GB2335174A - Steerable submersed hydrovane systems - Google Patents
Steerable submersed hydrovane systems Download PDFInfo
- Publication number
- GB2335174A GB2335174A GB9804381A GB9804381A GB2335174A GB 2335174 A GB2335174 A GB 2335174A GB 9804381 A GB9804381 A GB 9804381A GB 9804381 A GB9804381 A GB 9804381A GB 2335174 A GB2335174 A GB 2335174A
- Authority
- GB
- United Kingdom
- Prior art keywords
- towed
- hydrovane
- control
- semi autonomous
- control mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
- G01V1/3817—Positioning of seismic devices
- G01V1/3826—Positioning of seismic devices dynamic steering, e.g. by paravanes or birds
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/56—Towing or pushing equipment
- B63B21/66—Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- Remote Sensing (AREA)
- Oceanography (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
A towed marine device for controlling the ends of towed seismic arrays comprises a plurality of fixed spaced apart vertically disposed aerofoil surfaces 1, a number of movable horizontally disposed control surfaces 2, a number of movable vertically disposed control surfaces 3, a system 8 for controlling the operation of the various movable control surfaces 2,3 and thereby control the depth and attitude of the device, a communications system 28 for controlling the device from a remote control station, eg the towing vessel, and a folding mast 9. The device is connected with the towing vessel via a cable 22 and umbilical 23. Various sensors 12-17 linked to the control system 8 are provided.
Description
2335174 1. Steerable submersed semi- intellegent '.Hydrovane' systems The
present invention relates to marine towed vehicles. A preferred embodiment of the invention relates to a towed vehicle for controllina the ends of towed seismic acoustic arrays.
2. Demand for control of the ends of towed seismic arrays has increased with the increase in the number and length of these devices.
3. Working close to fixed obstructions also creates situations where control of the ends of the cable array is beneficial in order to avoid such obstructions.
On Seismic Survey vessels there is increasing pressure on the available space for stowing and handling devices and equipment.
5. Seismic Survey vessels have a requirement to reduce the time taken to deploy and recover Acoustic arrays in order to maximise utilisation. This becomes more important the longer and more numerous the cables deployed by the ship.
6. Seismic Survey vessels will benefit by reduced hydrodynamic draa of the towed equipment.
According to the present invention there is provided a device including. on board' and remote control means. This device is towed at the ends of the accoustic cable by means of a flexible attachment. The length of this attachment is such as to allow the accoustic cable to maintain its' operating depth with the 'Hydrovane" operating normally.
The invention is provided with a number of fixed aerofoil surfaces in the vertical sense equally spaced fore and aft and arranged in one plane. These surfaces provide force in the lateral sense.(Yaw) [1)- 11 The invention is similarly provided with a number of moveable aerofoil surfaces in the horizontal sense.These surfaces provide forces in the vertical sense.(Depth) 1-22 1 7.
8.
9.
L_ 1O.The invention is provided with moveable control surfaces in the vertical sense., These are arranaed to turn the device in order to produce lateral forces (Yaw) [3 1. These same control surfaces [3 11 can also be used to rotate the device about its longitudinal axis.(roll). Thus the present invention can control its attitude to the direction of travel of the accoustic array and thus exert forces upon such array in both the horizontal and vertical sense.
1 I.Preferred embodiments of the invention may have the fixed array,' of foils arranaed in a "Y" or an 'X' conflauration. In these embodiments the moveable control surfaces are arranú!ed alona the aftermost edoes of the aftermost fixed surfaces.
12.A specific embodiment of the invention will now be described by way of example with reference to the accompanying drawing in which:
13.Figure 1 shows the device in side elevation 14.Figure 2 shows the device in plan 15.Figure 3 shows the device front elevation 16.1n the present invention moveable control surfaces [31 are arranged in the vertical sense. These are arran2ed to turn the device in order to produce lateral forces (Yaw). These same control surfaces [3] can also be used to rotate the device about its lonaltudinal axis.(roll). Thus the present invention can control its attitude to the direction of travel of the accoustic array and thus exert forces upon such array in both the horizontal and vertical sense in order to control offset and depth.
17.1n the present invention motive power for the control system [81, I'S by electrical means through the acoustic cable 112' and provi 1 1 1 L-I umbilical [23 1. This provides a constant charging current for the on board battery r21!. This then pro,.,-Ides the electrical power to operate the on board computer and the electro-mechanical sersfo mechanisms '16 1 that activate the numerous control surfaces to provide control in heave. swav and roll.
1 1 18.1n the present invention a folding mast [91 is fitted which houses a differential global positioning system reciever 2181, a flashing navigation light [291 and a radar reflector and transponder [301. This mast is arranged to fold down into a recess to aid launch and recovery- Z to the ship and to reduce hydrodynamic drag when the device is fully submersed.
19.1n a preferred embodiment of the invention motive power is provided mechanically by means of contra-rotating impellers [61 on a common shaft driving. a hydraulic power pack [101.
20.1n a preferred embodiment of the invention motive power is provided mechanically by means of contra-rotating impellers [61 on a common shaft drivin c, an electrical generator [l 1 C 21.1n the present invention sensors are included for interpreting the vertical attitude of the device [121.
22.1n the present invention sensors are included for interpreting the depth below the water surface of the device [13-1- 23An the present invention sensors are included for interpreting the horizontal attitude of the device to the towing cable [141 24.1n the present invention sensors are included for sensing whether the control surfaces are jammed [ 15].
25.1n the present invention sensors are included for sensing whether water has entered the control mechanism compartment [ 16 26.In the present invention sensors are included for sensing the attitude of the mast [l 71.
27.1n the present invention a communications transmitter and receiver are fitted to enable the device to communicate with the control station on board the ship 1,3 11 through the towing cable [2 11 and umbilical r13 In a preferred embodiment of the invention the communications is by means of a radio modem link [1.81.
tt 28.1n the present invention flotation is incorporated into the top [191 and bottom [191 of the device in order to ensure positive bouyancy even when stationary in the water.
29.1n the present invention a protective cage is arranged around the device to protect the control surfaces from damage when being handled on the ship or when struck by flotsam in the sea. [201 30.1n the present invention sensors are included to measure the towing forces. [2 11 31.1n the present invention transponders are included to measure the range and bearina from sister devices or a reference point on the towing vessel. [321 32.1n the present invention a towing frame [351 is fitted to enable devices to be towed behind the Hydrovane 1
Claims (16)
1 A towed semi autonomous towed device (Hydrovane'). comprising a body in the form of an aerofoil t41, arrays of fixed aerofoils arranged in the vertical sense [1.1 with spaces between, movable control surfaces in the horizontal sense '21, moveable control surfaces in the vertical sense [31, a hinged towing mechanism [51 arranged to be at or close to the centre of effort of the device, an interpretive control mechanism [81 which controls the operation of the various control surfaces, a communications system [2511 to put the device in control of a remote control station 1311 and a folding mast [91.
2. A towed semi autonomous towed device ('Hydrovane'), as claimed in Claim 1 wherein motive power for the control mechanism is generated b an hydraulic power pack [101 driven by contra rotating y impellers [61 within a shroud [71.
3. A towed semi autonomous towed device ('Hydrovane), as claimed in Claim 1 wherein motive power for the control mechanism is ing generated b an electrical power pack [ 11] dn ven by contra rotati Z_ y impellers [61 within a shroud [71.
A towed semi autonomous towed device ('Hydro,,ane'). as claimed in Claim 1 or Claim 2 or Claim 3 wherein a microprocessor controller [271 is connected to electro mechanical servo mechanisms [26] for operating the control surfaces [21 [31.
A towed semi autonomous towed device ('Hydrovane'), as claimed in Claim 1 wherein motive power for the control mechanism [81 Is by the towing vessel via the towing cable and provi umbilical [2.111.
6. A towed semi autonomous device ('Hydrovane') as claimed in Claim 1 or Claim 2 or Claim 3 or Claim 4 or Claim 5 wherein sensors are fitted to determine roll an21e [.121 5.
h
7. A towed semi autonomous device ('Hydrovan&) as claimed in Claim 1 or Claim 2 or Claim 3 or Claim 4 or Claim 5 wherein sensors are fitted to determine depth below the surface [131
8. A towed semi autonomous device ('Hydrovane') as claimed in Claim 1 or Claim 2 or Claim 3 or Claim 4 or Claim 5 wherein sensors are fitted to determine the horizontal attitude of the device to the towing cable or umbilical [1.41
9. A towed semi autonomous device ('Hydrovane') as claimed in Claim 1 or Claim 2 or Claim 3 or Claim 4 or Claim 5 wherein sensors are fitted to determine whether the control surfaces are jammed [ 155 1
1O.A towed semi autonomous device ('Hydrovane') as claimed in Claim 1 or Claim 2 or Claim 3 or Claim 4 or Claim 5 wherein sensors are fitted to determine whether water has penetrated the control mechanism compartment [161
1 I.A towed semi autonomous device ('Hydrovane) as claimed in Claim 1 or Claim 2 or Claim 3 or Claim 4 or Claim 5 wherein sensors are fitted to determine the anale of the mast to the vertical [171 '1
12.A towed semi autonomous device ('Hydrovane') as claimed in Claim 1 or Claim 2 or Claim 3 or Claim 4 or Claim 5 wherein a control sequence is built into the control mechanism [81 to enable the device to recover without external command from a broach.
13.A towed semi autonomous device ('Hydrovane') as claimed in Claim 1 or Claim 2 or Claim 3 or Claim 4 or Claim 5 wherein a control sequence is built into the control mechanism [81 to enable the device to maintain without external command a prescribed depth.
14.A towed semi autonomous device ('Hvdrovane') as claimed in Claim 1 or Claim 2 or Claim 3 or Claim 4 or Claim 5 wherein a control sequence is built into the control mechanism [8] to enable the device to recover dive for a predetermined length of time to a predetemined Y ing accoustic sensor [331.
depth when tricaered b,. the forward look' 1 -I
15.A towed semi autonomous device ('Hydrovane') as claimed in Claim 1 or. Claim 2 or Claim 3 or Claim 4 or Claim 5 wherein a control sequence is built into the control mechanism [81 to enable the device to maintain a predetermined depth and offset by an interaction of roll control surfaces [31, sway control surfaces [31 and depth control surfaces [21
16.A towed semi autonomous device ('Hydrovane') as claimed in Claim 1 or Claim 2 or Claim 3 or Claim 4 or Claim 5 wherein a control sequence is built into the control mechanism [81 to enable the device to maintain a predetermined depth and offset by an interaction by means of acoustic transponders [341 with a sister device towed on the surface.
ITA towed semi autonomous device ("Hydrovane') as claimed in Claim 1 or Claim 2 or Claim 3 or Claim 4 or Claim 5 wherein a towing frame [351 is fitted to enable devices to be towed behind the Hydrovane
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB9804381A GB2335174B (en) | 1998-03-03 | 1998-03-03 | Steerable submerged semi-intelligent hydrovane system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB9804381A GB2335174B (en) | 1998-03-03 | 1998-03-03 | Steerable submerged semi-intelligent hydrovane system |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB9804381D0 GB9804381D0 (en) | 1998-04-22 |
| GB2335174A true GB2335174A (en) | 1999-09-15 |
| GB2335174B GB2335174B (en) | 2002-09-11 |
Family
ID=10827833
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB9804381A Expired - Fee Related GB2335174B (en) | 1998-03-03 | 1998-03-03 | Steerable submerged semi-intelligent hydrovane system |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2335174B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002047968A1 (en) * | 2000-12-16 | 2002-06-20 | Westerngeco Seismic Holdings Limited | Deflector devices |
| WO2003008906A3 (en) * | 2001-07-14 | 2003-04-24 | Qinetiq Ltd | Control device for controlling the position of a marine seismic streamer |
| GB2415675A (en) * | 2004-06-16 | 2006-01-04 | Westerngeco Seismic Holdings | A steerable hydrofoil for a marine seismic streamer |
| GB2493452A (en) * | 2011-08-05 | 2013-02-06 | Pgs Geophysical As | Method and system of a controllable tail buoy |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1995031735A1 (en) * | 1994-05-13 | 1995-11-23 | Petroleum Geo-Services A/S | Depth control apparatus |
| GB2293808A (en) * | 1994-10-06 | 1996-04-10 | Alan Anthony Habberley | Belt conveyor system |
-
1998
- 1998-03-03 GB GB9804381A patent/GB2335174B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1995031735A1 (en) * | 1994-05-13 | 1995-11-23 | Petroleum Geo-Services A/S | Depth control apparatus |
| GB2293808A (en) * | 1994-10-06 | 1996-04-10 | Alan Anthony Habberley | Belt conveyor system |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002047968A1 (en) * | 2000-12-16 | 2002-06-20 | Westerngeco Seismic Holdings Limited | Deflector devices |
| AU2002222363B2 (en) * | 2000-12-16 | 2005-10-20 | Westerngeco Seismic Holdings Limited | Deflector devices |
| WO2003008906A3 (en) * | 2001-07-14 | 2003-04-24 | Qinetiq Ltd | Control device for controlling the position of a marine seismic streamer |
| US6985403B2 (en) | 2001-07-14 | 2006-01-10 | Qinetiq Limited | Control device for controlling the position of a marine seismic streamer |
| GB2415675A (en) * | 2004-06-16 | 2006-01-04 | Westerngeco Seismic Holdings | A steerable hydrofoil for a marine seismic streamer |
| GB2415675B (en) * | 2004-06-16 | 2009-02-25 | Westerngeco Seismic Holdings | A steerable hydrofoil |
| US8100078B2 (en) | 2004-06-16 | 2012-01-24 | Westerngeco L.L.C. | Steerable hydrofoil |
| GB2493452A (en) * | 2011-08-05 | 2013-02-06 | Pgs Geophysical As | Method and system of a controllable tail buoy |
| GB2493452B (en) * | 2011-08-05 | 2014-09-17 | Pgs Geophysical As | Method and system of a controllable tail buoy |
| US9126661B2 (en) | 2011-08-05 | 2015-09-08 | Pgs Geophysical As | Method and system of a controllable tail buoy |
| US9630684B2 (en) | 2011-08-05 | 2017-04-25 | Pgs Geophysical As | Method and system of a controllable tail buoy |
| US9910176B2 (en) | 2011-08-05 | 2018-03-06 | Pgs Geophysical As | Method and system of a controllable tail buoy |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2335174B (en) | 2002-09-11 |
| GB9804381D0 (en) | 1998-04-22 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| COOA | Change in applicant's name or ownership of the application | ||
| 732E | Amendments to the register in respect of changes of name or changes affecting rights (sect. 32/1977) | ||
| PCNP | Patent ceased through non-payment of renewal fee |