Jet-pump-based autonomous underwater vehicle and method for coupling to ocean bottom during marine seismic survey

Patent metadata

Field	Value
Publication number	US-9381986-B2
Application number	US-201314082545-A
Country	US
Kind code	B2
Filing date	Nov 18, 2013
Priority date	Nov 21, 2012
Publication date	Jul 5, 2016
Grant date	Jul 5, 2016

Abstract

An autonomous underwater vehicle (AUV) is configured to record seismic signals during a marine seismic survey. The AUV includes a body having a base (B) and first and second sides (A, C), the body having a head part and a tail part; a propulsion system for guiding the AUV to a final target on the ocean bottom; jet pumps connected to corresponding nozzles on the first and second sides (A, C); a control device connected to the jet pumps; and a seismic sensor configured to record seismic signals. The jet pumps are actuated by the control device in a given sequence so that the base (B) penetrates into the ocean bottom.

First claim

What is claimed is:

1. An autonomous underwater vehicle (AUV) for recording seismic signals during a marine seismic survey, the AUV comprising:
a body having a base (B) and first and second sides (A, C), the body having a head part and a tail part;
a propulsion system for guiding the AUV to a target on the ocean bottom;
jet pumps connected to corresponding nozzles on the first and second sides (A, C);
a control device connected to the jet pumps; and
a seismic sensor configured to record seismic signals,
wherein the jet pumps are configured to actuate by the control device in a given sequence so that the base (B) penetrates into the ocean bottom by rocking or twisting the base relative to the ocean bottom.

2. The AUV of claim 1 , wherein the jet pumps comprise:
first and second head jet pumps; and
first and second tail jet pumps.

3. The AUV of claim 2 , wherein the nozzles comprise:
first and second head nozzles fluidly connected to the first and second head jet pumps, respectively, wherein the first head nozzle is located on the first side (A) and the second head nozzle is located on the second side (C); and
first and second tail nozzles fluidly connected to the first and second tail jet pumps, respectively, wherein the first tail nozzle is located on the first side (A) and the second tail nozzle is located on the second side (C).

4. The AUV of claim 3 , wherein the given sequence comprises:
simultaneously activating the first head nozzle and the second tail nozzle to produce a first twisting motion of the base (B); and
simultaneously activating the second head nozzle and the first tail nozzle to produce a second twisting motion of the base (B).

5. The AUV of claim 4 , wherein the given sequence is repeated a given number of times.

6. The AUV of claim 4 , wherein the given sequence further comprises:
simultaneously activating a third head nozzle on the base (B) and a third tail nozzle on the base (B) for fluidizing the ocean bottom.

7. The AUV of claim 6 , wherein a speed of water jets corresponding to first and second head nozzles and first and second tail nozzles is larger than a speed of water jets of the third head nozzle and the third tail nozzle.

8. The AUV of claim 3 , wherein the given sequence includes a first sub-sequence that comprises:
simultaneously activating the first head nozzle and the first tail nozzle to produce a first rocking motion of the base (B); and
simultaneously activating the second head nozzle and the second tail nozzle to produce a second rocking motion of the base (B).

9. The AUV of claim 8 , wherein the given sequence further includes a second subsequence that comprises:
simultaneously activating the first head nozzle and the second tail nozzle to produce a first twisting motion of the base (B); and
simultaneously activating the second head nozzle and the first tail nozzle to produce a second twisting motion of the base (B).

10. The AUV of claim 9 , wherein the first sub-sequence and the second sub-sequence are alternately repeated a given number of times.

11. The AUV of claim 1 , wherein
the jet pumps comprise:
first to third head jet pumps, and
first to third tail jet pumps;

the nozzles comprise:
first to third head nozzles fluidly connected to the first to third head jet pumps, respectively, wherein the first head nozzle is located on the first side (A), the second head nozzle is located on the base (B), and the third head nozzle is located on the second side (C), and
first to third tail nozzles fluidly connected to the first to third tail jet pumps, respectively, wherein the first tail nozzle is located on the first side (A), the second tail nozzle is located on the base (B), and the third tail nozzle is located on the second side (C).

12. The AUV of claim 1 , wherein each jet pump is configured to operate independently of the other jet pumps.

13. The AUV of claim 1 , wherein the propulsion system is separate from the jet pumps and comprises one or more propellers configured to provide thrust to the AUV.

14. The AUV of claim 1 , wherein the jet pumps comprise:
at least first to third head nozzles fluidly connected to first to third head jet pumps, and
at least first to third tail nozzles fluidly connected to first to third tail jet pumps,
wherein the first side (a) comprises at least two nozzles, the second side (C) comprises at least two nozzles, and the base (B) comprises at least two nozzles.

15. The AUV of claim 1 , wherein the jet pumps are configured to actuate in a given sequence so that the base (B) penetrates into the ocean bottom by rocking and twisting the base relative to the ocean bottom.

16. An autonomous underwater vehicle (AUV) for recording seismic signals during a marine seismic survey, the AUV comprising:
a propulsion system for guiding the AUV to a target on the ocean bottom;
jet pumps connected to corresponding nozzles located on a body of the AUV; and
a control device connected to the jet pumps,
wherein the jet pumps are configured to actuate by the control device in a given sequence so that a base (B) of the body is anchored into the ocean bottom by rocking or twisting the base relative to the ocean bottom.

17. The AUV of claim 16 , wherein the propulsion system is separate from the jet pumps and comprises one or more propellers configured to provide thrust to the AUV.

18. A marine seismic survey system for generating seismic waves and recording seismic signals, the system comprising:
a source vessel towing a seismic source for generating the seismic waves; and
plural autonomous underwater vehicles (AUV) for recording the seismic signals,
wherein an AUV includes,
a propulsion system for guiding the AUV to a target on the ocean bottom;
jet pumps connected to corresponding nozzles located on a body of the AUV; and
a control device connected to the jet pumps,

wherein the jet pumps are configured to actuate by the control device in a given sequence so that a base of the body is anchored into the ocean bottom by rocking or twisting the base relative to the ocean bottom.

19. A method for anchoring to the ocean bottom an autonomous underwater vehicle (AUV) for recording seismic signals during a marine seismic survey, the method comprising:
launching the AUV in water, the AUV having a body that includes a base (B) and first and second sides (A, C), the body having a head part and a tail part;
guiding the AUV with a propulsion system to a target on the ocean bottom;
activating with a control device, in a given sequence, plural jet pumps connected to corresponding nozzles on the first and second sides (A, C), so that the base (B) penetrates into the ocean bottom by rocking or twisting the base relative to the ocean bottom; and
recording with a seismic sensor the seismic signals.

20. The method of claim 19 , wherein the plural jet pumps comprise:
first and second head jet pumps; and
first and second tail jet pumps.

21. The method of claim 20 , wherein the nozzles comprise:
first and second head nozzles fluidly connected to the first and second head jet pumps, respectively, wherein the first head nozzle is located on the first side (A) and the second head nozzle is located on the second side (C); and
first and second tail nozzles fluidly connected to the first and second tail jet pumps, respectively, wherein the first tail nozzle is located on the first side (A) and the second tail nozzle is located on the second side (C).

22. The method of claim 21 , wh

Assignees

• Cgg Services Sa
• Seabed Geosolutions Bv

Inventors

• Brizard Thierry

Classifications

• B63G8/001 Primary

  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

• G01V1/3852

  to the seabed · CPC title

• B63G8/16

  by direct use of propellers or jets · CPC title

• B63B2035/007

  autonomously operating · CPC title

• B63G8/08 Primary

  Propulsion ({schnorkels B63G8/36;} nuclear propulsion B63H21/18; submerged exhausting apparatus F01N13/12) · CPC title