipment Rope Excavator In the Equipment page the sensors used on the excavator have to be selected Dredge Positioning System Rope Crane VRU Positioning System Geogs Compass State For a rope excavator on a pontoon some extra sensors can be selected Remote Reference Position if no Positioning System Geogs is used Pontoon Protection Bearing if no compass is used Remote Heading if a bearing sensor is used Remote VRU if no VRU is used Beometry Equipment Computations Bata Sources Guidance Tools Logging Simulation Aliases Alarms Groups Device Fort 4 Autopilot Output B tar L ompass 1 NETI Su Backhoe grab bucket attitude standard NMEA HD geg Bearin 3 Ye Heading E computation Compass Pontoon ME Depth sensor E ind Pratectian 1 Build ify Dredge Positioning System Rope in panten prat E Clare si Pontoon Protection Sea Dredge Production Computation ES Mredae Static V Positioning system NET Device drivers E m EE l pas ned OPC Mantovant Lons dredge ropecrane 1 Antenna Position i pe UPC Mantovani T aro dredge ropecrane from Geog a OPC Mantovani Zemello si Reference Point ney Il dredge rapecrane Computation OPC Peter Madsen Merete State 1 COM Lhris dredge ropecrane m Keubaard state a OPC Van den Herik Pring vl Dredae Positioning METI 2 1 dredge ropecrans E dit Figure 3 11 The Equipment
12. 11 14 23 25 26 VRU Calibration 11 25 W Wireframe 5 9 16 19 56 58 e Index Teledyne PDS Rope Excavator
13. Background Color Font Name Font Size Font Bold Value Min 10 00 Max 10 00 Span 20 00 Absolute Z Dredge Head 1 Red 128 Green 128 Blue 128 Red 17 Green 1 74 Blue 56 Red 214 Green DU Blue DU Red 0 Green Blue 0 Red 255 Green 255 Blue 255 Arial 12 Enabled Crane Absolute Xx Dredge Head Roll 1 bL S tl thet ERR eb e bebe v Pitch 1 Design Z s Operation Condition Operation Mode Absolute Y Dredge Head 1 Absolute Z Dredge Head 1 Absolute Interm X Absolute Interm Y Absolute Interm Z Depth Vertical Reference Headina 1 S Crane H 1 Drag head Relative Position E Drag head Absolute Position EA b Oe Wats cb Lb SE DA Lb Lb b Lb y Absolute x Offset Point 2 Absolute Y Offset Point 2 Absolute Z Offset Point 2 Absolute X Dredge Head Absolute Y Dredge Head Absolute Interm x Absolute Interm Y Absolute Intern Z Depth Vertical Reference Headina 1 Poli i ZS Figure 6 10 Properties of the Up Down Indicator with the two possible computations Views e 47 m m TELEDYNE PDS 6 4 Numerics 48 e Views This view will show the relevant data as alpha numeric values Numerics Standard AcqComp n1 Elter Distance 1010 45 m Bearing 9055 Active Area Names b4 b5 Absolute Dredge Head 456494 90 Absolute Y Dredge Head 575230 53 Absolute Z Dredge Hea
14. Orientation Mode is set on Fixed Skew Interactive Selection Enabled it is possible to select items in the plan view with the mouse Background Color The background color of the plan view can be set 6 2 3 Plan View Layers The layers can be used to add extra information to the plan view Click on in the toolbar or select Layer Control in the context menu to open Layers In Layers only the used layers will be displayed new layers can be added if data has to be shown in the plan view To add data to a new layer click on 9 select one of the layers from the list in Add Layer and edit the properties of that selected layer Double click on an existing layer or click on to open the properties of the selected layer 40 e Views Teledyne PDS Rope Excavator Both active layers are overlapping each other Make a choice in the Coverage Settings which active layer to show in the plan view see page 42 Teledyne PDS Rope Excavator m m TELEDYNE PDS Background Layers C MAP Layer Active Grd Model Layer Active Grid Model Difference Layer H Active Haute Layer Foreground Layers Active Work Area Layer Active Waypoint Layer Active Placement Point Layer Vessel Layer Profile Position Layer Dredge Layer Color T able Layer Grid Lauer Figure 6 4 The Layers of the Plan View General Dredge Operation view Below only the relevant layers for a rope excavator application will be explained Most of these lay
15. Tide Station or Tide Stations Along Route Tide Station Name Tide Stations Select the tide station s that is are used for the tide computation with the above selected Tide Reduction Computation Mode 3 3 4 Data Sources Pontoon Data sources Data groups 9 1 Depth senzar 1 OPC Peter Madsen dps Sealeve 2 Sealevel Reference point E Merete Chris Position Speed Heading C Automatic switch Select primary data group for a data source set automatic selection mode and the conditions for switching Data sources can be selected for various computations and displays Figure 3 30 The Data Sources page with two sea level computations If a depth sensor is selected in the Equipment page then for the sea level computation two computations will be available By default the sea level Reference point computation is the primary computation Change with the arrows t and EA the order of the two computations and the order will look like the example displayed above The computation of the depth sensor is then the primary sea level computation Vessel Configuration e 27 p TELEDYNE PDS 4 Calibration 4 1 Introduction Teledyne PDS Rope Excavator Before the boom and the rope of the rope excavator can be calibrated all other equipment on the rope excavator and pontoon have to be installed and calibrated PDS2000 should be running and a project should be setup correctly The calibration of the boom
16. and clipping polygons and to add or edit the user maps objects For information about the edit mode and the user maps see the chapter Views Plan View Toolbar and Context Menu in the PDS2000 User Manual Undo ri Will reverse the last action done in the edit mode Redo Only active after an Undo and will reverse the last undo action of the edit mode Layer Control E Opens the Layers of the plan view with an overview of the background and foreground layers that are used in the plan view see page 40 Coverage Settings P Opens the Coverage Settings for the settings of the color tables for the active grid model and active grid model difference see page 42 Properties E Opens the Properties of the plan view with some extra settings for the Follow Vessel mode and the Orientation Mode see below 6 2 2 Plan View Properties Click on in the toolbar or select Properties in the context menu to open the Properties of the plan view Properties Value Drag head Absolute Position Dredge Point Relative Motion 10 000000 Morth Up Fixed Skew value 0 000000 Interactive Selection Enabled Background Color Hed 155 Green 202 Blue 240 Position Source Attach To El Follow Made Vessel Radius Enabled The Properties of the Plan View General Dredge Operation view Views e 39 p TELEDYNE PDS Follow Vessel Enabled the Position Source on the rope excavator will always stay in the plan vi
17. first properties window fl Depth sensor Device Offset Select the offset of the depth sensor from the list The offset has to be defined in the Geometry page In the second properties window Sealevel Computation the default settings can be used 3 3 2 6 Tide Gauge In stead of using GPS RTK as height source one or more tide gauges can be used in combination with the depth sensor to calculate the absolute height or depth of the pontoon The properties window B Tide gauge Tide Stations oelect at the bottom of the properties window the tide station s that are related to the tide gauge driver With some of the device drivers tide data of more than one tide station can be collected at the same time Select in that case in the properties window the relevant tide stations Other device drivers are only for one tide station select then only one tide station in the properties window If more than one tide station is used and the device driver is only for one tide station select the device driver multiple times until all the tide stations are selected Vessel Configuration e 25 p TELEDYNE PDS o 26 e Vessel Configuration An advanced computation has to be created in the Computations after the tide gauge is setup See page 26 Also in the properties of the positioning system in the Reference Point Computation the Height Source has to be set to Tide see page 24 3 3 2 7 Remote VRU The VRU
18. is connected to PDS2000 click on to test the communication with the sensor For most of the items in the properties the default settings can be used Below only the essential settings in the properties of the sensors will be discussed 3 3 2 1 Remote Crane Reference Position If no positioning system is available on the pontoon this device will use the information of the positioning system on the rope excavator to calculate the pontoon position Vessel Configuration e 23 TELEDYNE PDS 24 e Vessel Configuration The first properties window 4 Remote Crane Reference Position Vessel Identifier Select the vessel ID for the rope excavator as is given to the excavator in the configuration window see Figure 3 12 on page 13 In the second properties window Reference Point Computation the default settings can be used but be sure that the option Height Source is set on Height Observed 3 3 2 2 Compass On the pontoon the compass is used to get a heading of the pontoon In the first properties window Ca Compass Heading Correction This should be the correction derived from the compass calibration 3 3 2 3 Positioning System Geogs This sensor gives a position derived from several GPS satellites In the first properties window Positioning System Geogs Device Offset Select the offset of the GPS antenna from the list This offset has to be defined in the Geometry page Time Delay If kn
19. is the centre of the bottom of the shell Z A n Centre of the bottom of the shell 0 0 0 MT X Figure 3 8 Back view of the shell of the orange peel bucket If the above explained contours are drawn as a wireframe the origin 0 O 0 of these wireframes should be on the same location as discussed above An example of a wireframe is displayed below Figure 3 9 Example of the shell of a clamshell bucket as a wireframe After all the contours are drawn in the Vessel contour or are available as wireframe in the Vessel wireframe the drawing of the excavator cabin should be selected as active vessel contour This can be as Vessel contour or as Vessel wireframe Vessel contour Excavator Cabin k Vessel wireframe Frame ke Figure 3 10 Excavator cabin contour selected as active contour in the Geometry page The offset which is needed on the rope excavator has to be added to the offset table in the Geometry page The offset is Boom Pin Point The Zero offset is the rotation point of the rope excavator There is no offset necessary for the Antenna of a Positioning System The only offset for the Positioning System is the offset of the antenna relative to the origin of the boom see page 15 Vessel Configuration e 9 2p TELEDYNE PDS For more information about the interfacing see chapter Control Center Interfacing in the PDS2000 User Manual o
20. of the rope excavator will be used for the attitude of the pontoon The attitude of the pontoon can only be computed in combination with the device Remote Heading The first properties window 4 Remote VRU Vessel Identifier oelect the vessel ID for the rope excavator as is given to the rope excavator in the Configuration window see Figure 3 12 on page 13 Roll Pitch Correction The roll and pitch correction is the difference between the XY plane of the rope excavator and the XY plane of the pontoon In the second properties window Xr Attitude computation the defaults settings can be used 3 3 2 8 Remote Heading If the pontoon has no VRU sensor the heading information from the rope excavator has to be used in combination with the device Remote VRU to calculate the attitude of the pontoon The properties window 4 Remote Heading Vessel Identifier Select the vessel ID for the rope excavator as is given to the rope excavator in the Configuration window see Figure 3 12 on page 13 3 3 3 Computations Pontoon Y Tracking point Speed Tracking point CMG Tracking paint Route Tracking point Sealevel Reference point Waupomt Tracking point MW ayline Tracking paint Work Area Tracking point Placement Point Reference point x d r d d z d E Figure 3 28 The Computations page In PDS2000 a number of standard computations as shown above are available The u
21. side of the plan view Click on in the toolbar or select Interactive Selection in the context menu of the plan view Double click with the cursor on the color table on the right hand side and the color table generator will be opened to modify the color table Color Table survey Generate range Masamum E Number of colors Step size Range colors Greys Hues Reverse Figure 7 4 Color table generator Inthe color table generator the depth range can be changed or the maximum and minimum color Also the number of colors and or step size is changeable See for a detailed explanation of the color table Teledyne PDS Rope Excavator The Logging page is only available when the logging is off Teledyne PDS Rope Excavator F TELEDYNE PDS generator the chapter Explorer Project Database Color Table in the PDS2000 User Manual 7 2 5 Switch between a Grid Model and a Grid Model Difference In the Plan View General Dredge Operation view a grid model or a grid model difference can be used as background The switch between a grid model and a grid model difference can be done by switching on off the relevant layers in the Layers However there is a much easier method to switch between the two models in the plan view Click on in the toolbar or select Coverage Settings in the context menu of the Plan View General Dredge Operation view and the Coverage Settings w
22. the plan view in Follow Vessel mode If out the tracking point of the rope excavator can be anywhere even outside the plan view The type of the Follow Vessel mode can be set in the properties of the plan view see page 39 Orientation Mode 2 The orientation mode of the plan view Three options are available North Up Heading Up and Fixed Skew North Up is that the plan view is always north up and the rope excavator will rotate in the plan view This is the default mode Heading Up is that the heading of the rope excavator is always up In this mode when the rope excavator rotates all the data in the plan view will rotate accept the rope excavator Fixed Skew is that the plan view has a fixed orientation The fixed Teledyne PDS Rope Excavator Teledyne PDS Rope Excavator Onentation Mode Follow Vessel Attach ta Button Figure 6 3 2 TELEDYNE PDS value can be set so that the rope excavator is always looking up with fluctuation to the left and right The data in the plan view is steady and the rope excavator will rotate Set Fixed Skew From Heading Click on this button if the actual heading of the rope excavator has to be the orientation in the plan view Select then as Orientation Mode the Fixed Skew mode and the orientation of the plan view will change with the heading of the rope excavator looking up Edit Mode If checked or in it is possible to modify the routes
23. 2000 User Manual If a coordinate system is selected or created the coordinate system can be checked in the Geo Calculator Select Tools Geo Calculator from the menu bar and add coordinates for the satellite ellipsoid the local ellipsoid or the projection 2 2 3 Vessel In PDS2000 a rope excavator or a pontoon are called a vessel For this application type two different setups are possible with one vessel only a rope excavator or with two vessels a rope excavator and a pontoon Select the tab Project in the Explorer of the Control Center Click with the right mouse button on Vessel in the Explorer and select the option New File to create a new vessel and the vessel configuration window with tabs for the geometry equipment computations data source guidance tools logging simulation aliases and alarms will be opened See the chapter Vessel Configuration on page 5 for a detailed setup of the vessel configuration for a rope excavator application It is also possible with Acquisition gt New gt Vessel to run through the vessel wizard to add the vessel s to the project 2 2 4 Configuration If the vessel s are setup a new configuration has to be created before the Acquisition of PDS2000 can be opened Select the tab Project in the Explorer of the Control Center Click with the right mouse button on configuration in the Explorer and select the option New File to create a new configuration and the Configuration windo
24. Frequent Ask Questions Select the type of design model 3D Model or Grid Model If the model already exists select the file name for the model It is possible by clicking on to modify the 3D Model or the Grid Model If a new design model has to be created click on and a file dialog will be opened where a new file name for the 3D Model or Grid Model has to be given Give a new name and click on to close the file dialog and the relevant editor will be opened See the chapter Guidance Design Model or Grid Model in the PDS2000 User Manual for a detailed explanation of the two editors At the right side in the Guidance page the under and over dredge limits can be added for the design model Both the dredge limits can be displayed in the Profile Realtime Design view as two extra lines 7 2 4 Modify the Color Table During the Acquisition the colors or depths of the color table can be changed This can be done in the Plan View General Dredge Operation view The color table has to be visible in the Plan View General Dredge Operation view If not click on in the toolbar or select Coverage Settings in the context menu of the plan view and the Coverage Settings will be opened see page 42 Select a color table for the data type of the grid model or for the difference grid model Check the option Show color table at the bottom of the window and click on L The color table should be displayed on the right hand
25. This layer is automatically filled when the color table is selected in the Coverage Settings and the option Show color table is checked Numerics Layer This layer will display the value of a data item in the top or bottom of the plan view For every data item a separate layer has to be created Views e 41 TELEDYNE PDS 6 2 4 Coverage Settings Click on in the plan view toolbar or select Coverage Settings in the context menu of the plan view to open the Coverage Settings Coverage Settings survey Data type Color table 2 None O Difference Reference Type Show color table Figure 6 5 The Coverage Settings for the plan view If a grid model has to be shown in the plan view check the option Grid model on top of the window Check then under Grid Model the data type that has to be shown in the plan view This data type has to be available in the active grid model Select the right color table for the selected data type If a grid model difference has to be shown in the plan view check the option Difference and select the right color table With the Coverage Settings is it easy to switch between the active grid model and the active grid model difference in the plan view Check one of the two options and the settings in the Layers are automatically updated Check the option Show color table if the user wants to show the color table of the selected option Grid model or Differen
26. a in Data for grid model logging In the chapter Vessel Configuration Logging of the PDS2000 User Manual the options of the right side in the Logging page are explained 3 2 5 1 Logging Condition for a Rope Excavator For a rope excavator a condition can be set when an empty grid model is used as PDS2000 Grid Model The grid model has to be updated only when the clamshell bucket is closed Conditions Condition check C Guidance online condition C No user alarms User conditions Figure 3 24 Condition in the Logging page Check the option Condition Check and User conditions to activate the conditional logging To create a condition for the rope excavator click on and a conditions window will be opened Click on and select in the condition window as Data element the computation Registration Condition in the computation Drag head Absolute Position Teledyne PDS Rope Excavator Vessel Configuration e 21 TELEDYNE PDS Condition Data elements Crane Drag head Absolute Position Registration Condition zv Pitch 1 ey Design r Design Difference Operation Condition Condition Value Operation Made Clam Shell Closing ee Registration Value Always Registration Condition status Signal t Use Empty Cells Clam Shell Closing r Update Rect v Production Figure 3 25 Condition for a rope excavator Select as Value the option Clam Shell Closi
27. a new grid model see page 52 How can create and select a new design model see page 53 How can modify the color table see page 54 0O A c N How can easily switch between a grid model and a grid model difference see page 55 O The grid model is not updating see page 55 7 What to do after a new clamshell bucket or orange peel bucket is installed on the rope excavator see page 56 7 2 1 Get the Original Layout Back During a survey it is always possible that by accident a view disappear from the screen or the layout of the views is changed In the Acquisition and Presentation a layout can be created by opening several views It is advisable to save this layout in case something happens with one of the views Select in the Acquisition or Presentation File gt Save Layout As and give a clear name for the layout that has to be used in the Acquisition or Presentation If there is problem with one of the views or the complete layout it is easy to get the original layout back on the screen Select in the Acquisition or Presentation File gt Open Layout and select the right layout from the list Another problem can be that the layout is not saved but one of the views is checked on in the Displays window see page 34 and not seen on the screen There will be several possibilities where the view can be Frequent Ask Questions e 51 p TELEDYNE PDS 52 e Frequent Ask Questions 1 It is be
28. ad Relative Position and the third properties window Drag head Absolute Position the defaults settings can be used 3 2 2 2 VRU A VRU can be used to measure the attitude roll and pitch of the rope excavator The first properties window Ri VRU Time Delay Enter the delay in the output from the VRU The time delay is always 2 0 sec Device Offset Because only the roll and pitch of the VRU is used no device offset has to be selected Roll Pitch Correction A roll and pitch correction derived from the VRU calibration can be entered in the properties Check the sign convention of the roll and pitch before entering the values The second properties window CZ Attitude computation Butterworth Filter For the VRU on the rope excavator the Butterworth filter should be Enabled This filter will smooth the movements of the rope excavator Percentage If the Butterworth filter is enabled the percentage for an optimal use of the filter will be between 60 and 90 3 2 2 3 Positioning System Geogs This sensor gives a position derived from several GPS satellites For a stand alone rope excavator this system should always be a RTK system In the first properties window EZ Positioning System Geogs Device Offset This should always be the Zero Offset The offset from the GPS antenna which is placed at the end of the boom to the zero offset of the rope excavator will be calculated Time Delay If know
29. altime Design view in the Acquisition see page 43 Vessel Configuration e 5 p TELEDYNE PDS Excavator cabin The origin 0 0 0 of the cabin drawing is the rotation point of the excavator Y Z A A Boom Pin Point j S zt Excavator Rotation Point H Figure 3 1 Top and right side view of the excavator cabin s Boom The origin 0 0 0 of the boom drawing is the location of the centre point of the second sheave on the boom The line through the connection point with the cabin and the centre of the first sheave is parallel with the Y axis Y Centre Point Second Sheave 0 0 0 Centre Point Se Z __ First Sheave wo SZA RAAY T e ei X X WOW SING NGC NO NON UN TNCS EL DNI kb Pax es AM VAA AIIN XK X XIN ww WMP 4 d CONV AJVDNHA DA A ALA A A XK KD gt X lt i So Connection Point with the Cabin e Figure 3 2 Top and right side view of the boom 6 e Vessel Configuration Teledyne PDS Rope Excavator m m TELEDYNE PDS Tool For the tool on a rope excavator a clamshell bucket or an orange peel bucket can be used Figure 3 3 Picture of a clamshell bucket Figure 3 4 Picture of an orange peel bucket Teledyne PDS Rope Excavator Vessel Configuration e 7 p TELEDYNE PDS On the rope excav
30. and the rope will take place in the Acquisition Realtime click on to start the Acquisition The Tools Settings can be opened with Tools Tools Settings from the menu bar and the Tools Calibration with Tools Tools Calibration from the menu bar In the Tools Calibration the set point for the boom and the rope can be set The calibration of the rope excavator will take place in the Tools Calibration The order for the calibration has to be first the boom and then the rope The steps for each calibration are explained below Calibration e 29 F TELEDYNE PDS 4 2 Boom Calibration In the Tools Calibration is at the moment one method available to calibrate the boom of the rope excavator Upper limit 4 2 1 Boom Upper Limit 1 Open the Tools Calibration and select the Boom page 2 Select above the picture the right boom configuration that was setup in the Tool page of the vessel configuration see page 15 3 Select the calibration method Upper limit Tools Calibration Dredge Tool Calibration Boom Rape Method 3 600000 Set point Upper limit Angle offset 151 3228 Fester JL coos em Figure 4 1 The boom calibration with the upper limit method 4 Place the boom in a not horizontal position 5 Derive the vertical angle between the XY plane of the rope excavator cabin and the line through the boom main pin and the centre of the first sheave on the boom If the first sheav
31. andard deviation of the RTK Z to accept the RTK Z for the height computation If the standard deviation is more than the maximum value the height computation becomes Height Held Only valid if Height Source is set on GPS Height RTZ 3 2 2 4 Compass On the rope excavator the compass is used to get a heading of the excavator In the first properties window a Compass Heading Correction This should be the correction derived from the compass calibration 3 2 2 5 State On the rope excavator the state device is used to update the grid model oee the third properties window 3r Drag head Absolute Position of the Dredge Positioning System Rope Crane how the status signal is used for the diking or digging 3 2 2 6 Remote Reference Position If no positioning system is available on the rope excavator this device will use the information of the positioning system on the pontoon to calculate the rope excavator position The first properties window Remote Reference Position Vessel Identifier Select the vessel ID for the pontoon as it is given to the pontoon in the Configuration window In the example below the pontoon has ID 2 12 e Vessel Configuration Teledyne PDS Rope Excavator Teledyne PDS Rope Excavator 2 TELEDYNE PDS Configuration Merete Chris Rope Excavator Vessels Layouts Events Alarms Vessel Lrane Hope E cavator Merete Lhris Hope Excavator Remove Figure 3 12 T
32. ations PONTOON ssseeesseessssssseeene nnne nennen nennen nennen nnns 26 3 9 9 1 Advariced Cot pulallOllS EE 26 3 9 4 Datla Sources PODEbOONT EE 27 4 Calibration 29 zou d ad eet ed EE 29 42 BOOM Call QU OW EN RE E OE m 30 4 2 1 Boom Upper Um 30 4 3 Rope Calibration M P 31 4 3 1 Rope Grab Knife on Level 31 4 3 2 Rope Grab Knife Relative Boom ccccccsseeeceeeeseeeeeeeeeaeeeeeeeesseeeeeeeeeas 32 5 Acquisition 33 SM UOC C HO IW E 33 sum cM AE E E E EEO E E T TNTE 33 en E EO ue EE 33 el DEE 34 Ono Menu Barana Kee e LEE 35 6 Views 37 cima le cole Ole o e TU E 37 6 2 Plan View General Dredge Cperaton 37 6 2 1 Plan VIEW te el 38 6 2 2 Plan View Properties svcsicceiscctseencceivanerestanseresteiercantasandseavareceetereatecentenseraaeens 39 6 2 3 Plan View Layers wcancaneesicecsiocracatrndees sanerneuseertdanciaveacnGuaedansaucvisamurbiangaeswcss 40 p 24 COVelage ne 42 6 3 Profile Realtime Desen 43 6 31 Prone Toolbar DRE 44 6 3 2 Profile Properties A 45 SE E PTO H Eu PN NT 46 6 3 3 1 Layers of feGraphcs nenne 46 0 2 2 2 Layer or tie dert E E EE 47 Se NINN d oic NENNT RR RE Em 48 7 Frequent Ask Questions 51 FON Wi gell De WE 51 li e Contents Teledyne PDS Rope Excavator 2 TELEDYNE PDS 7 2 The ANSWENS iin 51 7 2 1 Get the Original Layout Back 51 7 2 2 C
33. ator a top frame is used to open and close the clamshell bucket or the orange peel bucket The origin 0 0 0 of the top frame drawing of the clamshell bucket is the centre of the rotation points of the shells when the shells are closed Z Z A Top frame of the clamshell bucket A CT Ki e gt CI mE Centre of the rotation point of the shells 0 0 0 Figure 3 5 Back and side view of the top frame of the clamshell bucket The origin 0 0 0 of the port and starboard shell drawings of the clamshell bucket is the centre of the bottom of the shell Z Z A A an X e Y Centre of the bottom of the shell Figure 3 6 Back and side view of the shell of the clamshell bucket The origin 0 0 0 of the top frame drawing of the orange peel bucket is the centre of the rotation points of the shells when the shells are closed Z A Top frame of the orange peel bucket SCH EE ics F Centre of the rotation point of the shells 0 0 0 Figure 3 7 Back view of the top frame of the orange peel bucket 8 e Vessel Configuration Teledyne PDS Rope Excavator Teledyne PDS Rope Excavator m m TELEDYNE PDS The origin 0 0 0 of the shell drawing of the orange peel bucket
34. ce on the right hand side of the plan view 42 e Views Teledyne PDS Rope Excavator 2p TELEDYNE PDS 6 3 Profile Realtime Design This view can show the rope excavator with or without the pontoon as a side view with additional information 4 Profile Realtime Design amp amp ga Pontoon Frotection AR au lR444MHjssesseseese22 22 222 o Figure 6 6 Profile Realtime Design view with left view of a rope excavator grid model design model and absolute Z dredge head as indicator It is also possible to show and follow the clamshell bucket or orange peel bucket in the view 4 Profile Realtime Design O AHA Figure 6 7 Profile Realtime Design view with back view of the clamshell bucket grid model design model and design difference as indicator Teledyne PDS Rope Excavator Views e 43 TELEDYNE PDS 6 3 1 Profile Toolbar The buttons of the toolbar are also available in the context menu of the profile view Zoom In Zoom Out amp Zoom in or Zoom out in the profile view Zoom in by drawing a window in the profile view Zoom Extents 9 Show all the data in the profile view Horizontal Zoom In and Horizontal Zoom Out The display in the profile view can be zoomed in or out only in the horizontal direction of the view These two buttons are only available when in the properties of the profile view the option Scale Mode is set on Fixed Vertically or on Scale Freely
35. computation to the page With the selected data element can be added between the selected items in the page layout With a separation can be added between the selected items while with a separation can be added below the last selected item in the page layout Teledyne PDS Rope Excavator Teledyne PDS Rope Excavator TELEDYNE PDS Select a separation and click on to add text to the separation With this option headers can be made between the selected items It is also possible to change the color background font and font size With a data element or separation in the page layout can be removed In the Numerics view the font the background etc can be changed by selecting the option Properties from the context menu Double clicking on an item in the Numerics view gives also the possibility to change the color the font and font size of that item Views e 49 2 TELEDYNE PDS 7 Frequent Ask Questions 7 1 Introduction 7 2 The Answers Teledyne PDS Rope Excavator In this chapter answers and explanations on the most common problems questions during a rope excavator survey will be discussed The explanations will be given step by step and if necessary there will be referred to other chapters in this manual or to the PDS2000 User Manual A list of the frequent ask questions as they will be explained in this chapter 1 How do get my original layout back see below How do create and select
36. d 3 18 Antenna Z 21 20 Figure 6 11 Numerics view This view is empty when it is opened for the first time Click with the right mouse button in the left panel of the view and select Add New Page to add a name for the page Because the view has no name yet a dialog will be opened where a new name can be entered Click with the right mouse button in the right panel and select Edit Page and select in the numerics page configuration the data that have to be shown in the Numerics view GPS numerics page configuration Page layout Crane Positioning system Geags 1 NMEA 2 30 GGA pos GPS mode Work Area Tracking point Distance Work Area Tracking point Bearing Work Area Tracking paint Active Area Hames Drag head Absolute Position Absolute a Dredge Head Drag head Absolute Position Absolute v Dredge Head Drag head Absolute Position Absolute Dredge Head Antenna Position fram Geogs Antenna Z Append Selected Element Inzert Selected Element Append Separator Insert Separator Remove Sep Crane El p Device Data zal Latitude ned Longitude ped Altitude toed HOOP 2 I3P5 made ined Humber of SV acta oe of DE star al TIT E Available data elements Figure 6 12 Numerics page configuration to select data for the Numerics view Select one of the available data elements at the bottom of the window and click on to add this data element from a device or
37. e is higher the angle will be positive 6 Enter as Set point the measured angle 7 Click on to start the boom calibration 8 The boom calibration is finished after the value in the angle offset box is changed Click on to accept the angle offset 30 e Calibration Teledyne PDS Rope Excavator 2p TELEDYNE PDS 4 3 Rope Calibration In the Tools Calibration are at the moment two methods available to calibrate the rope of the excavator Grab knife on level and Grab knife relative boom 4 3 1 Rope Grab Knife on Level 1 2 Open the Tools Calibration and select the Rope page Select above the picture the right rope configuration that is setup in the Tool page of the vessel configuration see page 17 Select the calibration method Grab knife on level Tools Calibration Dredge Tool Calibration Boom Rope 0 000000 Set point Grab knife on level w Hoisting length offset s24 576171 Closing length offset 267 209677 Figure 4 2 The rope calibration with the grab knife on level method Place the closed clamshell bucket or orange peel bucket on a known level for instance the water line Derive or calculate the chart datum of the level The Reference Z of the rotation point of the rope excavator is known see the Reference Point Computation of the Positioning system Measure from this point to the level and calculate the chart datum of that l
38. e status bar the logging indicator will be switched between 498 off Los conditional off or oe on Acquisition e 33 m m TELEDYNE PDS 5 2 Layouts The context menu can be opened by clicking with the right mouse button in the Acquisition window 34 e Acquisition When the Acquisition is started for the first time it will have only one view In the Displays window the necessary views can be added to the layout There are several ways to open the Displays window Select View gt Displays from the menu bar Click on amp in the toolbar Select Displays in the context menu Displays Group Type Messages Messages System Messages Plan View General Plan View General Dredge D Haw Data Standard Haw Data Standard Profile Realtime D Profile Realtime Design Mumerics Standard Numerics Standard Status Equipment Status Equipment mu 3 m Cancel Apply M L L E E Add Remove Rename Figure 5 1 The Displays window to add to switch on off to remove or to rename views Click on and the Add Display dialog will be opened to select a new view For more information about the views that can be selected for a rope excavator application see page 37 Add Display J Plan view E Dredge Instruction 7 Production Mm Survey Coverage W General Dredge Operation E Dynamic Positioning 7 Navigation 3 0 Numerics O Standard 3 0 Raw Data Mm Standard Plan View
39. elect how the top frame of the clamshell bucket or orange peel bucket has to be presented in the views a shape or a wireframe and then select the right shape or wireframe for the top part in the riser area The intermediate joint and the calibration set points are irrelevant for a rope excavator Click on to fill in the grab table for the relation between the value rope length that is needed to open the clamshell bucket or orange peel bucket to a specified angle and the offset The offset is always 0 when the bucket is closed and when the bucket is opened the rotation point on top of the shells will be moving downwards The distance that this rotation point is moving downwards is the offset This offset is always negative Vessel Configuration e 19 TELEDYNE PDS Grab Table Value Offset Angle 0 00 0 00 0 15 10 00 0 34 20 00 0 56 30 00 0 52 40 00 1 11 50 00 1 41 60 00 1 70 70 00 1 98 80 00 2 21 90 00 Remove Figure 3 21 The grab table with the relation between the rope length the offset and the angle 3 2 5 Logging Rope Excavator File formats Log space POS2000 Format Minimum free disk space MB 0 FD 52000 Grid M odel Allowed laq space MB eo Conditions Condition check C Guidance online condition C Inside clipping polygon Grid model C No user alarms TT User conditions Create new log file Data for grid model logging when file exceeds jo ME Dredge Positioning Syst
40. elected as active contour in the Geometry page 9 The Equipment A IS 10 The Configuration window with the vessel ID 2 for the pontoon 13 The design model tab in the Guidance page nnnsnne1nnneonennnnnsennnnnnnrnrnrennnnrnessnnrneennnne 15 Boom page in the Tools page 15 The Y and Z offset of the boom and the sheave distance R2 ssssss 16 The X Y and Z offset of the antenna of the positioning system on the boom in a top and side VS WY M 16 Rope page in the Tools page 17 Tool page in the Tools page MR Tm 18 The offsets of the clamshell Ducket sees 18 The offsets of the orange peel bucket cee eccccccseeeeeeeceaeeeeeeeeeeeeeeeeeesaeeeeeeesseaeeeesesaaeeees 18 The grab table with the relation between the rope length the offset and the angle 20 The Logging page E 20 Grid model selection and setup cc cceeceeecccceeecseeeeeeeeeeeeeeaeeseeceeeessaeeaeeeeeeeessaaaeseeeeeess 21 Condition in the Logging page 21 Condition for a rope GvC vaior nennen nnne nnn nnn nnns nnns 22 Conditions window with the condition for the rope Gxca vaior 22 The EQUIPMENT e gus tUi aar Mai Bd Ye nes VADE OV eR ar Vo aw Uu I 23 The Computations le sao torri oett innu Ear dant iid Raia o Ead sumi TER Rene aa ade ries 26 The Advanced Computations page nnne nne nnne 27 The Data Sources page wit
41. em Ho After logging jo hours and o minutes Figure 3 22 The Logging page Next to the standard PDS2000 logging format the PDS2000 Grid Model logging format is available for an excavator application The PDS2000 Grid Model file format is used in the Acquisition to build up an on line depth model during the work activities and can also be used as an on line coverage If a PDS2000 Grid Model has to be used check the option and some extra information will appear in the Logging page see Figure 3 22 above 20 e Vessel Configuration Teledyne PDS Rope Excavator TELEDYNE PDS Grid model Grid Model Test survey v New D Data types Average Data for grid model logging Ost thee thao andara caeviator Dredge Positioning System Fi o C Minimum C Masirnum C Time Figure 3 23 Grid model selection and setup Select the grid model file name If a new file has to be created click on and give a new file name and click on in the file dialog Select in the grid model setup one or more data types for the grid model and enter a cell size The cell size has to be around oof the effective area width of the g clamshell bucket or the orange peel bucket If the cell size is too small the update of the grid model takes too much time and if it is too big it looks like too much data is taken away in one go with the bucket The grid model will be filled with the information from the added device dat
42. ers are already filled when the plan view is created Background Layers Active Grid Model Layer This layer shows the grid model which is selected in the Logging page Active Grid Model Difference Layer This layer shows the difference between the active grid model and the design model If for both active layers another active grid model has to be used select Logging Logging Settings from the Acquisition menu bar or click on in the Acquisition toolbar and change the grid model name The design type and name of the design model is the same as the specified model in the guidance page If this is not the right one select Guidance Guidance Settings from the Acquisition menu bar or click on in the Acquisition toolbar and change the design model name in the tab Design Model For both active layers a color table has to be selected This can be done in the layers but the best way is to use the Coverage Settings see below Foreground Layers Dredge Layer This layer will show the rope excavator with all the tools as it is configured in the rope excavator configuration see page 5 Vessel Layer This layer can show the top view of the pontoon if applicable Add a vessel layer and select as Position Source Pontoon Standard Computations Tracking Point Color Table Layer This layer will show the color table that is selected in the Coverage Settings see below for the grid model or the grid model difference
43. evel or water line 6 Enter as Set point the chart datum of the level or water line 7 Click on to start the rope calibration 8 The rope calibration is finished after the values in the length offset Teledyne PDS Rope Excavator boxes are changed Click on to accept the length offset Calibration e 31 p TELEDYNE PDS 4 3 2 Rope Grab Knife Relative Boom 1 Open the Tools Calibration and select the Rope page 2 Select above the picture the right rope configuration that is setup in the Tool page of the vessel configuration see page 17 3 Select the calibration method Grab knife relative boom Tools Calibration Dredge Tool Calibration Boom Rope Method 0 000000 Set paint Grab krive relative boom wi Hoisting length offset Closing length offset 367 209677 Figure 4 3 The rope calibration with the grab knife relative boom method 4 Place the closed clamshell bucket or orange peel bucket as shown in the picture above 5 Measure the distance between the centre point of the second sheave on the boom and the bottom of the closed clamshell bucket or orange peel bucket 6 Enter as Set point the measured distance 7 Click on to start the rope calibration 8 The rope calibration is finished after the values in the length offset boxes are changed Click on to accept the length offset 32 e Calibration Teledyne PDS Rope Excavator p TELEDYNE PDS 9 Acquisition 5 1 Introduct
44. ew in Follow Vessel mode Disabled the Position Source on the rope excavator can be anywhere even outside the plan view Position Source Any position can be selected as tracking point on the rope excavator for the Follow Vessel mode Attach To If the Position Source is Drag head Absolute Position then there will be two options that are useful as attach point Dredge Point the position of the excavation point of the clamshell bucket or orange peel bucket will be followed Sensor Reference Point the position of the boom pin point will be followed For all other position sources the attach point will be set by default to the right point Follow Mode The Follow Vessel mode is by default Relative Motion the tracking point on the rope excavator will always be displayed in the centre of the plan view The other option is True Motion the tracking point will not stay in the centre of the plan view and the plan view will be updated when the tracking point is nearly leaving the view Vessel Radius The minimum distance from the tracking point on the rope excavator to the edge of the plan view before the display of the plan view will be updated This is only valid if the Follow Mode is True Motion Orientation Mode The three modes are North Up Heading Up and Fixed Skew See for an explanation of the modes in Plan View Toolbar on page 38 Fixed Skew Value Give the skew for the plan view if the
45. h two sea level computations n noennenennensnnnnoennnenenennnneene 27 The boom calibration with the upper limit method sssessssnnnnnesnsnnnnnnnnrnrrnesrnnrrnenrnrnrennne 30 The rope calibration with the grab knife on level method 31 The rope calibration with the grab knife relative boom method 32 The Displays window to add to switch on off to remove or to rename views 34 Add Display dialog to add a view 34 Add Display in the context TEE 35 Teledyne PDS Rope Excavator Figure 6 1 Figure 6 2 Figure 6 3 Figure 6 4 Figure 6 5 Figure 6 6 Figure 6 7 Figure 6 8 Figure 6 9 Figure 6 10 Figure 6 11 Figure 6 12 Figure 7 1 Figure 7 2 Figure 7 3 Figure 7 4 Figure 7 5 Figure 7 6 Teledyne PDS Rope Excavator F TELEDYNE PDS Plan View General Dredge Operation view with orientation mode North Up 37 Measure eeler 38 The Properties of the Plan View General Dredge Operation view 39 The Layers of the Plan View General Dredge Operation view 41 The Coverage Settings for the plan view 42 Profile Realtime Design view with left view of a rope excavator grid model design model and absolute Z dredge head as indicator n nsnsnnsennneesnnnreenrrnrrrennn renen 43 Profile Realtime Design view with back view of the clamshell bucket
46. he diameter is the diameter of the drum plus the thickness of the cable Fill in the angle between the horizontal through the rotation point of the boom and the centre of the closing drum R5 measured from the front of the cabin The angle is always positive Fill in the angle between the horizontal through the rotation point of the boom and the centre of the hoisting drum R6 measured from the front of the cabin The angle is always positive Fill in the distance between the rotation point of the boom and the centre of the closing drum R7 Fill in the distance between the rotation point of the boom and the center of the hoisting drum R8 In the drawing above the closing drum distance is longer but is it also possible that both drums are switched so that the distance of the closing drum is shorter Vessel Configuration e 17 2p TELEDYNE PDS 3 2 4 3 Tool Configurations Tool type Grab Aw iw Mew Backhoe Grab Antwerpen y Port shell Starboard shell Excavation point A offset Y offset 4 offset X offset Y offset 4 offset offset Y offset Z offset Tt je ve r3 Ji T4 fe je J ts Visualisation made Visualisation made Elective area wii T6 7 O Shape Gei wireframe O Shape wireframe poit shell m sb shall m Calibration set points Hiser Intermediate joint Roll set point 0 U a offset offset 2 offset Aofset Y offset 2 offset Fitch set point n
47. he Configuration window with the vessel ID 2 for the pontoon In the second properties window CS Reference Point Computation the default settings can be used but be sure that the option Height Source is set on Height Observed 3 2 2 Pontoon Protection This device calculates the position and the depth of the pontoon relative to the position of the clamshell bucket or orange peel bucket and gives the shortest distance between the pontoon and the bucket The location of the pontoon can be shown in the Acquisition in the Profile Realtime Design view see page 43 The first properties window 4 Pontoon Protection Vessel Identifier Select the vessel ID for the pontoon as it is given to the pontoon in the Configuration window see Figure 3 12 above The second properties window CS Pontoon Protection Computation Protection Contour Name Select the contour name of the pontoon as it is created in the Vessel contour in the Geometry page Pontoon Bottom Z The depth of the bottom of the pontoon measured from the bottom of the pontoon to the origin of the rope excavator This value is always negative 3 2 2 8 Bearing In stead of a compass a bearing sensor can be used on the rope excavator to calculate the heading of the excavator This is only possible when the rope excavator is located on a pontoon and in combination with the device Remote Heading the heading of the rope excavator can be calculated
48. hind one of the other views If one of the views is maximized it is possible that the missing view is behind the maximized view Restore down the maximized view by clicking on 7 at the right top of the Acquisition or Presentation Itis minimized so not visible on the screen If the view is minimized then it is possible that the missing view is behind one of the other views which are not docked Close the not docked views one by one by clicking on EJ and maybe the missing view will appear on the screen Itis moved from the screen after one or more views are docked By docking a view to one of the sides in the Acquisition or Presentation the other views that are not docked will be moved down up to the left or to the right Get the missing view back by undocking the docked views one by one 7 2 2 Create and Select a New Grid Model In the Acquisition it is possible to create a new grid model There are two different methods to create and select a grid model one for an empty grid model and one for a grid model that already contains data The steps for a new empty grid model are Switch the logging off see page 33 Click on in the toolbar or select Logging gt Logging Settings from the menu bar of the Acquisition to open the Logging page Click on PDS2000 Grid Model so extra information will appear in the Logging page Grid model Grid Model Test suivey w New j Data types Average
49. his dialog views can be added to the layout see Figure 5 2 on page 34 View Display Mode One of the four display modes for the screen can be selected normal night B twilight il and bright Acquisition e 35 TELEDYNE PDS 36 e Acquisition Guidance Guidance Settings For the active vessel the guidance can be checked or modified only when logging is off Guidance gt Select Waypoint Select an existing waypoint as active waypoint for the survey Guidance gt New Waypoint Add a new waypoint to the active waypoint file The new waypoint will be located on the tracking point Guidance gt Update Wayline Update the wayline from the vessel to the waypoint Guidance gt Select Work Areas Select one or more existing work areas as active work areas for the survey Guidance gt Enter Work Area Names Enter one or more names of existing work areas which will be become the active work areas for the survey Logging gt Logging Settings For the active vessel the logging page can be checked or modified only when logging is off Logging gt Enable Data Logging Si The data logging can be switched on or off Tools gt Tools Settings The Tools page of the rope excavator configuration See page 15 will be opened The offsets and set points for the boom rope and clamshell bucket or orange peel bucket of the rope excavator can be set Tools gt Tools Calibration
50. ill be opened see page 42 Check the option Grid model or the option Difference to set that model as background in the Plan View General Dredge Operation view Be sure that for a grid model the data type with its color table is set and that for the grid model difference a color table is selected Click on and the selected model will be shown in the plan view 7 2 6 Updating Grid Model It is possible that the grid model or grid model difference which is displayed in the Plan View General Dredge Operation view is not updating when the excavator is digging or diking Several settings have to be checked Click on in the toolbar or select Logging Logging Settings from the menu bar of the Acquisition to open the Logging page Check the PDS2000 Grid Model option in the Logging page to make it active File formats File Formats IPDS 2000 Format IPDS 2000 Format ERE T NN PaPDS2000 Grid Model lt lt PDS2000 Grid Model PDS2000 Grid Model is NOT active is active Figure 7 5 PDS2000 Grid Model is not active in the Logging page Check also in the Logging page if there is data selected for the grid model logging Data for grid model logging Dredge Positioning System Ha Add Figure 7 6 The device Dredge Positioning System Rope Crane is used for the grid model logging Frequent Ask Questions e 55 p TELEDYNE PDS 56 e Frequent Ask Questions It is still possib
51. ion See the chapter Starting PDS2000 of the PDS2000 User Manual to add a presentation in the configuration Teledyne PDS Rope Excavator When the Acquisition is started the default or last used layout will appear on the screen To modify the layout see Layouts on page 34 If a Presentation is added in the configuration it will open simultaneously with the Acquisition In the Presentation views can be added and layouts can be saved in the same way as in the Acquisition 5 1 1 Realtime The Acquisition in the realtime mode can be started when the project a vessel configuration and a configuration are created The Acquisition in the realtime mode can be opened from the Control Center of PDS2000 Click on in the acquisition bar Click on amp in the toolbar Select Acquisition gt Start Realtime from the menu bar If the setup is with a rope excavator and a pontoon the active vessel has to be the rope excavator Select in the Acquisition from the menu bar the option Edit gt Select Active Vessel or click on d in the toolbar to check the active vessel The Acquisition can be stopped by selecting one of the above mentioned actions again or by closing the Acquisition window 5 1 2 Logging In the Acquisition the logging can be switched on and off with The F4 key on the keyboard Click on amp in the toolbar Un check Logging gt Enable Data Logging from the menu bar At the right side in th
52. l Enabled 5 Position Source Drag head Absolute Position Attach To Sensor Reference Point Profile View Side Lett Heading Selection Heading Vertical Auto Ranging Disabled Scale Made Fixed Aspect Ratio Aspect Ratio 1 000000 Background Color Ried 192 Greer 192 Blue 192 Follow Vessel Enabled Figure 6 8 The Properties of the Profile Realtime Design view Follow Vessel If Enabled the selected attach point will always be located in the centre of the view Position Source This position source has to be Drag head Absolute Position Attach To Dredge Point the excavation point of the clamshell bucket or the orange peel bucket will be followed Sensor Reference Point the boom pin point will be followed Profile View Side For a profile view four different view sides can be selected Left side Right side Front and Back of the rope excavator The selected side view has to be created in the Geometry page of the rope excavator configuration see page 5 If a wireframe is selected no side views has to be created Heading Selection The heading selection has to be Heading Vertical Auto Ranging If Enabled a vertical zoom extents is active Scale Mode The display of the profile view has different scaling options Fixed Aspect Ratio Fixed Vertically Fixed Horizontally and Scale Freely With Fixed Aspect Ratio the ratio between the horizontal and the vertical scale is fixed After using one of the zoo
53. le that even if the PDS2000 Grid Model is active in the Logging page the grid model is not updating The logging in the Acquisition has to be switch on before the grid model can be updated The logging indicator in the status bar at the bottom of the Acquisition window should be green 95 If it is red 6811 switch the logging on see page 33 If it yellow oe check the logging conditions in the Logging page 7 2 7 Install a New Bucket on the Rope Excavator If a new clamshell bucket or orange peel bucket is installed on the rope excavator some measurements have to be done before the rope excavator is operational again If the new bucket has a different shape as the one before a new vessel contour for the clamshell bucket or orange peel bucket and the top frame have to be drawn see page 5 or have to be available as 3D wireframe If the new bucket has a different shape as the one before create a new configuration in the tool page of the Tools page in the rope excavator configuration see page 18 or in the Tools Settings in the Acquisition Fill in all values for the port shell the starboard shell the excavation point and the riser Select for the port and starboard shells and the top frame of the bucket new shapes or wireframes Click on to accept the modifications Because the shape of the clamshell bucket or orange peel bucket is changed a new rope calibration has to be done see page 31 Teledyne PDS Rope Excavator
54. m functions the ratio between horizontal and vertical scale will stay the same With Fixed Vertically the vertical scale is fixed and the horizontal scale will change after the use of one of the zoom functions With Fixed Horizontally the horizontal scale is fixed and the vertical scale will change after the use of one of the zoom functions Jj Views e 45 p TELEDYNE PDS Select Guidance Guidance Settings in the menu bar of the Acquisition and add in the tab Design Model the values for the under and over dredge limit 46 e Views With Scale Freely the horizontal and vertical scale can be changed separately with one of the zoom functions and Aspect Ratio This is the ratio between the horizontal and vertical scale used in the profile view An aspect ratio of 1 indicates that the horizontal scale is the same as the vertical scale With an aspect ratio gt 1 the information in horizontal direction will be compressed and with an aspect ratio lt 1 the information in vertical direction will be compressed Background Color The background color of the profile view can be set 6 3 3 Profile Layers There is a separate layer control available for the left panel and the graphics of the profile view 6 3 3 1 Layers of the Graphics Click on in the toolbar or select Layer Control in the context menu to open Layers In Layers only the used layers will be displayed other layers can be added if da
55. n enter the delay in the output from the positioning system The time delay is always 2 O sec Datum Transformation The position from the positioning system is in most cases a WGS 84 Vessel Configuration e 11 2p TELEDYNE PDS position To recalculate the position to a local position the relevant datum transformation has to be selected There are three options Use other datum transformation Use project coordinate system and Use no datum transformation When a different datum transformation is selected an extra option appears in the properties called Datum Transformation Select in this new option the right datum transformation for the positioning System When project coordinate system is selected the datum transformation as specified in the coordinate system will be used When no datum transformation is selected the coordinates of the positioning system will not be recalculated to a local position they stay in the coordinates as received from the positioning system In the second properties window CS Antenna Position from Geogs nothing can be selected In the third properties window CS Reference Point Computation Height Source Select for the computation of the height related to the received position the Z of the GPS RTK system or the tidal information from tide gauges or predicted tides For RTK the height source should always be GPS Height RTZ Height Standard Deviation Mask Enter a maximum value for the st
56. ng and as Condition The created condition will be shown in the conditions window Conditions E Data Condition Value Crane Drag head Absolute Clam Shell Position Registration Closing Condition a D E Remove Data will only be logged when ALL conditions are true Figure 3 26 Conditions window with the condition for the rope excavator 3 3 Pontoon Configuration 22 e Vessel Configuration 3 3 1 Geometry Pontoon In the Geometry page the contour of the pontoon has to be drawn The contour has to be drawn in 2D and is created under the item Vessel contour For the pontoon contour only a top view has to be drawn For a side view the option Pontoon Protection in the rope excavator configuration can be used see page 13 In the Profile Realtime Design view in the Acquisition the pontoon will then be drawn as a box see page 43 The zero offset 0 0 0 of the pontoon should be located at the rotation point of the excavator The offsets that are needed on the pontoon have to be added to the offset list in the Geometry page The two possible offsets next to the Zero offset are Antenna of the Positioning System Depth sensor Teledyne PDS Rope Excavator For more information about the interfacing see chapter Control Center Interfacing in the PDS2000 User Manual o Teledyne PDS Rope Excavator m m TELEDYNE PDS 3 3 2 Equipment Pontoon In the Equipment
57. nrrrnnrrrsrnrernnreennne 10 3 2 2 1 Dredge Positioning System Rope Crane 11 ST E HO 11 3 2 2 3 Positioning System E6eOQS un xiet ctun ee putes Pacs qus itcm sage Aes Eo editus 11 EE 12 Een 12 3 2 2 6 Remote Reference Position c ccccccccsseeeeeceeeeeeeeeeeeeeseeeeeeseeseeeeaees 12 D221 F OMOON Protectio EE 13 92 9 Le e EE 13 3 2 2 9 Remote Heacdmg sees 14 32210 CMOS doi rm E 14 3 2 3 Guidance Rope Exvcavaior nennen nenne 14 3 2 4 Tools Rope Exca vator 15 OPEN OO EE 15 e AL RODO MERI ERR RE TN OR RR PU 17 Com A Ree 18 325 Logging Rope XGA a Ol PETIT T OT 20 3 2 5 1 Logging Condition for a Rope Excavator sssssssesssrnrrreernnrresrrnenne 21 3 3 PONTOON Configuration sseseeeeeesssssseseeeee nennen nnne nennen nnn nnns 22 3 3 1 Geometry Hontoon morresi a a aaae Nirearen 22 3 3 2 elei Ei e ten WT 23 Teledyne PDS Rope Excavator Contents e i p TELEDYNE PDS 3 3 2 1 Remote Crane Reference Position eeeseseesssssss 23 9 9 2 2 ene oe oiii seca nic aM eee EE 24 3 9 2 9 Positioning System GOOG S ace cseeiccxtdocdceervnceicesbladdhsasddeaceetiedbuteiciewsels 24 Ee 25 3 3 2 5 Depth Sensor cccccccssecccescceseececcccseeceesscceeeeeescccenseeesscoseseessscaseeees 25 SES EA OOS AUG LC 25 232 Romolo ee 26 3 3 2 8 Remote Heading TE 26 3 3 3 Comput
58. nual the setup of a rope excavator project for a stand alone rope excavator and for a rope excavator on a pontoon will be discussed After the project is setup the separate tools of the rope excavator configuration have to be calibrated The calibrations of the boom and the rope will be explained in a separate chapter of the manual The last two chapters in this manual will discuss the views in the Acquisition and will give an answer to the frequent ask questions about PDS2000 in a rope excavator application This manual is also available as a HTML Help file Press F1 or select Help Help Topics to open the PDS2000 help files Teledyne PDS Rope Excavator Introduction e 1 2 Setup a 2 1 Introduction 2 TELEDYNE PDS New Project PDS2000 needs a project an application type and a configuration before any of the modules can be started A project contains all the information about the settings the method of surveying and the information to do a survey To get a project for a rope excavator a new project can be created or an existing project can be modified In the chapter Starting PDS2000 of the PDS2000 User Manual is described how to setup a project with an application type and a configuration 2 2 Start a New Project Teledyne PDS Rope Excavator If PDS2000 is started for the first time an existing project has to be selected to start up the Control Center If there is no project available check the option Run the New P
59. ore than the maximum value the height computation becomes Height Held Only valid if Height Source is set on GPS Height RTZ Teledyne PDS Rope Excavator The tide station s has to be setup in the Explorer see the chapter Explorer Tide Station in the PDS2000 User Manual Teledyne PDS Rope Excavator pF TELEDYNE PDS 3 3 2 4 VRU A VRU is used to measure the attitude roll and pitch of the pontoon The first properties window Ri VRU Time Delay Enter the delay in the output from the VRU The time delay is always z 0 sec Device Offset Because only the roll and pitch of the VRU is used no device offset has to be selected Roll Pitch Correction A roll and pitch correction derived from the VRU calibration can be entered in the properties Check the sign convention of the roll and pitch before entering the values In the second properties window 3b Attitude computation the defaults settings can be used 3 3 2 5 Depth Sensor In PDS2000 the depth sensor is used to calculate the draft of the pontoon and can be used in combination with a tide gauge to get the absolute height or depth of the pontoon By default the sea level value entered in the Geometry page will be used for the sea level computation To make the sea level computation from the depth sensor the primary computation select the sea level computation from the depth sensor as primary in the Data Sources see page 27 The
60. ow the port shell has to be presented in the views a shape or a wireframe and then select the right shape or wireframe for the port shell Starboard shell If applicable fill in the X offset T3 for the starboard shell The X offset is always negative Fill in the Z offset T4 for the starboard shell The Z offset is always negative Select how the starboard shell has to be presented in the views a shape or a wireframe and then select the right shape or wireframe for the starboard shell Excavation point Fillin the Z offset T5 of the excavation point This is the offset between the rotation point s of the shells when the clamshell bucket or orange peel bucket is closed with the origin of the shells In both examples the Z offset of the excavation point is identical with the Z offset of the shells Fill in the effective area width of the shell T6 This value is always positive Because the orange peel bucket is round a representative width has to be entered Hiser Fillin the Z offset T7 for the riser The Z offset is always negative This offset is the distance between the top of the top frame of the clamshell bucket or orange peel bucket and the rotation point s on top of the shells If there are X offsets for the port and starboard shell fill in the shell attachment separation T8 This separation is equal to the difference between the two X offsets of the shells and is always positive S
61. own enter the delay in the output from the positioning system The time delay is always 2 0 sec Datum Transformation The position from the positioning system is in most cases a WGS 84 position To recalculate the position to a local position the relevant datum transformation has to be selected There are three options Use other datum transformation Use project coordinate system and Use no datum transformation When a different datum transformation is selected an extra option appears in the properties called Datum Transformation Select in this new option the right datum transformation for the positioning system When project coordinate system is selected the datum transformation as specified in the coordinate system will be used When no datum transformation is selected the coordinates of the positioning system will not be recalculated to a local position they stay in the coordinates as received from the positioning system In the second properties window CS Antenna Position from Geogs nothing can be selected In the third properties window CS Reference Point Computation Height Source Select for the computation of the height related to the received position the Z of the GPS RTK system or the tidal information from tide gauges or predicted tides Height Standard Deviation Mask Enter a maximum value for the standard deviation of the RTK Z to accept the RTK Z for the height computation If the standard deviation is m
62. page Select from the list Groups a group of devices e g Dredge Positioning oystem Rope Crane Select from the list Device drivers one of the dredge ropecrane drivers and click on to add the driver to the device list If a device driver is added to the device list in the Equipment page the communication port has to be selected and or modified Click on to open the interface page where the communication port can be added modified or selected If the communication port is set and the sensor is connected to PDS2000 click on to test the communication with the sensor For most of the items in the properties the default settings can be used Below only the essential settings in the properties of the sensors will be discussed Teledyne PDS Rope Excavator Teledyne PDS Rope Excavator m m TELEDYNE PDS 3 2 2 1 Dredge Positioning System Rope Crane This device driver reads the data from the sensors on the tools of the rope excavator to calculate the position and the height of the clamshell bucket or orange peel bucket The first properties window 4 Dredge Positioning System Rope Crane DeviceOffset This should always be the offset of the Boom Pin Point on the rope excavator as defined in the Geometry page All other items in the first properties window can be set in the Tools page of the rope excavator see page 15 or are derived from other selected device drivers In the second properties window 3b Drag he
63. page the sensors used on the pontoon have to be selected Remote Crane Reference Position if a positioning system is used on the rope excavator Compass Optional Positioning System Geogs if no positioning system is used on the rope excavator s VRU Depth Sensor Tide Gauge in combination with the depth sensor for the absolute height or depth of the pontoon only necessary if no RTK is used on the pontoon Remote VRU if no VRU is used Remote Heading if no Compass is used Groups Device Part Remote Crane m inj Reference Pasition 1 Lrane E Output fy Pontoon Protection S Positioning system Geogs gt Reference Point i Positioning system Ar d erg pid Range REES ES Compass 1 COMS oed emote Crane Reference Position Standard MMEA HDT F ned Remote Heading Ye Heading camputatian ne Remote Reference Position Device drivers H sey Crane Pontoon rem crane refpos Figure 3 27 The Equipment page Select from the list Groups a group of devices e g Remote Crane Reference Position Select from the list Device drivers one of the drivers and click on to add the driver to the device list If a device driver is added to the device list in the Equipment page the communication port has to be selected and or modified Click on to open the interface page where the communication port can be added modified or selected If the communication port is set and the sensor
64. pe Computation Crane Equipment Pontoon Protection Pontoon Protection Computation Numerics Layer This layer will display the value of a data item in the top or bottom of the profile view For every data item a separate layer has to be created 6 3 3 2 Layer of the Left Panel It is possible to show an up down indicator in the left panel of the profile view Click with the right mouse button in this panel select Layer Control in the context menu and activate the Up Down Indicator Click on and select for the Up Down Source Item the computation ZZ Design Difference in ZZ Drag head Absolute Position to show the difference between the excavation point and Z value of the design model see Figure 6 7 on page 43 Another option is to select the computation CR Absolute Z Dredge Head 1 to show the depth of the excavation point see Figure 6 6 on page 43 Up Down Indicator Layer Properties Name Y Axis Range Up Down Source Item Pane Color Above Color Below Color Text Color Background Color Font Name Font Size Font Bold Value Min 10 00 Max 10 00 Span 20 00 Design Difference Red 128 Green 128 Blue 128 Red 17 Green 174 Blue 56 Red 214 Green 50 Bue DO Red 0 Green 0 Blue Red 255 Green 255 Blue 255 Arial 12 Enabled Up Down Indicator Layer Properties Name Y Axis Range Up Down Source Item 3 Pane Color Above Color Below Color Text Color
65. r the grid model see page 42 6 2 1 Plan View Toolbar Most of the buttons in the toolbar are available in the context menu or can be defined in the properties of the plan view see page 39 Zoom In Zoom Out amp amp Zoom in or Zoom out in the plan view Zoom in by drawing a window in the plan view Center Screen The cursor will change into a cross Click in the plan view to center on the cursor Move the cursor to the edges of the plan view it will change to a diamond and the view starts panning or scrolling To deactivate the cursor use the right mouse button This option only works when the Follow Vessel mode is off Measure To measure distances and bearings in the plan view On the first use the measure starts at the vessel s tracking point A mouse click makes the start at any location The measure window shows start and end coordinates as well as distances and bearing between the two locations To QV 5589058 485485 44 J 5326232 44 5926230 99 Beating 254 16 Figure 6 2 Measure window Click on to change the presentation from grid to projection coordinates in a selectable format A right click with the mouse stops the measure option Interactive Selection 5 If in itis possible to select items in the plan view with the mouse for instance the color table bar on the right side Follow Vessel If in the tracking point of the rope excavator will always stay in
66. reate and Select a New Grid Model nnnnneennnnneenonrtnnnnrreesrrnrrrrreeneen nne 52 7 2 3 Create and Select a New Design Model 53 7 2 4 Modify the Color Table 54 7 2 5 Switch between a Grid Model and a Grid Model Difference 55 7 2 6 Updating Grid Model 55 7 2 7 Install a New Bucket on the Rope Evc vator 56 Teledyne PDS Rope Excavator Contents e iii F TELEDYNE PDS Figures Figure 3 1 Figure 3 2 Figure 3 3 Figure 3 4 Figure 3 5 Figure 3 6 Figure 3 7 Figure 3 8 Figure 3 9 Figure 3 10 Figure 3 11 Figure 3 12 Figure 3 13 Figure 3 14 Figure 3 15 Figure 3 16 Figure 3 17 Figure 3 18 Figure 3 19 Figure 3 20 Figure 3 21 Figure 3 22 Figure 3 23 Figure 3 24 Figure 3 25 Figure 3 26 Figure 3 27 Figure 3 28 Figure 3 29 Figure 3 30 Figure 4 1 Figure 4 2 Figure 4 3 Figure 5 1 Figure 5 2 Figure 5 3 iv e Figures Top and right side view of the excavator Gabun 6 Top and right side view of the boom 6 Pict re ofa Clamshell DUCK EE 7 Picture of an orange peel bucket E 7 Back and side view of the top frame of the clamshell bucket 8 Back and side view of the shell of the clamshell bucket 8 Back view of the top frame of the orange peel bucket 8 Back view of the shell of the orange peel bucket 9 Example of the shell of a clamshell bucket as a wireframe n00nnn0nnn0nnnnnnnnannnnnnnnennnennnnne 9 Excavator cabin contour s
67. rection is the difference between the XY plane of the pontoon and the XY plane of the rope excavator In the second properties window CS Attitude computation the default settings can be used 3 2 3 Guidance Rope Excavator In the Guidance page are the guidance options Route Waypoints Design Model and Work Areas available See for a detailed explanation of the different guidance options the chapter Guidance in the PDS2000 User Manual For the rope excavator application the guidance Design Model can be used as design for the digging or diking 14 Vessel Configuration 1 Teledyne PDS Rope Excavator 1 1 Teledyne PDS Rope Excavator F TELEDYNE PDS Route Waypoints Design Model work Areas Type Settings 3D Model eerste een BESCH Diet oC Mame C Z lower limit LInderdredqe lirit 0 5 Nes 3 po Overdredge limit Figure 3 13 The design model tab in the Guidance page Select or create a design model that has to be used during the Acquisition The design model can be a grid model or a 3D model See in the PDS2000 User Manual how to create one of these models If a design model has to be shown in the Plan View General Dredge Operation view and in the Profile Realtime Design view a model name has to be selected in this Guidance page 3 2 4 Tools Rope Excavator On the Tools page the Crane Configuration has to be setup There is a separate page for the boom the rope and the tool
68. roject Wizard and click on to start up the new project wizard If the Control Center in PDS2000 is running a new project can be created from the menu bar with File gt New Project and the new project wizard will be started 2 2 1 New Project Wizard Create an empty project Enter a new project name and click on Bet 1 Ignore the project configuration settings for the moment and click on Select as application type Rope Excavator and click on Set Uncheck the option Run the vessel wizard and click on Bet Uncheck the option Run the configuration wizard and click on m The new project will become active in the Control Center In this project no vessel and no configuration is created yet Setup a New Project e 3 p TELEDYNE PDS See for a detailed explanation of the Geo Calculator the chapter Control Center Geo Calculator of the PDS2000 User Manual 4 e Setup a New Project 2 2 2 Coordinate System In PDS2000 a coordinate system has to be selected Select Edit gt Project Configuration from the menu bar or click on d in the toolbar to open the project configuration to select or create a coordinate system for the project Select in the Project Configuration window the Coordinate System and select one of the existing coordinate systems or create a new coordinate system with L en J oee for a detailed explanation of the coordinate system the chapter Coordinate System in the PDS
69. rom the menu bar of the Acquisition to open the Logging page Click on PDS2000 Grid Model so extra information will appear in the Logging page Select the existing grid model from the list Grid model Figure 7 2 Select an existing grid model in the Logging page Click on in the Logging page to close the page The grid model will be visible in the Plan View General Dredge Operation view and in the Profile Realtime Design view owitch the logging on see page 33 and the grid model can be used in the Acquisition During the digging the model will be updating in the Plan View General Dredge Operation view and in the Profile Realtime Design view 7 2 3 Create and Select a New Design Model In the Profile Realtime Design view a design model can be shown as reference for the digging It is possible during the Acquisition to change the design model in the profile views Click on in the toolbar or select Guidance gt Guidance Settings from the menu bar in the Acquisition and the Guidance page will be opened oelect the tab Design Model Route Waypoints Design Model work Areas Type Settings 2 ower lirit je Underdredge lirit Overdredge limit Figure 7 3 The Guidance page for a design model Teledyne PDS Rope Excavator Frequent Ask Questions e 53 TELEDYNE PDS If no color table is available then a color table has to be created in the Explorer of the Control Center 54 e
70. ser influence on these computations is limited 3 3 3 1 Advanced Computations When a tide gauge is setup in the Equipment page an advanced computation has to be added to the computations Click on Advanced to open the Advanced Computations page Teledyne PDS Rope Excavator The tide station s has to be setup in the Explorer see chapter Explorer Tide Stations in the PDS2000 User Manual Teledyne PDS Rope Excavator 2 TELEDYNE PDS Advanced Computations Available computations Defined computations Hold position Computation 1033 K v Line v Offset Position ey Pontoon Protection Computation v Position infa ey Pump Optimum Swing Speed ey Reduced depth ey Reference Point Position 1027 v Reference point position from Geogs v Reference point position from Grid Remote Log Control Pseudo Computation v Sealevel computation sv Shape Position Computation v Speed v Soud Position Computation or Tide Computation Waypaint Figure 3 29 The Advanced Computations page Select from the list Available computations the Tide Computation and click on to add the computation to the list Defined computations With the properties of the selected computation becomes available The relevant items in the properties window of the 3t Tide Computation are Tide Reduction Computation Mode Select one of the modes for the tide computation Single Tide Station Multiple
71. ta has to be shown in the profile view To add data toa new layer click on 9 select one of the layers from the list in Add Layer dialog and edit the properties of that selected layer Only the relevant layers for the excavator application will be discussed Foreground Layers Active Grd Model Profile Laver Survey Active Design Model Profile Lauer absurvey Dredge Layer Drag head Absolute Position Shape Layer Pontoon Protection Computation Grid Layer rid Figure 6 9 The Layers of the Profile Realtime Design view Active Grid Model Profile Layer This layer shows the grid model which is selected in the Logging page Active Design Model Profile Layer This layer shows the profile of the design model which is created in the guidance It is also possible to show an under and over dredge limit in the profile view see Figure 6 6 on page 43 By default the dredge limits will be displayed with a default color In the properties of the Active Design Model Profile Layer the dredge limits can be switched on off and the color can be changed Dredge Layer This layer shows the rope excavator in total the cabin with the boom and the clamshell bucket or the orange peel bucket Shape Layer If the rope excavator is placed on a pontoon and a pontoon protection Teledyne PDS Rope Excavator Teledyne PDS Rope Excavator TELEDYNE PDS has to be shown in the profile view add this layer and select as Sha
72. the X offset B4 Y offset B5 and Z offset B6 of the antenna of the positioning system on the boom The offsets are relative to the end of the boom e 4 VA X ws M xX AVA x NZ A5 LOSS e T4 Antenna of Positioning System m 5 e t PI Figure 3 16 The X Y and Z offset of the antenna of the positioning system on the boom in a top and side view A shape or wireframe is not necessary for the antenna of the positioning system Teledyne PDS Rope Excavator TELEDYNE PDS 3 2 4 2 Rope Configuration Rope Ww New Parameters CLP Sheave diameter R1 Sheave distance R2 Closing drum diameter R3 R4 Hoisting drum diameter Closing drum angle R5 Hoisting drum angle Closing drum distance R7 R8 Hoisting drum distance Figure 3 17 Rope page in the Tools page The procedure to fill in the rope page Teledyne PDS Rope Excavator oelect a rope configuration or create a new rope configuration with Ciad Fill in the diameter of the sheaves on the boom R1 The diameter is the diameter of the sheave plus the thickness of the cable Fill in the distance between the connection point of the boom and the centre of the first sheave on the boom R2 See also Figure 3 15 on page 16 Fill in the diameter of the closing drum R3 and of the hoisting drum R4 T
73. ther layout use File Open Layout from the menu bar and select one of the created layouts It is essential to save the layout that has to be used during the survey If something happens with one of the views by opening the layout again with File gt Open Layout the original layout with the right views come back in the Acquisition and the survey can continue with the views open 5 3 Menu Bar and Toolbar Teledyne PDS Rope Excavator It is possible in the Acquisition window to select several options from the menu bar or the toolbar Below the useful options will be explained Edit Select Active Vessel amp This option is only active when a rope excavator and a pontoon are created Only for the active vessel the settings can be changed during the Acquisition Edit Select Tracking Point ri Select for the active vessel the tracking point that will be used for the guidance Edit gt Equipment For the active vessel the equipment settings of the sensors can be checked or modified only when logging is off a Edit gt Computations 3 For the active vessel all the computations can be checked or modified only when logging is off View gt Displays The Displays window will be opened In this window views can be switched on or off Also views can be added renamed or removed from the layout see Figure 5 1 on page 34 View gt Add Display The Add Display dialog will be opened In t
74. ut 33 34 35 51 Logging 20 21 33 41 46 52 53 56 Logging Condition 21 N Numerics 37 48 49 Numerics Layer 41 47 0 Orange Peel Bucket 5 7 8 9 11 13 19 21 31 32 36 40 43 45 46 51 52 56 Over Dredge Limit 46 54 p Pitch 11 25 Pitch Correction 11 25 Plan View 37 38 39 40 41 42 55 Plan View General Dredge Operation 37 52 53 54 55 Pontoon 5 10 12 13 14 22 23 24 25 26 29 33 35 37 41 43 46 Pontoon Configuration 22 Pontoon Protection 10 13 46 Positioning System Geogs 10 11 23 24 Profile Realtime Design 43 52 53 54 Profile View 44 45 46 47 Project Configuration 4 Project Wizard 3 Properties 38 39 44 45 49 R Hemote Crane Reference Position 23 24 Index e 57 mm TELEDYNE PDS Hemote Heading 10 13 14 23 26 Remote Reference Position 10 12 Remote VRU 10 14 23 26 Roll 11 25 Roll Correction 11 25 Rope 15 17 19 29 36 Rope Calibration 31 32 Rope Excavator Configuration 5 41 56 RTK 11 12 23 24 25 e Sea Level 25 27 Set Point 16 30 31 32 Shape Layer 46 Sign Convention 11 25 State 10 12 T Tide Computation 27 Tide Gauge 12 23 24 25 26 Tide Station 25 Tracking Point 35 38 40 Under Dredge Limit 46 54 Up Down Indicator 47 V Vessel Layer 41 VRU 10
75. w will be opened Select the tab Vessels and click under Local on to add the just created vessel s It is also possible with Acquisition gt New gt Configuration from the menu bar to create and add a new configuration to the project Teledyne PDS Rope Excavator TELEDYNE PDS 3 Vessel Configuration 3 1 Introduction The vessel configuration contains al the settings necessary for the measurements and displaying of the excavator work The general information about the vessel configuration is explained in the chapter Vessel Configuration of the PDS2000 User Manual In this chapter the specific settings are explained to setup a rope excavator application for only a rope excavator and for a rope excavator on a pontoon For the setup with a rope excavator on a pontoon two different vessel configurations have to be created 3 2 Rope Excavator Configuration Teledyne PDS Rope Excavator 3 2 1 Geometry Rope Excavator In this page the contours of the cabin of the rope excavator the boom the clamshell bucket or the orange peel bucket has to be drawn These contours can be drawn in 2D or in 3D wireframe The 2D drawings are created under the item Vessel contour and the 3D wireframes are 3D DXF files For the 2D contours a top view and at least one side view have to be drawn The side views of all the contours should be from the same side so the rope excavator can be displayed in a Profile Re

1 Introduction 1.1 Rope Excavator

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