U.S. patent number 3,638,174 [Application Number 04/828,273] was granted by the patent office on 1972-01-25 for remote control methods and systems.
This patent grant is currently assigned to The Bendix Corporation. Invention is credited to Wallace H. Haase, Albie Alton Lyman, Jr., Daniel W. Painter, II.
United States Patent |
3,638,174 |
Haase , et al. |
January 25, 1972 |
REMOTE CONTROL METHODS AND SYSTEMS
Abstract
This invention relates to improvements in remote control systems
and operating methods. The embodiment selected for illustration is
arranged for actuation of a valve in a submerged pipeline. The
system includes a controlling station comprising a transmitter and
a receiver of sonic signals and it includes a controlled station
submerged with the valve and comprised of a receiver and a
transmitter. The controlling station is capable of sending arming,
interrogation and control signals to the controlled station. The
operating and interrogating codes employed in the system include at
least two different frequency components and require that certain
other frequency components be absent. The receiver of the control
station is responsive to such codes to arm the receiver to receive
an interrogation signal and an actuating command signal. It is
effective upon receiving the interrogation signal to cause a
response to be transmitted indicating the condition of the valve to
be controlled and placing the system in condition to receive valve
control instruction.
Inventors: |
Haase; Wallace H. (Northridge,
CA), Lyman, Jr.; Albie Alton (Granada Hills, CA),
Painter, II; Daniel W. (Sepulveda, CA) |
Assignee: |
The Bendix Corporation
(N/A)
|
Family
ID: |
75300189 |
Appl.
No.: |
04/828,273 |
Filed: |
May 27, 1969 |
Current U.S.
Class: |
367/133; 367/2;
367/901; 340/13.3 |
Current CPC
Class: |
G08C
23/02 (20130101); Y10S 367/901 (20130101) |
Current International
Class: |
G08C
23/02 (20060101); G08C 23/00 (20060101); H04b
011/00 () |
Field of
Search: |
;340/2,3E,5,16R,171
;325/37,44 ;343/225-227 |
References Cited
[Referenced By]
U.S. Patent Documents
Other References
Sherwood, Undersea Technology, June 1964, pp. 22-24. .
Snodgrass, Science, Vol. 162, Oct. 4, 1968, pp. 78-87. .
Nichols, Jr., J. Acous. Soc. of Amer., Vol. 44, Dec. 1968, pp.
1748-1749..
|
Primary Examiner: Farley; Richard A.
Claims
We claim:
1. In the method of receiving a control signal at a remote station
from a control station and furnishing a signal at the remote
station only if the control signal includes components at a
plurality of frequencies, the improvement which comprises the steps
of:
determining if said control signal includes each component of a
first plurality of frequency components simultaneously for a
predetermined period and only if it does, subsequently determining
if said signal further includes, simultaneously with one another
and with said first plurality of components, a second plurality of
frequency components; and
furnishing said signal if said control signal is determined to
include said first and second plurality of frequency components and
if the components of said first plurality are simultaneously
received for said period and if the components of said second
plurality of components are received thereafter simultaneously with
one another and with said first plurality of components.
2. The invention defined in claim 1 which comprises the further
step of determining whether any of a third plurality of frequency
components have been received at said remote station with said
control signal; and
failing to furnish said signal if any component of said third
plurality of signal components is received during said period.
3. The invention defined in claim 2, which comprises the
preliminary steps of transmitting less than all the first plurality
of components of said control signal for a time prior to said
predetermined period and undertaking to determine if said first
plurality of components is contained in the control signal for said
predetermined period only if said signal has been determined to
include less than all of them at said previous time.
4. The invention defined in claim 3 including the further step of
transmitting a status signal from the remote station at a given
interval following receipt of said control signal with less than
all of said first plurality of components, and counting time from
the time of transmission of said control signal with less than all
of said first plurality of components until receipt at the
controlling station of the status signal.
5. In a high security signalling system in which a remote receiving
station is to respond only to signals from a controlling
transmitting station; the improvement which comprises:
means at the transmitting station for sending the signal for a
period of time which for a first portion of that period includes a
component at a first given frequency and does not include a
component at a second given frequency, and which in a subsequent
portion of the same period, includes components at both of said
first and second given frequencies; and
means at the remote station for receiving the signal and for
responding thereto by placing itself in condition to respond to
simultaneous receipt of the components at first and second
frequency if, prior to their receipt, it receives a component at
first frequency and not the component at second frequency.
6. The invention defined in claim 5 in which said subsequent
portion of the period constitutes a time period having not less
than a given duration and in which said means at the transmitting
station for sending a signal includes means for sending a signal
including said component at first frequency and said component at
second frequency simultaneously throughout said given period;
and
in which said means at the remote station for receiving the signal
includes an arming apparatus whose state can be changed, and means
for changing the state of said arming apparatus if, but only if,
the signal received at said remote station includes a component at
said first given frequency and a component at said second given
frequency simultaneously for not less than said given time and only
if the signal received at said remote station fails to include
components at either of two other given frequencies at any time
during said given time.
7. The invention defined in claim 6 which further comprises means
at said transmitting station for sending a second signal
incorporating frequency components at other than said first and
second given frequencies simultaneously with the sending of said
first mentioned signal;
said remote station further comprising means for performing a
controlled function in response to receipt of said second signal
while said arming apparatus is armed.
8. The invention defined in claim 7 in which said remote station
comprises means for providing a signal indicative of the state of
the controlled function and a transmitter responsive thereto and to
receipt by said remote station of a signal including component at
said first given frequency in the absence of a component at said
second given frequency for transmitting a signal indicative of the
state of said condition, and
in which said transmitting station includes receiving means for
receiving a signal transmitted by said remote station.
Description
This invention relates to improvements in remote control systems to
improved apparatus for such systems, and to improved methods of
remote control.
The problem of controlling a remote apparatus is often complicated
by the need to provide for conservation of power at the remote
controlled station, by the need to provide security against
unauthorized operation and, in certain instances, by the need to
provide a means for locating the remote apparatus before it can be
operated. One example of the latter is found in the remote
operation of the valves of a submerged pipeline. There are a number
of natural gas and petroleum lines which are submerged and which
include valves located at substantial depths out of sight of land
where location may be difficult. The invention is not limited to
the remote control of such valves. Nonetheless, this application
deals with a number of problems which are solved to advantage by
the invention and the provision of a secure system for locating and
controlling such valves is one of the objects of the invention. In
a broader sense, an object of the invention is to provide an
improved remote control system. Another object is to provide a
remote control system incorporating features which make it secure
against unauthorized or inadvertent operation. In this connection,
it is an object of the invention to provide a system which will be
secure against operation by frequency sweeping and pulsing
apparatus.
In the invention energy is radiated from a controlling station to
the controlled station. Alternating energy is employed and the
energy may be electromagnetic or mechanical or sonic in form. The
controlled apparatus is made responsive either to the duration or
the frequency of the controlling signals or to both. Amplitude may
be employed but is a less useful variable than frequency and
duration of signal. In underwater control applications where
control signals may be reflected a number of times, control codes
based on on time and off time of signal segments may not be
reliable. An object of the invention is to provide a remote control
system which overcomes these difficulties and to provide a remote
control system whose control codes are based upon combinations of
frequency components. One object of the invention is to provide a
remote control system which responds to signals incorporating
selected frequency components and from which certain other
frequency components are absent.
It is a feature of the invention that one code is employed to arm
the controlled station and another code is employed, in the
preferred embodiment, to command actuation of the apparatus to be
controlled. One or both of those codes may incorporate as a
security measure that the code signal incorporate components of
given frequency and that it be free of components of another
frequency. In this embodiment a third code is employed in searching
for the remote, submerged apparatus and for interrogating that
apparatus about its operating condition. It is also a feature of
the invention that the several codes may include signal duration,
particularly the duration of certain components of the signal, as
elements of the code. The embodiment selected for illustration in
the drawings employs signal duration as part of its codes such that
a combination of frequency components and signal duration is made
to command the controlled apparatus to vary the rate at which power
is supplied to that apparatus. A related object is to provide a
remote control system which is reliable and secure in its operation
while minimizing the complexity and increasing the reliability of
the system and its components.
The system selected for illustration is made specifically to locate
an underwater apparatus, to interrogate that apparatus and have it
respond with a signal indicating the status of the apparatus to be
controlled, to become armed in preparation to obeying command
signals upon receipt of a predefined coded signal, to obey coded
commands to alter operating condition of the controlled apparatus,
and to signal operating status following the command.
In the drawings:
FIG. 1 is a diagram of a submerged section of pipeline including a
valve to be actuated, control apparatus for actuating that valve
upon the receipt of sonic signals, controlling apparatus including
a transmitter of sonic signals and a vessel for transporting the
controlling portion of the system which together embody the
inventions;
FIG. 2 is a block diagram of elements associated together to form
the portion of the system that is submerged at the valve to be
controlled;
FIG. 3 is a block diagram of elements which together form the
controlling apparatus carried by the vessel of the FIG. 1; and
FIG. 4 is a schematic diagram of a preferred form of solenoid and
gas pilot valve actuator arrangement employed in the invention.
Referring to FIG. 1 of the drawing, the system there shown
comprises a transmitter of sonic interrogation signals, arming
signals, and command signals, and a receiver of signals from a
remote station to be controlled. In the embodiment of FIG. 1 the
vessel 10 is shown towing a submerged sonic transducer and
hydrophone assembly 12. Transmitting apparatus in which those
transmitted signals are generated and receiving apparatus in which
signals received by the hydrophone are processed, is represented by
the structure 14 carried by vessel 10.
A section of a pipeline 16 is shown to lie on the ocean floor 18. A
branch line 20 communicates with the pipeline 16. The branch line
20 includes a valve which is to be opened and closed remotely. The
valve 22 is located in the lower section of a three part housing
that is strapped by straps 24 to the main line 16. That housing
also includes a receiver 28 and a transmitter 30. Means are
provided for supplying power to the transmitter and receiver. In
certain applications of the invention that means may comprise
apparatus to utilize potential energy stored in the material being
transported in the pipeline. In the embodiment selected for
illustration, that means comprises a battery pack 32 which is
strapped to the main pipeline 16 through a power cable 34.
The method of the invention may be practiced utilizing this
arrangement of apparatus. In the method a first plurality of
characteristic signals is sent from a first station for a period of
time. A second plurality of characteristic signals is sent from the
first station for a portion of that period of time. The first and
second plurality of signals are received at a second station and if
both the first and second plurality of signals is received, a third
characteristic signal is sent. In this embodiment that third
characteristic signal comprises a command signal resulting in
actuation of the valve. In the preferred form of the method the
second plurality of signals is received at the second station only
after the first plurality of signals is received. In this
embodiment that step is utilized to conserve power at the submerged
station by disabling that portion of the receiver which receives,
or responds to the second plurality of signals. In the preferred
form of the method the steps previously described are preceded by
the preliminary step of transmitting a characteristic interrogation
signal from the first station and beginning to count time at the
same time that signal is set. The interrogation signal is received
at the second station and an answering signal is transmitted from
the second station. The answering signal is received at the first
station and when it is received the counting of time is terminated
whereby to provide a measure of the distance from the first to the
second stations. Moreover, in the preferred method of the invention
the first station is made to transmit a fourth characteristic
signal subsequent to issuing its first and second signals. In this
embodiment that fourth signal is an interrogation signal
interpreted at the second station as an instruction to return a
signal, a fifth characteristic signal, indicative of the state or
operating condition of the apparatus to be controlled. Such a step
is included in the method together with the step of interpreting
the fifth signal when received at the first station to identify the
state of the condition. It will be apparent that this signalling
method is applicable to remote control problems other than the one
shown and will be useful in sending instructions to a remote
station in space or to a remote station on land, or to a remote
station on the surface of the sea. A wide variety of apparatus is
available to practice the several steps of the invention and some
of them, particularly the generation and transmission of
characteristic sonic signals, can be accomplished by hand.
A preferred form of apparatus to practice the methods is
represented in FIGS. 2, 3, and 4. The several portions of the whole
system there shown are advantageously employed although it is to be
understood that any of these several sections may have alternative
form. The shipborne apparatus is shown schematically in FIG. 3.
That apparatus consists of a sonic signal receiver and a sonic
signal transmitter. In the sonic signal receiver portion of FIG. 3,
sonic signals reaching hydrophone 40 are converted into electrical
signals which are supplied to a converter amplifier 41
corresponding generally to the first detector and intermediate
frequency amplifier of a superheterodyne receiver. The amplified
output signal is applied to a series of filters 42 which separate
the amplifier output signals according to frequency. Signals of one
frequency are supplied to a detector 43 whereas signals of another
frequency are supplied to a detector 44. Signals of a third
frequency are supplied to a detector 45. These detectors 43, 44,
and 45 correspond to the second detector of a superheterodyne
receiver and make it possible to identify any one of three
frequencies in the received sonic signal. All three detectors have
their output circuits connected to an OR-gate 46 and if the signal
appears at the output of any detector the OR gate will apply a stop
signal on output line 47 to a range clock 48. The output, if any,
from detector 43 triggers a flip-flop 49 to send a signal to
indicator 50 which in this application signifies that the valve to
be controlled is in its open position. If a signal appears at the
output of detector 44 then that signal will trigger a flip-flop 51
and cause it to send a signal to an indicator 52 which is lighted
to indicate that the valve is closed. If an output signal appears
at the output of detector 45 that signal will actuate flip-flop 53
to send a signal to a third indicator designated by the reference
numeral 41 which lights to indicate that the valve is being
operated or is "staging" from one operating condition to another.
The flip-flops are reset as hereinafter described by a reset signal
generator 55. The controlled station sends its sonic signals in
response to interrogation signals sent from the transmitter portion
of the apparatus depicted in FIG. 3. That transmitter includes a
pulse generator 56 which generates pulses at a selected pulse
repetition rate. It supplies the timing signal which control the
sending of sonic signals from the transmitter and it determines the
sequence and duration of those signals.
The transmitter includes two output sections called sonic
transducers which provide a sonic signal output in response to an
electrical signal input. One of the transducers is designated by
reference numeral 60. The other of the sonic transducers or output
elements is designated by reference numeral 61. The transmitter
includes two groups of oscillators. The sonic signals generated in
oscillator 62 are transmitted by the sonic transducer 60 after
being amplified in driver-amplifier 63. Oscillators 64 supply
signals to driver-amplifier 65 from whence they are applied to the
sonic transducer 61. In the case of both sections of the
transmitter, the oscillator signals are applied through a series of
gates and a mixer to the driver-amplifier. Also, both of the
oscillator units 62 and 64 are capable of generating more
frequencies than may actually be used in a given control code.
Block 62 also includes an interrogation coder which makes it
possible to select frequencies to form a given code. Similarly, the
block 64 represents a unit capable of generating more frequencies
than are required for a given control code and a control coder is
incorporated by which selected ones of the oscillators are made to
supply an output and others are prevented from supplying an output.
Interrogation signals from oscillator and interrogation coder 62
are applied to a series of gates represented by block 66. In this
embodiment two frequencies are used to form the interrogation
signal. Accordingly, output from one oscillator is applied by line
67 to a gate F1 and the output from another oscillator is applied
by a line 68 to a gate F2. The output of these two gates is applied
to a mixer 69. The mixer output is applied to the driver-amplifier
63 through a means for reducing the power output in the form of an
attenuator or power reduction circuit 70.
In the other section of the controlling station transmitter, output
from the oscillator and control coder 64 is applied to a series of
gates 71. In this embodiment four oscillators are employed and four
signals, each a different frequency, are applied to the gate 71.
Two of those signals are applied to an AND-gate 72 and the other
signals are applied to an AND-gate 73. The two signals applied to
AND-gate 72 are applied to a mixer 74 and thence to
driver-amplifier 65. If a signal is applied to AND-gate 72 by a
line 75 from a gate 76 labeled "CLOSE GATE." A command switch 76
applies a signal to the closed gate 76 in one of its positions and
it applies a signal to a gate 78 labeled "OPEN GATE" in its other
position. When the signal is applied to the open gate 78 that gate
applies a signal by line 79 to AND-gate 73. In that event, it is
the two signals applied to AND-gate 73 rather than the two
oscillator signals applied to AND-gate 72 which are applied to
mixer 74. The two signals applied to AND-gate 73 have frequencies
different than the two signals applied to AND-gate 72. Means are
provided at the controlled station to receive signals transmitted
by sonic transducer 61.
If the signals passing through gate 73 are transmitted by sonic
transducer 61 they will be interpreted at the controlled station as
an instruction to open the valve 22. If instead the signals applied
to sonic transducer 61 are those which pass through gate 72, then
the signal received at the control station will be interpreted as
an instruction to close the valve 22. In this embodiment the
command switch 77 is manually operated to issue an instruction
which ultimately becomes a command to open the valve or to close
it.
Prior to operating the valve however, it is advantageous to know
whether the valve is open or closed. The other section of the
controlling station transmitter is included to permit interrogation
of the controlled station, to arm it, to put it into condition to
receive commands, and also to initiate range clock counting. The
interrogation and arming signals are those sent by the sonic
transducer 60 and are the signals that pass through gates F1 and
F2.
In the system illustrated in the drawing the submerged apparatus is
arranged so that minimum power is consumed prior to receipt of a
first arming signal. Upon receipt of that signal the submerged
receiving apparatus is armed to receive the interrogation signal.
Having received the interrogation signal the submerged receiver
then arms another of its sections to make it respond to command
signals. Thus in this embodiment the submerged receiving apparatus
undergoes two arming procedures. The first is an enabling step
initiated by the receipt of a sonic signal comprising only one
frequency component and that component is the one that originates
in the interrogation coder oscillator 62 and passes through gate F1
for ultimate transmission by sonic transducer 60. A short time
after gate F1 is opened and transmission of the signal has begun,
gate F2 is opened and a second signal of different frequency is
transmitted from sonic transducer 60. The combination of these two
frequency components comprises the interrogation signal. Gates F1
and F2 are opened by signals derived from the repetition rate
generator 56. The output of generator 56 is applied to a one shot
pulse generator 82 whose output is applied to an OR-gate 83.
OR-gate 83 has another input which will be described later. At this
point the function of the OR-gate 83 is to pass the pulse generated
in one shot pulse generator 82 to open the gate F1 for a
predetermined period during the interrogation procedure. The output
of repetition rate generator 56 is also applied to a delay circuit
which in this embodiment has the form of a one-shot multivibrator
84 whose output is applied to a one-shot pulse generator 85. The
output of the pulse generator is applied to an OR-gate 86 which
supplies a pulse to turn on Gate F2. Thus the pulse output from
repetition rate generator 56 is applied to both gate F1 and F2 to
open them. However, the signal applied to gate F2 passes through
the delay one-shot multivibrator 84 whereby the gate F2 is opened
at a later time than is the gate F1.
In this embodiment the submerged, controlled station receiver is
sensitive to the duration of the interrogation signals. A sonic
signal containing a single frequency component through gate F1 is
interpreted as an instruction to arm that portion of the receiver
which responds to the interrogation code. That latter portion of
the receiver, the portion that responds to the interrogation code,
responds when the received signal includes the two frequency
components passed through gate F1 and F2 but it responds only after
having been armed by receiving the single frequency signal
initially.
When the command switch 77 is actuated to send a pulse to closed
gate 76 or the opened gate 78, a pulse is also sent to the one-shot
multivibrator 90 the output of which is a very long pulse which is
applied to OR-gates 83 and 86. Application of this long pulse to
the two OR-gates results in the application of turn on signals to
gate F1 and gate F2 simultaneously. They are turned off for a
period considerably longer than the period over which they are
turned on by pulses from the one-shot multivibrator 82 and 85. The
result is the transmission by sonic transducer 60 of a dual
frequency continuous wave signal over a substantial period of time.
At the submerged, controlled receiver the duration of that signal
is measured and the fact that it continues for a period longer then
a prescribed time is made the occasion for arming that portion of
the submerged receiver which responds to command signals
transmitted by the sonic transducer 61 of the controlling station
transmitter. The result is a system in which sonic signals
employing components of only a few frequencies and a simple time
duration code, and therefore which comprises a minimum number of
components, can provide a coded range finding, identifying,
interrogation, arming and commanding unit providing a very high
degree of security against actuation by naturally occurring sonic
signals and by manmade signals including signals produced by
intended intruders using the most versatile pulse sweep
generators.
One of the advantages of systems embodying the invention is that
the apparatus at the remote location may be relatively simple. This
is illustrated in FIG. 2 which shows a block diagram of a remote,
submerged, controlled receiving and transmitting unit. While other
remote apparatus may be employed this particular form of apparatus
has special advantages. The remote receiver includes two sections
each with its own hydrophone. One receiving section actuates the
sonic transmitter to make it respond to interrogation and to enable
a command section of the receiver. The hydrophone of this section
is represented by the block diagram 91 which receives sonic signals
and converts them to electrical output signals which are applied to
a wide band amplifier 92. The amplifier is provided with automatic
gain control represented by the block 93. The output of the wide
band amplifier is applied to four filter circuits two of which are
tuned to pass signals having frequency components corresponding to
those expected to be transmitted by sonic transducer 60 of the unit
of FIG. 3. Two other of the filters are tuned to frequencies likely
to be generated naturally along with the expected frequencies or
likely to be generated in an unauthorized attempt to find the code.
Thus they may be tuned to frequencies likely to be found in a broad
band signal or in a multiple frequency sweep. The filters for
expected frequencies are labeled "GO filters" and the other two
filters are designated "NO GO filters." The GO filters are
designated by reference numerals 94 and 95. The NO GO filters are
labeled 96 and 97, respectively. GO filter 94 and NO GO filter 96
have their output circuits connected to amplifiers 98 and 99,
respectively. The outputs of these two amplifiers are applied to a
differential amplifier 100. GO filter 95 and NO GO filter 97 have
their outputs connected to amplifiers 101 and 102, respectively.
The outputs of these two amplifiers are applied across differential
amplifier 103. One output of the differential amplifier 100 is
integrated, as indicated at block 104, and the integrated output
signal is applied to a power latch 105. In its quiescent condition
this apparatus is without power except at hydrophone 91, wide band
amplifier and AGC system 92 and 93, filters 94, and 96, amplifiers
98 and 99, differential amplifier 100, integrator 104 and power
latch 105. Upon closure of the power latch 105 the remainder of the
interrogation response and arming receiver section is energized.
Output from both differential amplifiers is applied to an AND-gate
106. If both "GO" frequencies are received, and provided that
neither "NO GO" frequency is received, a signal will appear at the
output of AND-gate 106. This signal is applied to two integrators,
one a continuous signal integrator 107 and the other a pulse
integrator 108. Output of the latter is applied through a lock out
circuit 109 to a pulse gate 110 provided that the pulse integrator
output continues beyond the short time over which the lock out 109
is effective whereby to insure the noise spikes do not actuate the
pulse gate 110. However, when a signal is permitted to proceed to
the gate 110 it is applied to AND-gate 111. The other input to the
AND-gate is supplied by a sonic oscillator 112 capable of providing
a signal on any of three frequencies depending upon the position of
limit switches 113 which are operatively associated with the
apparatus to be controlled such that the switch circuitry is
indicative of the operating condition of the apparatus to be
controlled, here the valve 22 in pipeline 20. The frequency of the
output of sonic oscillator 112 is then determined by the operating
condition of the apparatus to be controlled as indicated by its
limit switches 113. This signal is applied through the AND-gate 111
to the sonic transmitter 114 which sends a signal at a frequency
which will result in the appearance of an output signal at the
output terminals of one of the detectors 43, 44, or 45 of the
apparatus of FIG. 3. The time of that transmission is determined by
the characteristics of pulse gate 110.
Output from the continuous wave signal integrator 107 is applied to
a threshold detector 115 and, having sufficient amplitude, is
applied to a timed power latch 116. The power latch has two
functions. It applies power to the command receiver section of the
remote station for a selected period of time, a 2-second interval
in this embodiment, during which the command section of the remote
receiver is capable of receiving command signals from the unit FIG.
3. The limit switch 113 supplies a command to a detent solenoid 117
which forms a part of the fluid apparatus of FIG. 4 and which is
represented in FIG. 2 by the block labeled MAIN VALVE ACTUATOR and
designated by the reference numeral 118. The actuator includes a
pilot valve structure and a valve operator 164.
The command section of the receiver of the remote station includes
a hydrophone 125 whose output is applied to a wide band amplifier
126 which is provided with an automatic gain control circuit 127
and whose output is also applied to four filters designated 128,
129, 130 and 131 respectively. The output of filter 128 is applied
to an amplifier 132. The output of filters 129, 130 and 131 are
applied to amplifiers 133, 134, and 135, respectively. The output
of amplifier 132 is applied to differential amplifiers 136 and 137.
The output of differential amplifier 133 is applied to the same
differential amplifiers. The output of each of amplifiers 134 and
135 is applied to each of the differential amplifiers 138 and 139.
The output of differential amplifier 136 and the output of
differential amplifier 138 are applied as the two inputs to an
AND-gate 140. The output of differential amplifier 137 and the
output of differential amplifier 139 are applied as the two inputs
to an AND-gate 141. If an output appears at one of the filters 128
and 129 and not the other then an output will appear in the output
circuit of each of differential amplifiers 136 and 137 and the
signal will appear at one input of each of the AND-gate 140 and
141. One of these signals will be negative and one will be
positive. Similarly if a signal appears at the output of one and
not the other of filters 130 and 131 both of the differential
amplifiers 138 and 139 will provide an output signal to the other
input of each of the AND gates. The polarity of those signals
depends upon which of the filters 130 and 131 provided an output.
Whichever of the two filters 128 and 129 provides an output, and
whichever of the two filters 130 and 131 provides an output, the
input signals to one AND gate will correspond in polarity and they
will differ in polarity at the other. Accordingly, one AND gate
will provide an output and one will not. When the AND-gate 140
provides an output that output is applied to an integrator 150
whose output is applied to a threshold detector 151 and the
detected signal is applied to a "CLOSE SOLENOID" 152 which is
actuated to operate one of the valves of the pilot valve of
actuator 118. When the AND-gate 141 provides an output it is
applied to integrator 153 whose output is detected in threshold
detector 154 and applied to "OPEN SOLENOID" 155 which also actuates
a gas valve in the pilot valve of actuator 118. It is not essential
that the actuator 118 be gas powered. In this application a gas
actuator is preferred. A suitable and advantageously employed
hydraulic actuator is illustrated schematically in FIG. 4. The
structure of FIG. 4 includes two three way gas valves which are
actuated by the solenoids 152 and 155 of FIG. 2. It also includes a
three land, four way, spool-type control valve coupled to a
parallel spool to provide a mechanical balance against shock which
incorporates a solenoid operated detent mechanism. Referring to
FIG. 4, the four way spool valve is generally designated 160. This
is a three position valve. It controls the flow of fluid from a
pressure inlet port 161 to either of two outlet ports 162 and 163
depending upon whether the spool is moved downwardly or upwardly.
When the spool is moved upwardly operating fluid is permitted to
flow from inlet 161 to outlet 163 to one side of the vane
motor-type valve operator 164 whose output shaft is connected to
the ball valve 22 in FIG. 1. The other side of the valve operator
is exhausted through outlet 162 and drain opening 165. When,
instead, the spool is moved downwardly, then pressurized gas is
permitted to flow from port 161 through outlet 162 into the rotary
vane motor chamber to rotate the vane in the opposite direction,
exhausting gas from behind the vane through outlet 163 to the drain
passage 166. Means are provided in this gas system for insuring
that any shock forces applied to the control valve spool are
balanced. Two piston structures are employed. One piston structure
is generally designated by the reference numeral 170. It includes a
piston section 171 which corresponds to the other piston section
172 or "the spool." At its upper end, in FIG. 4, the piston 170 is
connected to the end of a shaft 173 whose center portion 174 has
reduced diameter. Two spring glands 175 are mounted on that
restricted portion 174 of the shaft. The spring glands are trapped
so that they may not move further apart then they are shown to be
in FIG. 4. A spring 176 urges them apart. The section of shaft 173
behind each spring gland is larger than the opening through the
gland in which the reduced portion 174 of the shaft is disposed.
When piston 171 is moved upwardly the lower one of the two spring
glands 175 is forced upwardly against the bars of spring 176 but
the upper spring gland 175 does not move. Conversely, when the
piston 171 is moved downwardly the lower of the two spring glands
175 does not move but the upper one is forced downwardly against
the bars of spring 176 by the enlarged outer end of the shaft 173.
Thus the two spring glands 175 and the spring 176 serve as a
centering mechanism to maintain piston 171 in an intermediate
position.
A rocker arm 180 is pivoted on an axis midway between pistons 171
and 172. Its ends fit in notches in the sides of pistons 171 and
172 whereby when one piston is advanced the other is retracted. A
detent mechanism 181 operated by solenoid 117 serves to latch the
rocker arm to hold the two pistons 171 in one of three positions.
The apparatus is shown in the center one of those three positions
in which the spool 160 of the control valve occupies a mid
position. The detent 181 will also hold the spool in its up
position or to its down position if the solenoid 117 is deenergized
while the latch is in one of those positions.
The numeral 182 designates an inlet port for pressurized operating
gas to the three-way ball-type pilot valve which controls the
application of fluid pressure to the cylinder space 183 below spool
piston 172. The ball 184 of that valve is shown extended to close
the pressure port 182 and open the cylinder chamber 183 to drain
port 185. When the solenoid 152 is energized the ball 184 is
retracted to close the drain port 185 and to admit pressurized gas
from inlet port 182 into the chamber space 183. The pressurized
fluid will force the piston 172 upwardly permitting the flow of
pressurized gas from inlet port 161 to the outlet 163 whereby the
vane 164 will be turned in the direction to close the valve 24.
The other three-way valve is actuated by solenoid 155. The solenoid
controls movement of a ball 186 shown in FIG. 4 in extended
position to close inlet pressure port 187 whereby the chamber space
188 below piston 171 is connected to the drain port 189. When the
solenoid 155 is energized the ball 186 is retracted to close the
drain port and to admit pressurized gas from inlet port 187 into
the chamber space 188. As a consequence the piston 171 is forced
upwardly causing the rocker arm 180 to rotate about its pivot
forcing the piston 172 down whereby the spool of the control valve
moves down to permit the flow of gas from inlet port 161 to outlet
port 162, into the vane motor which is made to rotate in a
direction to open the valve 24.
The gas or hydraulic fluid employed to actuate the pilot valve and
the valve operator may be stored under pressure in a vessel
submerged with the controlled station. It may be possible to
utilize the pressure of fluid in the submerged pipe line and even
to utilize some of the fluid carried in the pipeline to serve as
the fluid medium through which control is exercised. Other
possibilities are also presented. Energy in the fluid carried in
the line may be used to generate enough power to make the battery
pack unnecessary.
Where the valves are near an off-shore surface platform, power
might be supplied by cables from the platform. Less often it could
even be supplied from shore. But utility of the invention does not
depend upon such easily available power sources. It is a feature of
the invention that power is conserved when the system is quiescent
without compromising its security. In this embodiment the
controlled station is capable of receiving and responding to
signals having eight different frequencies but need listen for only
one of them in its quiescent state. This arrangement results in a
system which is essentially "fail-safe" in the sense that failure
of almost any component in the system results not in depletion of
the power source but results only in failure of one function to be
performed. Thus the invention can provide a highly reliable system.
For example, even if a failure disables the system so it will not
actuate the main valve on command, the system may still operate to
aid in valve location so that a diver may then actuate the valve by
hand as by manually rotating a handle on the shaft 200 whereby the
rocker arm 180 is rotated.
The fact that a single frequency signal arms or enables the
submerged, controlled station does not degrade the security of the
system because obedience to commands is conditioned upon receipt of
certain signals for not less than a given time and upon receipt of
other signals, and nonreceipt of still other signals, in that time.
This is the preferred type of code and is the one used in the
embodiment described. In that embodiment, two signals of given
frequency must coexist for a rather long time. Two others must be
received during that time over a period during which two others may
not be received. Such a code is very difficult to discover but
requires only a minimum of equipment to generate and detect.
* * * * *