Systems and methods to control a moving underwater vehicle retrieving an ocean bottom seismic data acquisition unit

Patent metadata

Field	Value
Publication number	US-11796702-B2
Application number	US-202117376046-A
Country	US
Kind code	B2
Filing date	Jul 14, 2021
Priority date	Oct 5, 2018
Publication date	Oct 24, 2023
Grant date	Oct 24, 2023

Abstract

Systems and methods for retrieving seismic data acquisition units from an underwater seismic survey are provided. The system includes an underwater vehicle with a base and an underwater vehicle interlocking mechanism. The underwater vehicle receives environmental information and identifies a seismic data acquisition unit located on an ocean bottom. The underwater vehicle obtains an indication to perform a non-landing retrieval operation. The underwater vehicle sets a position of the underwater vehicle interlocking mechanism to extend away from the base of the underwater vehicle. The underwater vehicle retrieves the seismic data acquisition unit by coupling the underwater vehicle interlocking mechanism with a seismic data acquisition unit interlocking mechanism. The underwater vehicle stores the seismic data acquisition unit and then sets the underwater vehicle interlocking mechanism in a second position to perform the non-landing retrieval operation for a second seismic data acquisition unit.

First claim

What is claimed is:

1. A method of retrieving seismic data acquisition units from an underwater seismic survey, comprising:
providing, an underwater vehicle having an underwater vehicle interlocking mechanism;
identifying, by the underwater vehicle, a first seismic data acquisition unit located on an ocean bottom, the first seismic data acquisition unit having a seismic data acquisition unit interlocking mechanism, the seismic data acquisition unit interlocking mechanism complimentary to the underwater vehicle interlocking mechanism;
obtaining, by the underwater vehicle, an indication to perform a non-landing retrieval operation;
setting, responsive to the indication to perform the non-landing retrieval operation, a first position of the underwater vehicle interlocking mechanism;
detecting that the underwater vehicle is within a threshold distance from the first seismic data acquisition unit;
activating, by a telescoping mechanism of the underwater vehicle responsive to the detection that the underwater vehicle is within the threshold distance from the first seismic data acquisition unit, the underwater vehicle interlocking mechanism towards the seismic data acquisition unit interlocking mechanism of the underwater vehicle; and
retrieving, by the underwater vehicle in performance of the non-landing retrieval operation, the first seismic data acquisition unit by activating the underwater vehicle interlocking mechanism and coupling the underwater vehicle interlocking mechanism with the seismic data acquisition unit interlocking mechanism.

2. The method of claim 1 , comprising:
storing, by the underwater vehicle, the first seismic data acquisition unit in a storage container.

3. The method of claim 1 , comprising:
setting, by the underwater vehicle, the underwater vehicle interlocking mechanism in a second position to perform the non-landing retrieval operation for a second seismic data acquisition unit.

4. The method of claim 1 , comprising:
the underwater vehicle having a base and the underwater vehicle interlocking mechanism configured to couple with the base.

5. The method of claim 1 , comprising:
obtaining, by the underwater vehicle based on environmental information and a policy, the indication to perform the non-landing retrieval operation, the non-landing retrieval operation comprises:
moving, without landing the underwater vehicle on the ocean bottom, seismic data acquisition units from the ocean bottom to a storage container, wherein the seismic data acquisition units are storing seismic data that is indicative of subsurface lithological formations or hydrocarbons.

6. The method of claim 1 , comprising:
setting, responsive to the indication to perform the non-landing retrieval operation and based on environmental information and a location of the identified first seismic data acquisition unit, the first position of the underwater vehicle interlocking mechanism.

7. The method of claim 1 , comprising:
retrieving, by the underwater vehicle in performance of the non-landing retrieval operation, the first seismic data acquisition unit by activating the underwater vehicle interlocking mechanism away from a base and coupling the underwater vehicle interlocking mechanism with the seismic data acquisition unit interlocking mechanism.

8. The method of claim 1 , comprising:
determining, by a control unit that is external and remote from the underwater vehicle, to perform the non-landing retrieval operation; and
transmitting, by the control unit, the indication to the underwater vehicle.

9. The method of claim 1 , comprising:
retrieving, by the underwater vehicle, the first seismic data acquisition unit by coupling the seismic data acquisition unit interlocking mechanism with the underwater vehicle interlocking mechanism of the first seismic data acquisition unit while hovering over the ocean bottom.

10. The method of claim 1 , comprising:
determining to perform the non-landing retrieval operation responsive to detecting an absence of marine life at an ocean bottom.

11. The method of claim 1 , comprising:
determining, for the first seismic data acquisition unit, to perform the non-landing retrieval operation responsive to detecting a current of an aqueous medium below a current threshold;
blocking, for a second seismic data acquisition unit, the non-landing retrieval operation responsive to detecting a level of visibility below a visibility threshold; and
landing, by the underwater vehicle responsive to the blocking of the non-landing retrieval operation, on the ocean bottom to retrieve the second seismic data acquisition unit.

12. The method of claim 1 , comprising:
blocking, for a second data acquisition unit, the non-landing retrieval operation responsive to detection of an obstruction; and
performing, by the underwater vehicle, an emergency stopping process using multiple reverse facing thrusters.

13. The method of claim 1 , wherein the underwater vehicle comprises a robotic arm coupled with the seismic data acquisition unit interlocking mechanism, comprising:
setting an angle of the robotic arm to position the seismic data acquisition unit interlocking mechanism to retrieve the first seismic data acquisition unit based on environmental information and a location of the identified first seismic data acquisition unit.

14. The method of claim 1 , comprising:
detecting that the underwater vehicle is within a threshold distance from the first seismic data acquisition unit;
activating the underwater vehicle interlocking mechanism to couple with the seismic data acquisition unit interlocking mechanism; and
subsequent to retrieval of the first seismic data acquisition unit by the underwater vehicle, deactivate the underwater vehicle interlocking mechanism.

15. The method of claim 1 , comprising:
determining a location of the first seismic data acquisition unit using an acoustic beacon.

16. The method of claim 1 , wherein:
the underwater vehicle interlocking mechanism is mechanically decoupled from the first seismic data acquisition unit; and
the seismic data acquisition unit interlocking mechanism comprises at least one of a hook or a clamp.

17. The method of claim 1 , comprising:
identifying, by the underwater vehicle, an object on the ocean bottom; and
determining, based on a seismic data acquisition unit detection policy, not to retrieve the object.

18. A system to retrieve seismic data acquisition units from an underwater seismic survey, comprising:
an underwater vehicle coupled with an underwater vehicle interlocking mechanism, the underwater vehicle comprises:
one or more sensors to determine environmental information; and
a retrieval control unit executed by one or more processors to:
identify a seismic data acquisition unit located on an ocean bottom, the seismic data acquisition unit coupled with a seismic data acquisition unit interlocking mechanism, the seismic data acquisition unit interlocking mechanism complimentary to the underwater vehicle interlocking mechanism;
obtain an indication to perform a non-landing retrieval operation of seismic data acquisition units from the ocean bottom;
set, a position of the underwater vehicle interlocking mechanism from the underwater vehicle;
detect that the underwater vehicle is within a threshold distance from the seismic data acquisition unit;
activate, by a telescoping mechanism of the underwater vehicle responsive to the detection that the underwater vehicle is within the threshold distance from the seismic data acquisition unit, the underwater v

Assignees

• Magseis Ff Llc

Inventors

• Fyffe Roger L
• Marc Etienne
• Mann Chance

Classifications

• G01V1/3852 Primary

  to the seabed · CPC title

• B63G8/001

  Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations (self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42) · CPC title

• B63G2008/004

  autonomously operating · CPC title

• B63G2008/007

  by means of a physical link to a base, e.g. wire, cable or umbilical · CPC title

• Y02A90/30

  Assessment of water resources · CPC title