Seismic data acquisition using self-propelled underwater vehicles

Patent metadata

Field	Value
Publication number	US-9575198-B2
Application number	US-201414213969-A
Country	US
Kind code	B2
Filing date	Mar 14, 2014
Priority date	Feb 23, 2010
Publication date	Feb 21, 2017
Grant date	Feb 21, 2017

Abstract

The present disclosure generally relates to the use of a self-propelled underwater vehicle for seismic data acquisition. The self-propelled underwater vehicle is adapted to gather seismic data from the seafloor and transmit such data to a control vessel. The self-propelled underwater vehicle may be redeployed to several seafloor locations during a seismic survey. Methods for real-time modeling of a target zone and redeployment of the self-propelled underwater vehicle based on the modeling are also described.

First claim

The invention claimed is:

1. A method for surveying subterranean formations, comprising:
providing at least one self-propelled underwater vehicle, the vehicle having at least one sensor disposed therein, an outer shell or hull that is hydrodynamically designed to have a low coefficient of drag, a control unit electrically connected to a battery, wings extending from the outer shell or hull, and a ballast adjusting device to adjust the balance and inclination of the vehicle;
lowering the self-propelled underwater vehicle into the sea;
deploying the self-propelled underwater vehicle to a first location on the seafloor to gather seismic data via the at least one sensor, the first location having a first depth;
retrieving the seismic data from the self-propelled underwater vehicle while the self-propelled underwater vehicle remains in the sea at a surface of the sea; and
deploying, after the retrieving, the self-propelled underwater vehicle to a second location different from the first location and on the seafloor to further gather seismic data.

2. The method according to claim 1 , wherein:
the at least one sensor comprises a seismic sensor, and
the method further comprises gathering seismic data with the seismic sensor.

3. The method according to claim 2 , wherein:
the seismic sensor comprises a hydrophone, a geophone or an accelerometer, and
the method further comprises gathering seismic data with the hydrophone, geophone or accelerometer.

4. The method according to claim 1 , wherein:
the at least one sensor comprises an electromagnetic sensor, and
the method further comprises gathering seismic data with the electromagnetic sensor.

5. The method according to claim 1 , further comprising
providing a surface control unit that communicates with the vehicle control unit.

6. The method according to claim 5 , wherein deploying the self-propelled underwater vehicle to the first location comprises issuing positioning commands from the surface control unit to the vehicle control unit.

7. The method according to claim 5 , further comprising:
providing a control vessel that carries the surface control unit; and
the retrieving the seismic data comprises positioning the self-propelled underwater vehicle at the surface of the sea proximate to the control vessel.

8. The method according to claim 5 , further comprising:
providing an autonomous sea surface vehicle that carries the surface control unit; and
the retrieving the seismic data comprises positioning the self-propelled underwater vehicle at the surface of the sea proximate to the autonomous sea surface vehicle.

9. The method according to claim 1 , wherein deploying the self-propelled underwater vehicle to the second location comprises issuing positioning commands from the surface control unit to the vehicle control unit.

10. The method according to claim 1 , wherein providing at least one self-propelled underwater vehicle comprises providing a plurality of self-propelled underwater vehicles.

11. The method according to claim 10 , further comprising redeploying the plurality of self-propelled underwater vehicles respectively to at least one additional location to gather seismic data.

12. The method according to claim 1 , comprising using the seismic data retrieved from the self-propelled underwater vehicle to update a model of the subterranean formation.

13. The method according to claim 12 , wherein the second location is chosen based upon the revised model of the subterranean formation.

14. A method for surveying subterranean formations, comprising:
providing at least one self-propelled underwater vehicle having at least one sensor disposed therein, an outer shell or hull that is hydrodynamically designed to have a low coefficient of drag, a control unit electrically connected to a battery, wings extending from the outer shell or hull, and a ballast adjusting device to adjust the balance and inclination of the vehicle;
lowering the self-propelled underwater vehicle into the sea;
deploying the self-propelled underwater vehicle to a first location on the seafloor to gather seismic data via the at least one sensor, the first location having a first depth, and moving the self-propelled underwater vehicle to a surface of the sea; and
retrieving the seismic data from the self-propelled underwater vehicle while the self-propelled underwater vehicle remains in the sea at the surface of the sea.

15. The method of claim 14 , wherein the ballast control unit comprises a weight movable along an internal structure to adjust balance and inclination of the vehicle.

16. The method of claim 15 , wherein the ballast control unit comprises a bladder and the method comprises selectively inflating and deflating the bladder.

17. The method of claim 15 , wherein the weight is a battery.

18. The method of claim 14 , wherein the wings comprises two opposing fins that are connected proximate a tail section of the shell.

Assignees

• Westerngeco Llc

Inventors

• Welker Kenneth E
• Kragh Julian Edward

Classifications

• B63C11/52

  Tools specially adapted for working underwater, not otherwise provided for · CPC title

• G01S5/0027

  of actual mobile position, i.e. position determined on mobile · 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

• G01S5/26

  Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements (G01S5/28 takes precedence) · CPC title

• G01V1/3852 Primary

  to the seabed · CPC title