US4017823A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Position control system for a subsea vehicle
Assignee: FRANCAISE DES PERTOLES 5 RUE MICHEL-ANGE 75781 PARIS FRANCE Cie
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Filing: 1975-07-21
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Granted: 1977-04-12
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Expires: 1995-07-21
Abstract
Abstract A position control system, for use in positioning relative to a subsea well a subsea vehicle or a re-entry tool having thrusters, including a Doppler sonar system connected to the vehicle and operable for generating a Doppler pulse train signal having a pulse rate substantially proportional to the Doppler frequency produced by a change in the spatial position of the vehicle along a predetermined linear coordinate, whereby the occurrence of each pulse signal in the Doppler pulse train signal corresponds substantially to a predetermined linear distance, velocity measurement means coupled to the Doppler pulse train signal and operable for converting it into an equivalent velocity amplitude, a pulse generator operable for producing a predetermined number of pulse signals equivalent to a certain linear distance along the coordinate, up/down counter means operable for counting up from one signal and down from another signal, connection means operable for connecting the up/down counter means to the Doppler pulse train signal and the pulse generator for opposite counting therein, and drive means connected to the up/down counter means and operable for supplying the count therein as an error signal for controlling one of the thrusters.
Inventors
- 👤 David A. Cooke
- 👤 David M. Edison
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 09:36
CPC Classifications
G; G01; G01S; G01S15/00; G01S15/87; G01S15/02; G01S15/50; G01S15/58; G01S15/582
Claims Analysis
Total Claims: 6
Claim 1
Independent Claim
206 words
A position control system, for use in positioning relative to a subsea well a subsea vehicle or re-entry tool having thrusters, comprising, in combination: a Doppler sonar system connected to said vehicle and operable for generating a Doppler pulse train signal having a pulse rate substantially proportional to the Doppler frequency produced by a change in the spatial position of said vehicle along a predetermined linear coordinate, whereby the occurrence of each pulse signal in said Doppler pulse train signal corresponds substantially to a predetermined linear distance; velocity measurement means connected to said Doppler pulse train signal and operable for converting it into an equivalent velocity amplitude; a pulse generator operable for producing a predetermined number of pulse signals equivalent to a certain linear distance along said coordinate; up/down counter means operable for counting up from one input signal and down from another input signal; connection means operable for connecting said up/down counter means to said Doppler pulse train signal and said pulse generator for opposite counting therein; drive means connected to said up/down counter means and operable for supplying the count therein as an error signal for controlling one of said thrusters; and coupling means operable to couple said drive means to said one thruster.
Claim 2
Dependent Claim
206 words
A position control system, for use in positioning relative to a subsea well a subsea vehicle or re-entry tool having thrusters, comprising, in combination: a Doppler sonar system connected to said vehicle and operable for generating a Doppler pulse train signal having a pulse rate substantially proportional to the Doppler frequency produced by a change in the spatial position of said vehicle along a predetermined linear coordinate, whereby the occurrence of each pulse signal in said Doppler pulse train signal corresponds substantially to a predetermined linear distance; velocity measurement means connected to said Doppler pulse train signal and operable for converting it into an equivalent velocity amplitude; a pulse generator operable for producing a predetermined number of pulse signals equivalent to a certain linear distance along said coordinate; up/down counter means operable for counting up from one input signal and down from another input signal; connection means operable for connecting said up/down counter means to said Doppler pulse train signal and said pulse generator for opposite counting therein; drive means connected to said up/down counter means and operable for supplying the count therein as an error signal for controlling one of said thrusters; and coupling means operable to couple said drive means to said one thruster.
Claim 3
Dependent Claim
60 words
The system as claimed in claim 1, wherein said velocity measurement means comprises a first counter operable for counting and storing a plurality of pulse signals, a second counter operable for receiving and storing a pulse signal count from said first counter and transferring means operable for transferring the pulse signal count in said first counter to said second counter.
Claim 4
Dependent Claim
46 words
The system as claimed in claim 2, wherein said velocity measurement means further comprises a timing generator means operable for producing pulse signals at a predetermined rate and coupling means operable for connecting said timing means to said first counter in response to an energizing signal.
Claim 5
Dependent Claim
41 words
The system as claimed in claim 1, further comprising an anti-coincidence means between said up/down counter means and the signals connected thereto and operable for controlling two pulse signal trains to prevent said up/down counter means from receiving two pulses simultaneously.
Claim 6
Dependent Claim
208 words
The system as claimed in claim 1, further comprising; a second Doppler sonar system connected to said vehicle and operable for generating a second Doppler pulse train signal having a pulse rate substantially proportional to the Doppler frequency produced by a change in the spatial position of said vehicle along a second predetermined linear coordinate, whereby the occurrence of each pulse signal in said second Doppler pulse train signal corresponds substantially to a predetermined linear distance; a second velocity measurement means connected to said second Doppler sonar system and operable for converting it into a second equivalent velocity amplitude; a second pulse generator operable for producing a predetermined number of pulse signals equivalent to a second certain distance along said second coordinant; second up/down counter means operable for counting up from one input signal and down from another input signal; second connection means operable for connecting said second up/down counter means to said second Doppler pulse train signal and said second pulse generator for opposite counting therein; second drive means connected to said second up/down counter and operable for supplying the count therein as an error signal for controlling another one of said thrusters; and coupling means operable to couple both of said drive means to respective thrusters.
References Cited (Backward Citations)
US3594716A
Cited
US3707717A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1980-04-11 | 1980-10-11 | 1981-04-12 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1984-04-11 | 1984-10-11 | 1985-04-12 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1988-04-11 | 1988-10-11 | 1989-04-12 | $7700.00 | Window Closed / Lapsed |