초록 ▼

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

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.

대표청구항 ▼

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 co

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; anddeploying, 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, andthe 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, andthe 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, andthe 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; andthe 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; andthe 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; andretrieving 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.