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`NOV. 26, 1968
`
`p_ L. BULLER ET AL
`CABLE DEPTH CONTROLLER
`
`3,412,704
`
`Filed Nov. 6, 1967
`
`2 Sheets—Sheet 2
`
`FREQUENCY
`5/0 "45/?749 c’)
`70
`V04 77465
`COMVéPTEE
`
`
`POWER
`éfV-Ma)
`
`AMPI. IF/E-P
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`awn-204
`
`62'
`VOL r465
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`
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`
`Eliza—E
`
`INVENTORS .
`PAUL 1. 54/4451? .6
`BY W/ZL/‘AM L. CHAPMAN
`[[Mm/. 722%
`
`ATTORNEY
`
`Ex. PGS 1031
`
`

`

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`3,412,704
`United States Patent Office
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`Patented Nov. 26, 1968
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`1
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`3,412,704
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`CABLE DEPTH CONTROLLER
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`Paul L. Buller and William L. Chapman, Ponca City,
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`Okla, assignors to Continental Oil Company, Ponca
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`City, Okla., a corporation of Delaware
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`Filed Nov. 6, 1967, Ser. No. 680,752
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`13 Claims. (Cl. 114—235)
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`ABSTRACT OF THE DISCLOSURE
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`Apparatus for remotely adjustable cable depth con-
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`trol wherein one or more paravanes employed to main-
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`tain a cable or seismic streamer at a predetermined depth
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`are adjustable by means of a remotely energized trans-
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`mission linkage. A paravane having adjustable diving
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`planes connected for positive or negative attack angles,
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`and wherein a remotely generated signal transmission is
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`detected at the paravane and the detected signal is em-
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`ployed to energize and to operate depth adjusting struc-
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`ture which will respond to a different, predetermined
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`ambient water pressure to maintain the paravane at a
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`different desired depth.
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`Cross reference to related applications
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`This invention is particularly suited for use in a para-
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`vane of the type used on a marine seismic cable, such
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`paravane being the particular subject matter of the co-
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`pending application of Jimmy R. Cole and Paul L. Buller
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`entitled, “Seismic Cable Depth Control Apparatus,” Ser.
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`No. 629,276, filed on Apr. 7, 1967, and assigned to the
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`present assignee. Another closely related application is
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`that of Jimmy R. Cole entitled “Remotely Controllable
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`Pressure Responsive Apparatus,” Ser. No. 672,341 filed
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`on Oct. 2, 1967, and also assigned to the present as-
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`signee.
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`Background of the invention
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`Field of the Invention—The invention relates gen-
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`erally to pressure—responsive actuating devices and, more
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`particularly, but not by way of limitation, it relates to an
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`improved actuating device in which the operating depth
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`of the paravane is remotely adjustable.
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`Description of the prior art.——The prior art includes
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`various teachings directed to different types of paravanes
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`which have adjustable diving plane or planes and which
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`provide additional facility to enable operation at a pre-
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`determined depth when towed through the water. It is
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`known to provide mechanism for assessing the depth of
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`operation of a paravane and to attempt to provide for
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`automatic plane adjustment
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`tinuous depth assessment. Various depth control devices
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`of varied effectiveness are known, but none of the prior
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`art proposals supplies the degree of reliability and ac-
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`curacy which has been found necessary in the marine
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`seismic prospecting art.
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`Summary of the invention
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`The present invention contemplates a control system
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`for one or more depth keeping paravanes having pres-
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`sure responsive depth control mechanisms integral there-
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`in. In a more limited aspect, the invention consists of a
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`means for remote generation of a control signal which is
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`detected at the paravane as a signal representing a degree
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`of adjustment. The detected signal is then compared to a
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`reference signal derived from ambient water pressure to
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`generate a control signal which,
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`is applied to
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`bias or vary the reference setting of the depth control
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`mechanism so that it functions about a new, predeter-
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`mined null point to maintain the paravane or paravanes
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`at a newly selected depth.
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`Therefore, it is an object of the present invention to
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`provide depth keeping structure for use with paravanes
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`which is relatively simple and therefore extremely relia-
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`ble in operation.
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`It is also an object of the invention to provide ap-
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`paratus which enables accurate and continual control of
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`the operating depth of a paravane and cable.
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`It is a further object of the present invention to pro-
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`vide apparatus which is remotely actuatable from a ves-
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`sel or surface position to change the operating depth of
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`the paravane and cable to another different selected
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`depth within a wide range of depths.
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`Finally, it is an object of the present invention to pro-
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`vide remotely controllable depth adjusting structure
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`which reacts quickly and accurately with very little
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`power requirement.
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`Other objects and advantages of the invention will be
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`evident from the following detailed description when
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`read in conjunction with the accompanying drawings
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`which illustrate the invention.
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`Brief description of the drawings
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`FIG. 1 is a side view of a paravane in vertical section
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`showing one form of the invention;
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`FIG. 2 depicts one form of controller mechanism which
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`may be employed in the device of FIG. 1;
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`FIG. 3 is a functional block diagram illustrating the
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`electrical interconnection within the paravane;
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`FIG. 4 is a side view of an alternative form a paravane
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`control mechanism having parts shown in partial cutaway;
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`and
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`FIG. 5 is a horizontal section taken in the plane of lines
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`5—5 of FIG. 4.
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`Description of the preferred embodiment
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`Referring to the drawings in detail, FIG. 1 illustrates
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`a paravane 10 which is rotatably connected about a cable
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`12. The paravane 10 has a central, axial bore 14 through
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`which the cable 12 is received, and means (not specifically
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`shown) are employed to restrain paravane 10 from sliding
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`along cable 12 without hindering its ability to rotate freely
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`therearound. This allows the cable 12 or streamer to rotate
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`inside of the paravane 10 without causing the paravane 10
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`itself to rotate. It is necessary that the paravane 10 main-
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`tain a normal attitude, i.e., keeping the axis of the diving
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`planes horizontal or parallel to the surface of the water
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`throughout all maneuvers of the towing vessel.
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`The paravane 10 consists of a torpedo-like housing 16
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`having an axial, cylindrical wall 18 extending there-
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`through to form the axial bore 14. The paravane 10 is
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`fitted with vertical and horizontal fixed stabilizers 20
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`which are arranged in quadrature about the after end of
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`housing 16, and a pair of horizontally disposed planing
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`control shafts 22 and 24 extend outward on opposite sides
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`through housing 16. The shafts 22 and 24 are connected
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`to respective diving planes 26 and 28 and they are rotata-
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`ble to impart planing control in a manner which will be
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`further described below.
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`Various features such as the transverse framing and
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`other internal structure of housing 16 are not shown, such
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`being the subject matter of the aforementioned related
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`patent applications. Similarly, the journaling and support
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`of shafts 22 and 24 as well as the mounting of internal
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`control chassis would come within the skill of the art.
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`Remaining void spaces within the housing 16 may be filled
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`with well-known weighting or buoying materials or a
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`combination of both to attain a desired buoyancy char-
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`acteristics.
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`A pressure responsive device 30 is suitably mounted
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`within the cylindrical wall 18 and in a selected position to
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`respond to vibratory pressure waves or such. Thus, a pair
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`of energizing leads 32 may be extended down through the
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`cable 12 for connection to a pressure transducer 34 which
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`may be suitably imbedded within the cable 12. The trans-
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`Ex. PGS 1031
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`Ex. PGS 1031
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`

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`3,412,704.
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`3
`ducer 34 may be a commercially available form of piezo
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`electric device Which‘provides a vibrational output in re-
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`sponse to energization via control leads 32. The vibration
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`detector 30 may be a similar type of complementing elec-
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`trical device which responds to the vibrational energy to
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`provide an electrical output on a lead 36 for input to an
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`amplifier 38. The amplifier 38 is a standard type of AC
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`amplifier which provides an amplified replica of the input
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`signal on an output lead 40.
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`The voltage on output lead 40 is then conducted to
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`control a power relay 42 which applies operating power to
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`the system from a power supply 44. The power supply 44
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`may be a conventional D-C source such as storage bat-
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`tery or such which is connected to apply power via a lead
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`46 to various components of the system with return
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`through ground or common as equipped. This function of
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`enabling power application only upon receipt of a con-
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`trol signal on lead 40 effects a great saving in power and
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`extends the life and reliability of power supply 44 accord-
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`ingly. Thus, power relay 42 can be energized to apply
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`energizing power via lead 48 to energize an amplifier 50
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`and a control motor 52, return being through ground or
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`common in each case. A similar output lead 54 from
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`power relay 42 applies power to a pressure responsive
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`resistance 56.
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`The pressure-responsive resistance 56 may be such as a
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`commercially available type of pressure actuated potenti-
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`ometer having its wiper contact 58 connected for propor-
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`tional movement by means of a linkage 60 connected to a
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`diaphragm 62 affixed in contact with the water surrounds.
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`Thus, the resistance element 56 is connected between the
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`power lead 54 and ground or common, and external water
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`pressure exerts proportional movement through diaphragm
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`62 and linkage 60 to tap off a predetermined voltage
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`through wiper contact 58 for input via lead 64 to ampli-
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`fier 50. A parallel branch of output lead 40 from amplifier
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`38 is also applied through a conventional frequency-to-
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`voltage converter 65 to an input of amplifier 50. Thus, the
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`amplifier 50, a DC amplifier or conventional form of
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`differential amplifier, provides a c0ntrol signal output on
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`a lead 66 to energize a control winding 68 to control rota-
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`tion of motor 52, as will be further described.
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`The rotational output from motor 52 is transmitted on
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`a mechanical linkage 70 to operate a suitable controller
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`mechanism 72. The controller mechanism 72 then con-
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`verts the rotational input on linkage 70 to a proportional
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`rotational movement of plane shafts 22 and 24 in con-
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`cert. The controller mechanism 72 may be any of various
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`controller mechanisms which have been described in the
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`aforementioned copending applications as well as in an
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`additional related application entitled “Compressed Air,
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`Pressure-Sensing Actuator,” Ser. No. 635,861 filed on
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`May 3, 1967, in the name of Chapman and assigned to
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`the present assignee.
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`FIG. 2 shows an exemplary form of controller mech—
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`anism 72 which will serve to provide the centinual depth
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`keeping function as well as to enable remotely controllable
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`adjustment of the reference operation point. Thus, a cyl—
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`inder 74 is suitably positioned within the housing 16, here
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`shown as a lower portion of housing 16, and one end 76 is
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`connected to communicate through a tube or hose 78 and
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`through orifice 80 to the external surrounds of the housing
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`16. Thus, water at ambient pressure is allowed to fill a
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`chamber 82 to exert force on a piston 84 which is slidably
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`moveable within cylinder 74 in sealed relationship. The
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`piston 84 extends a piston shaft 86 having a coupling 88
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`out through an Opposite end 90 of cylinder 74; hereagain,
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`slidable but sealed connection is made between end wall
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`90 and piston shaft 86 such that a chamber 92 may contain
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`a predetermined air pressure which counteracts water pres-
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`sure within chamber 82.
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`Piston shaft 86 is movably connected to a lever 94
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`which, in turn, is rigidly connected to the diving plane
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`shaft 22. Thus, it can be seen that pressure differentials as
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`between water pressure in chamber 82 and air pressure in
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`4
`chamber 92 will cause a longitudinal movement of piston
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`84 and this will then exert an angular movement of lever
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`94 about the axis or shaft 22 and the diving plane 26 is
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`moved accordingly. Similarly, shaft 24 and diving plane
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`26 (FIG. 1) would be moved through an equal angular
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`movement.
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`The air pressure within chamber 92 can be varied to
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`set the reference point or desired depth about which the
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`controller mechanism 72 will tend to stabilize. This may
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`be varied by energizing the motor 52 in one direction :or
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`the other such that the appropriate rotational motion on
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`linkage 70 operates a water pump 96, e.g., a conventional
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`gear-type pump, to vary the pressure within the chamber
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`92. That is, pump 96 communicates from the external
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`surrounds through an orifice 98 and tube 100, and its
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`other end is connected through a tube 102 in communi-
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`cation with chamber 92. The chamber 92 will contain
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`some partial amount of water in accordance with initial
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`calibration and then the pump 96 can be energized in one
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`direction or the other to pump in or remove water from
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`within the chamber 92 so that it increases or decreases,
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`respectively, the air pressure therewithin.
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`It should also be understood that the controller mechan-
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`ism disclosed in the aforementioned copending applica-
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`ti0n, Ser. No. 672,341, entitled “Remotely Controllable
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`Pressure Responsive Apparatus,” may also be directly
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`controlled by the remote actuation apparatus of the pres-
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`ent invention. This application would allow direct motor
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`control over
`the spring bias type of depth reference
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`setting as used in that particular controller mechanism.
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`Referring now to FIG. 3, a command signal input as
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`derived from detector 30 through amplifier 38 may be
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`represented as a constant frequency, A—C voltage Ep. The
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`voltage )31) may be further represented as A sin (wt)
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`.1 wherein A is the amplitude and sin (wt) represents fre-
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`quency with w equal to the radians per second. The com-
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`mand voltage ED is then applied to the frequency-to-volt—
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`age converter 65 to derive a D-C voltage signal having an
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`amplitude representative of the particular frequency of
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`the A-C command voltage ED. Thus, the DC output volt-
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`age V is equal to amplitude A as varied in proportion to
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`w, the radians per second characteristic. There is various
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`well—known circuity which may be employed as the fre-
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`quency-to-voltage converter
`stage 65,
`a Schmitt
`e.g.
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`trigger circuit operating into an integrator is one suitable
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`form of circuit, or a series diode-capacitor network with
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`hold and smooth integrating circuitry.
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`A reference voltage V1) is also derived from wiper out-
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`put 58 of the pressure responsive variable resistor 56.
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`The positive voltage is supplied from lead 54 across the
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`resistance element 56 and either the voltage or the resist-
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`ance may be adjusted to properly calibrate the pressure-
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`responsive resistance 56 for use as a reference element.
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`The diaphragm 62 adjusts the position of wiper 58 and
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`therefore the amount of reference voltage Vp which may
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`be represented as the product (ky), k being a calibration
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`constant and y being the actual depth variable. Thus, the
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`instantaneous depth of the paravane is represented by the
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`voltage V1, for comparison with the command voltage V
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`and a difference correction voltage is derived therefrom.
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`The reference voltage Vp on lead 64 and the voltage V
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`on lead 55 are applied to respective inputs of power ampli—
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`fier 50, e.g. a differential amplifier, and its output on lead
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`66 represents a control voltage V0 which is equal to k
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`(V—IVp), k being the calibration constant. This voltage
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`difference indication,
`the V0 control voltage, represents
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`a quantity of correction which must be introduced into
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`the paravane control system in order to bring it from its
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`actual operating depth to a newly selected depth as sig—
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`nalled from the surface or remote position.
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`In operation,
`the paravane 10 may be trailed in the
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`water such that it Will keep a predetermined depth due
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`to the action of controller mechanism 72 (FIG. 2). An
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`adjustment of the air pressure in chamber 92 will pro-
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`vide depth adjustment since a preset air pressure will
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`10
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`20
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`30
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`40
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`5O
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`60
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`65
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`7O
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`Ex. PGS 1031
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`Ex. PGS 1031
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`3,412,704
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`5
`provide the proper amount of countering force against
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`the ambient water pressure present in chamber 82 to main-
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`tain diving plane 26 and 28 in a horizontal attack angle.
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`Thereafter, if for some reason the paravane 10 goes to
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`a greater depth, an increased water pressure is apparent
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`in chamber 82 to move piston ‘84, compressing chamber
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`92, the piston shaft 86 serving to rotate lever 94 and diving
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`plane shaft 22 to move diving planes 26 (and 28) in a
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`clockwise direction. The new attack angle then serves
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`to bring the paravane 10 back to its proper depth.
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`In the same manner, paravane 10 rising in the water
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`causes a reduced pressure in water chamber 82 to allow
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`piston 84 to move in the opposite direction such that
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`lever 94 is turned in a manner whereby diving planes 26
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`(and 28) are canted forward (counterclockwise) to cause
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`paravane 10 to seek a lower depth. The paravane 10 will
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`continue to travel at the present depth in self—correcting
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`manner, the preset depth being the function of the pres-
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`sure within chamber 92. The continual corrective func-
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`tions take place in direct proportion to the pressure dif-
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`ferential across piston 84 between chambers 82 and 92.
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`The operating depth of paravane 10 may then be
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`changed by initiating a signal from the surface or such
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`other remote position. This may be done by energization of
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`leads 32 in cable 12 to pulse the pressure transducer 34
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`into vibration at a selected, constant frequency. The se-
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`lection and range of frequency is a matter of choice, how-
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`ever, it is contemplated to employ a signal having a fre-
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`quency from 500 to 5,000 cycles per second, whereby a
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`depth of 5 feet could be represented as 500 cycles per
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`second and so on up to a depth of 100 feet as represented
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`by 5,000 cycles per second. Thus, transducer 34 will pulse
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`or provide a pressure output at some frequency which
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`is indicative of a preset operating depth.
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`The detector 30 then picks up the Virbational pressure
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`effects and provides an A—C signal for amplification in
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`amplifier 38. The AC voltage is then applied via lead 40
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`to carry out its dual function. First, the A-C voltage is used
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`to energize a power relay 42 which applies energizing
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`power from power supply 44 to the output power ampli-
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`fier 50 as well as to the pressure-responsive resistance de-
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`vice 56. Second, the A—C voltage is conducted through a
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`frequency-to-voltage converter 65 to derive a D-C voltage
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`having an amplitude value which is indicative of the de-
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`sired new operating depth.
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`The D-C voltage from frequency—to-voltage converter
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`65’is applied to one input of a differential power amplifier
`50, and another D—C input on lead ‘64 is derived from the
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`pressure-responsive resistor 56 which indicates the actual
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`depth. Thus, differential amplifier 50 will provide a cor-
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`rection or control voltage output on lead 66 which is a dif-
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`ference between the actual depth reference voltage VI) and
`the new depth or command DC voltage V.
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`The control voltage V0 output from amplifier 50 can
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`then be employed to energize drive motor 52 such that it
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`controls the controller mechanism 72 to drive the para-
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`vane 10 to its new depth. Thereafter, paravane 10 will
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`follow or control about the new depth setting.
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`Referring to FIG. 2, the motor 52 may be controlled to
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`rotate in one direction or the other, depending upon the
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`polarity of the control voltage V0, to rotate pump 96 so
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`that it pumps water into the air chamber 92 or removes
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`existing water therefrom, either function tending to vary
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`the pressure in chamber 92 thereby to change the oper-
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`ating depth point. In the event that it was desired to set
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`the paravane 10 to a deeper operating depth, motor 52
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`and pump 96 would function to pump water into chamber
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`92 to raise the pressure therein to provide counter-balance
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`of increased water pressure in chamber 82 due to the
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`increased depth. Similarly,
`in the event that the newly
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`selected depth were more shallow, motor 52 and pump
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`96 would function to remove water from within cham-
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`ber 92 to allow centering of piston 84 in counteraction
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`of deceased pressure within chamber 82.
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`6
`Alternative structure
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`FIGS. 4 and 5 illustrate a variation in the construction
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`of the controller mechanism which may be employed in
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`paravane 10. The electronic circuitry remains the same
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`except that the output control voltage V0 from amplifier
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`50 is employed to control a solenoid 110 rather than an
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`electric motor. In this alternative, a pair of tube-like
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`passages 112 and 114 are formed along the length of
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`paravane 10, preferably near the bottom and in sym-
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`metrical disposition. The passages 112 and 114 are each
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`adapted to receive respective valve gates 116 and 118 in
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`sealing relationship therethrough. The gates 116 and 118
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`are disposed to halfway close each of passages 112 and
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`114 when in their normal positions. Gates 116 and 118
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`are each separately controllable by such as a linear
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`solenoid 110 to close one or the other passages 112 or
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`114.
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`The after end of passages 112 and 114 include similarly
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`shaped housings 120 and 122 which contain respective
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`water wheels 124 and 126 therein as disposed in rotatable
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`relationship. The water wheel 124 is connected to an
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`axle 128 and disposed relatively above the passage 112
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`so that water flowing rearwardly therethrough will rotate
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`gear wheel 124 and axle 128 to drive a water pump 130‘,
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`e.g. a gear-type water pump, in a first rotational direction.
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`The opposite gear wheel 126 is connected to drive into
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`an axle 132 and is disposed relatively lower than the
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`passage 114 such that an opp0site rotation may be ap-
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`plied to pump 130.
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`Pump 130 is connected to the external surrounds via
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`a tube 134, and its other or alternate opening is connected
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`through a conduit 136 to the air chamber 92 of a cylinder
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`74 similar to that of FIG. 2.
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`The operation of paravane 10 with the alternative
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`structure is similar to the FIG. 1 device in the quiescent
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`operation or the depth keeping action which functions to
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`keep the paravane 10 at a preset depth. The alternative
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`structure provides a mechanism whereby the operating
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`depth may be changed from a remote position. Thus,
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`initiation of a control pressure pulse from pressure gener-
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`ator 34 and cable 12 initiates conduction of an A—C
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`signal through amplifier 38 and, in the usual manner, a
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`new D—C voltage on lead 55 and an actual depth voltage
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`VD on lead 64 are compared to derive a control voltage
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`Vo output signal on lead 66. This signal on lead 66 is
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`then applied to control solenoid 110 to move the gates
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`116 and 118 in one direction or the other such that one
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`of the passages 112 or 114 will be closed. The selective
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`closure of passages 112 and 114 serves to impart water
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`power to one of the oppositely rotatable gear wheels 124
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`or 126 and this serves to drive pump 130 either to put
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`water into the air chamber 92 or to remove water there-
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`from. This variation of air pressure within chamber 92
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`then determines the operating depth in the same manner
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`as described for the FIG. 1 embodiment.
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`It should be understood that
`transmission of depth
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`change command may be effected by various means other
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`than that specifically designated, i.e., transmitting means
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`wherein the tow cable contains actuating wires and pres-
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`sure transducers. For example, command actuation may
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`be effected by means of magnetostrictively induced pres-
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`sure pulses traveling through the water, pressure pulses
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`of predetermined frequency as employed, for example,
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`in Fathometer practice. Still other forms of wireless com-
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`mand communication may be effected such as those uti-
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`lizing selected frequencies of sonic energy, electromag-
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`netic energy, etc.
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`The foregoing discloses a novel paravane centrol
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`scheme which allows the changing of the paravane oper-
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`ating depth from a remote location without the necessity
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`for pulling in or otherwise approaching the seismic cable
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`or streamer, the paravane thereafter functioning to keep
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`the selected depth. That is, a depth control mechanism
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`aboard the paravane will function automatically to keep
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`the paravane at a preset depth, and this preset depth can
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`10
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`2O
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`30
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`35
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`40
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`50
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`60
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`65
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`70
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`Ex. PGS 1031
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`Ex. PGS 1031
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`7
`be varied in whatever the selected increments from a
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`remote location. The remote selection is conveyed by
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`suitable energy transmission and detection at the para-
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`vane and the remote control device onboard the paravane
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`functions with very low power consumption to change
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`the preset depth. The paravane includes a self-contained
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`power supply for energizing the onboard functions and
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`such power supply may be of relatively small size yet
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`long-life due to the periodic, low power requirement of
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`energiz-ation.
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`What is claimed is:
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`1. A device for remotely adjustable control of a para-
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`vane having m