CN112817048B - Deep sea seismic data acquisition towing rope and method based on deep sea robot - Google Patents
Deep sea seismic data acquisition towing rope and method based on deep sea robot Download PDFInfo
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- CN112817048B CN112817048B CN202110232035.8A CN202110232035A CN112817048B CN 112817048 B CN112817048 B CN 112817048B CN 202110232035 A CN202110232035 A CN 202110232035A CN 112817048 B CN112817048 B CN 112817048B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
- G01V1/3808—Seismic data acquisition, e.g. survey design
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/16—Receiving elements for seismic signals; Arrangements or adaptations of receiving elements
- G01V1/18—Receiving elements, e.g. seismometer, geophone or torque detectors, for localised single point measurements
- G01V1/189—Combinations of different types of receiving elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/16—Receiving elements for seismic signals; Arrangements or adaptations of receiving elements
- G01V1/20—Arrangements of receiving elements, e.g. geophone pattern
- G01V1/201—Constructional details of seismic cables, e.g. streamers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/22—Transmitting seismic signals to recording or processing apparatus
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Abstract
The invention provides a deep sea seismic data acquisition towing rope and a deep sea seismic data acquisition method based on a deep sea robot. The towed or submerged array marine seismic data acquisition cable is composed of three-component detectors or sensors, piezoelectric crystals or optical fiber acoustic pressure hydrophones and electronic or optical fiber three-component attitude sensors, which are uniformly distributed in the cable. Towing the head end and the tail end of each seismic data acquisition towing rope by a deep sea robot respectively; the cable is connected with a seismic data acquisition and storage instrument or a modulation and demodulation instrument on the deep sea robot; the high-precision chip-level atomic clock in the seismic data acquisition and storage instrument or the modem instrument is used for timing the acquired marine seismic data and carrying out time synchronization and data processing on the excitation signals of the underwater controllable air gun seismic source in the later period.
Description
Technical Field
The invention belongs to the technical field of marine geophysical exploration, and relates to a deep sea seismic data acquisition towing cable and a deep sea seismic data acquisition method based on a deep sea robot.
Background
The current marine seismic data acquisition modes mainly comprise three types, one type is that a single-component, two-component, three-component or four-component towed marine seismic data acquisition cable (Streamer) is towed at the tail of an acquisition operation ship, and various seismic streamers (Streamer) are produced and sold by companies such as ION, sercel and OYO Geospace. Another is that a three-component or four-component ocean bottom seismic data acquisition cable (OBC) is submerged in the ocean bottom, and another is that a separate three-component or four-component ocean bottom seismic data acquisition station (OBS and OBN) is submerged, and a separate marine seismic air gun excitation source is excited when towed in water. The towing marine seismic data acquisition cable works in a way that the acquisition operation ship tows the acquisition cable to move at a constant speed at a certain depth below the water surface, and a controllable seismic source towed by the acquisition operation ship (such as an air gun seismic source) or a controllable seismic source towed by another seismic source operation ship (such as an air gun seismic source) synchronously moves with the acquisition cable at a certain depth below the water surface and is positioned and excited at fixed time. The submarine seismic data acquisition cable sinking into the seabed is characterized in that a submarine seismic cable (OBC) is firstly put and laid on the seabed by a cable laying operation ship, then an air gun seismic source operation ship drags an underwater controllable seismic source (such as an air gun seismic source) to advance at a certain depth below the sea surface and excite a seismic signal into the sea, and the submarine seismic data is acquired by the seismic cable put and laid on the seabed in advance. After the data acquisition is finished, the submarine seismic cable is recovered by the cable laying operation ship, put in and laid in a new measuring work area, and then the acquisition operation of the submarine seismic data is repeated.
The most widely used in the industry is the acquisition of four-component marine seismic data by conventional three-component geophones and piezoelectric hydrophones. The three-component detector is a special detector used in multi-wave exploration. Unlike single-component conventional geophones, three mutually perpendicular sensors are mounted in each geophone to record three components of the particle vibration velocity vector for simultaneous recording of longitudinal, transverse and converted waves. The signal voltage output by such a pickup is related to the displacement speed of its vibrations and is therefore referred to as a speed pickup. In order to record the vibration signals sensed by the detectors, the detector array is also internally provided with circuit modules such as analog signal amplification, filtering, denoising, analog-to-digital conversion, data storage, data transmission and the like which are output by the detectors, so that marine seismic data acquired by the three-component detector array are transmitted to an acquisition control computer on a towing operation ship through armoured cables with the length of thousands of meters and stored. It is also very difficult and limited to power numerous data acquisition sub-sections on marine seismic data acquisition cables from deck several kilometers away from the towing vessel. In addition, the marine four-component seismic data acquired by the current three-component geophone hydrophone array are completely transmitted from the data acquisition cable to the towing operation ship by means of an armored cable, and due to the limitation of long-distance (thousands to tens of kilometers) cable data transmission, high-speed real-time transmission of a large amount of data to the towing operation ship is not realized. These factors greatly limit the development and popularization of large or oversized trace count and large or oversized length marine four-component geophone array (or four-component seismic data acquisition cable) technology.
In order to improve the marine seismic data acquisition efficiency and increase the detection depth, the conventional marine seismic streamers are longer (the offset distance is increased), the number of acquisition cables towed by each acquisition ship at the same time is increased, the number of the acquisition cables is more than 20 to 30, and the length of each seismic streamer is more than 10 km. The field operation of a plurality of ultra-long seismic streamers is very difficult, and it is difficult to avoid that tens of seismic data acquisition streamers towed in parallel behind an acquisition ship are not wound together under the influence of ocean currents, and especially when the tail ends of the streamers do not have a power buoy, the tail ends of a plurality of streamers beyond 10 km are more easily wound together under the influence of lateral ocean currents, so that serious production accidents are caused.
The seismic exploration of the large-area deepwater sea area is not practical, the operation water depth of the OBC cannot exceed 500 meters, and the OBN can only be thrown and recovered by ROV in deepwater, so that the efficiency is low and the cost is high. Marine streamer seismic data acquisition systems are currently, however, the primary equipment for efficient acquisition of seismic data offshore. However, when the marine seismic data acquisition cable is operated in a deep sea area, the seismic data acquisition cable towed on the sea surface is difficult to acquire the high signal-to-noise ratio reflection seismic data of the deep part of the stratum below the sea bottom in the deep water due to the fact that the sea water is too deep. It is very difficult in engineering to modify a seismic data acquisition streamer traveling forward on the surface of the water into a deep streamer that can be towed directly in deep water, and at its deepest, the deep streamer can only be submerged 100 meters below the water to acquire data.
Disclosure of Invention
In order to solve the difficult problem of the bottleneck that the long-distance cable data transmission capacity of a marine seismic data acquisition cable formed by a conventional three-component detector pressurized hydrophone is limited, the power supply problem of a plurality of data acquisition pup joints on the marine seismic data acquisition cable which is far away from a towing operation ship by several kilometers or even tens of kilometers and the risk that potential production accidents occur due to the fact that tail ends of the towlines are wound together when the tens of ultra-long seismic data acquisition towlines are operated, the invention aims to provide a marine seismic data acquisition towline which is specially towed in deep sea by using a deep sea robot so as to perform data acquisition work of marine single-component or multi-component seismic data and can directly measure the single-component or multi-component marine seismic data in deep sea. The towed or submerged array marine seismic data acquisition cable is composed of three-component detectors or sensors, piezoelectric crystals or optical fiber acoustic pressure hydrophones and electronic or optical fiber three-component attitude sensors, which are uniformly distributed in the cable.
In order to solve the technical problems, one of the technical schemes provided by the invention is as follows:
The deep sea seismic data acquisition towing rope based on the deep sea robot comprises a plurality of parallel acquisition towing ropes, wherein the acquisition towing ropes comprise a plurality of acquisition pup joints which are connected in series at equal intervals through cables; the cable is an armored cable or an optical-electrical composite cable; the head end and the tail end of each acquisition towing rope are respectively towed by two (a pair of) deep sea robots; the cable is connected with a seismic data acquisition and storage instrument or a modulation and demodulation instrument which is arranged in the deep sea robot; the high-precision chip-level atomic clock in the seismic data acquisition and storage instrument or the modem instrument is used for timing the acquired marine seismic data and carrying out time synchronization and data processing on the excitation signals of the underwater controllable air gun seismic source on the seismic source vessel in the later period; the collecting towing rope is a neutral buoyancy towing rope with the density or specific gravity of 1, and is convenient for a deep-sea robot to drag or lay in deep water which is not far away from the sea floor during operation.
Each of the acquisition sub comprises at least one hydrophone.
Each collecting nipple further comprises a three-component attitude sensor and a three-component vector sensor; the hydrophone is arranged at the front part of the acquisition nipple, and a three-component attitude sensor and a three-component vector sensor are sequentially arranged behind the hydrophone; the hydrophone, the three-component attitude sensor and the three-component vector sensor are respectively connected with a seismic data acquisition and storage instrument or a modulation-demodulation instrument which are arranged in the deep sea robot.
The hydrophone is a piezoelectric crystal hydrophone or an optical fiber hydrophone, the three-component attitude sensor is a three-component electronic or optical fiber attitude sensor, and the three-component vector sensor is a three-component moving coil detector, a piezoelectric detector, an accelerometer, a MEMS detector or an optical fiber vector sensor.
The optical fiber hydrophone is an interference type optical fiber hydrophone, an optical fiber grating type optical fiber hydrophone or an optical fiber laser hydrophone; the interference type optical fiber hydrophone is selected from an amplitude modulation type optical fiber hydrophone, a phase modulation type optical fiber hydrophone or a polarization type optical fiber hydrophone.
The optical fiber vector sensor is an intensity modulation optical fiber sensor or a phase modulation optical fiber sensor or a frequency modulation optical fiber sensor or a polarization state modulation optical fiber sensor or a wavelength modulation optical fiber sensor or a full polarization maintaining optical fiber acceleration vector sensor, and the optical fiber vector sensor is also a three-component seismic signal detector.
The interval between the collecting pup joints is selected from any one of 3.125 meters, 6.25 meters, 12.5 meters or 25 meters.
The bottom of the source ship is provided with a sound source signal transmitting transducer of the ultra-short baseline positioning system, and the upper parts of the underwater controllable air gun source and the deep sea robot are provided with sound source signal transponders of the ultra-short baseline positioning system, so that the underwater controllable air gun source and the deep sea robot can be positioned in real time during marine seismic data acquisition operation.
The data acquisition method of the deep sea seismic data acquisition towing cable based on the deep sea robot comprises the following steps: a. the head and tail of each acquisition towing rope are respectively towed by two (a pair of) deep sea robots, or a plurality of acquisition towing ropes are parallelly arranged in deep sea which is not far away from the sea bottom in a marine seismic data acquisition working area by the pairs of deep sea robots according to a predesigned interval, the acquisition towing ropes synchronously move at a constant speed along with the moving direction of a source ship during data acquisition operation, the distance between an underwater controllable air gun source and all the acquisition towing ropes, namely the offset distance, is kept unchanged, or a plurality of acquisition towing ropes are parallelly sunk to the sea bottom of the submarine seismic data acquisition working area according to the predesigned interval;
b. Before the data acquisition operation starts, an earthquake data acquisition storage instrument or a modulation demodulation instrument in each deep sea robot starts an acquisition towing rope through a cable to perform self-checking on the state of an acquisition short section, so that each acquisition short section on each acquisition towing rope is ensured to work normally; c. the marine seismic source ship is used for acquiring marine seismic data, one or a plurality of underwater controllable air gun seismic sources are towed by the marine seismic source ship, the underwater controllable air gun seismic sources are sequentially excited point by point through a marine air gun seismic source controller according to a seismic source line designed by construction, and full-wave-field four-component marine seismic data excited by the underwater controllable air gun seismic sources are synchronously acquired by towing an acquisition towing cable behind a deep sea robot or an acquisition towing cable sunk on the sea floor according to an offset distance designed by construction, namely a distance between a seismic source point and a receiving point;
d. the three-component attitude sensor synchronously collects three-component attitude data of each collecting nipple at a data collecting position in real time and records the inclination angle, azimuth angle and tendency of each three-component vector sensor in real time so as to be used for carrying out necessary rotation processing on the recorded four-component marine seismic data;
e. the high-precision chip-level atomic clock in the seismic data acquisition and storage instrument or the modem instrument is used for carrying out time mark timing on acquired marine seismic data in real time and carrying out time synchronization and data processing on the seismic source signals of the later-period and underwater controllable air gun seismic source excitation and the GPS or Beidou satellite timing;
f. The acquisition towrope transmits the four-component marine seismic data acquired in the step c to a seismic data acquisition storage instrument or a modem instrument in the deep sea robot through a cable, and then the three-component attitude data of the acquisition pup joint acquired in the step d at a data acquisition position is converted into marine four-component seismic data at a corresponding position through modem;
g. C, according to three-component attitude data of each acquisition nipple at a data acquisition position, which are synchronously acquired in real time by a three-component vector sensor, converting marine four-component seismic data of the corresponding acquisition position in the step e into three-component marine seismic data of the corresponding acquisition position and azimuth-free sound pressure marine seismic data by rotary projection, wherein the three-component marine seismic data are three-component marine seismic data of the position along a vertical direction and two orthogonal horizontal directions parallel to a sea level, one horizontal component is a horizontal component along an extension direction of an acquisition towing cable, and the other horizontal component is a horizontal component perpendicular to the extension direction of the acquisition towing cable;
h. Performing marine seismic data processing on the marine four-component seismic data converted to the corresponding data acquisition location in step g, including but not limited to: shaping, removing complex multiples, extracting, separating and recovering reliable effective reflected waves from low signal-to-noise ratio data, performing seismic source signal deconvolution to realize shaping of seismic records, improving signal-to-noise ratio, speed modeling, stratum division and tomography of the effective reflected waves, performing high-frequency recovery, ghost wave removal, multiple elimination, deconvolution treatment, anisotropic time domain or depth domain offset imaging and Q compensation or Q offset imaging, and finally obtaining high-resolution geologic structure imaging, longitudinal and transverse wave speed, longitudinal and transverse wave impedance, longitudinal and transverse wave anisotropy coefficient, longitudinal and transverse wave attenuation coefficient, elastic parameter and viscoelastic parameter of the medium below the sea bottom and seismic attribute data of the medium below the sea bottom, wherein the method is used for the geologic structure investigation below the sea bottom and mineral resource exploration, the identification of the oil-containing gas resource structure, the characteristic and rule of fluid distribution in the oil-containing gas reservoir, and finally realizing the high-resolution geologic structure imaging of the geologic mineral resource below the sea bottom and the oil-gas reservoir and the comprehensive evaluation of the oil-containing gas reservoir.
The three-component optical fiber vector sensor and the optical fiber sound pressure hydrophone have the advantages of high sensitivity, wide frequency band, good high-frequency response, no need of power supply, corrosion resistance and high pressure resistance. The problem of power supply to a plurality of data acquisition pup joints on marine seismic data acquisition towing cables which are far away from the number of kilometers or even tens of kilometers of the deep sea towing robot is avoided. In addition, the three-component optical fiber vector sensor has higher sensitivity, wider frequency band and better high-frequency response characteristic than the conventional three-component detector, and can realize high-speed transmission of multiple channels and large data volume. And because the front end of the sensor is not provided with an electronic element, the sensor has higher reliability, high pressure resistance, no power supply, water resistance and corrosion resistance, can be laid on the sea bottom for a long time, and has the advantages of electromagnetic interference resistance and small channel crosstalk.
The invention has the beneficial effects that: according to the invention, by adopting the high-pressure-resistant three-component geophone or the optical fiber vector sensor, the high-pressure-resistant piezoelectric crystal or the optical fiber sound pressure hydrophone and the high-pressure-resistant three-component electronic or optical fiber attitude sensor in the array type marine seismic data acquisition device, the acquisition of large-channel or oversized-channel, large-length or oversized-length marine single-component or multi-component seismic data and the high-speed transmission of mass seismic data acquired by high density and high frequency from the acquisition cable to the towing deep sea robot are realized, the bottleneck problem of high-speed transmission of a large amount of data in the conventional array type marine four-component seismic data acquisition cable to the towing ship is solved, and the problem of supplying power to a plurality of data acquisition pup joints on the marine seismic data acquisition cable which is far away from the towing operation ship by several kilometers or even tens of kilometers from the deck is solved. Because the head end and the tail end of each array type marine seismic data acquisition towing rope are connected with the deep sea robots, the offset distance between the air gun source and the acquisition cable can be kept unchanged through the override of the deep sea robots, and the tail ends of a plurality of ultra-long marine seismic data acquisition towing ropes can be conveniently prevented from being interfered by ocean currents to generate a potential production accident of winding together during operation.
Drawings
FIG. 1 is a top view of the operational layout of the deep sea robot-based towed marine seismic data acquisition system (Streamer) of the present embodiment;
FIG. 2 is a three-dimensional schematic view of the operational layout of the deep sea robot-based towed marine seismic data acquisition system (Streamer) of the present embodiment;
Fig. 3 is a schematic diagram of the operation layout of the deep sea robot-based towed marine seismic data acquisition system (OBC) of the present embodiment.
Detailed Description
In order that the invention may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. They are not to be construed as limiting the invention but are merely illustrative and the advantages of the invention will become more apparent and readily understood by way of illustration.
The invention discloses a deep sea seismic data acquisition towing rope and a deep sea seismic data acquisition method based on a deep sea robot, wherein the deep sea seismic data acquisition towing rope comprises a plurality of parallel acquisition towing ropes 1, and the acquisition towing ropes 1 comprise a plurality of acquisition short sections 3 which are connected in series at equal intervals through cables 2; the cable 2 is an armored cable or an optical-electrical composite cable; the head end and the tail end of each acquisition towing rope 1 are respectively towed by a deep sea robot 11; the cable 2 is connected with a seismic data acquisition and storage instrument or a modem instrument 7 arranged in the deep sea robot 11; the high-precision chip-level atomic clock in the seismic data acquisition and storage instrument or the modem instrument 7 is used for timing the acquired marine seismic data and performing time synchronization and data processing on the excitation signals of the underwater controllable air gun seismic source 10 in the later period. The acquisition streamer 1 is a neutral buoyancy streamer with density or specific gravity of 1, so that the deep sea robot 11 can conveniently drag or lay the acquisition streamer at deep water which is not far away from the seabed during operation.
The deep sea seismic data acquisition towing rope based on the deep sea robot can comprise a hydrophone 4, a three-component attitude sensor 5 and a three-component vector sensor 6, wherein the hydrophone 4 is a piezoelectric crystal hydrophone or an optical fiber hydrophone, the three-component attitude sensor 5 is a three-component electronic or optical fiber attitude sensor, and the three-component vector sensor 6 is a three-component moving coil detector or a piezoelectric detector or an accelerometer or a MEMS detector or an optical fiber vector sensor.
The hydrophone 4 is arranged at the front part of the acquisition nipple 3, and a three-component attitude sensor 5 and a three-component vector sensor 6 are arranged at the rear part of the hydrophone in sequence; the hydrophone 4, three-component attitude sensor 5 and three-component vector sensor 6 are connected to a seismic data acquisition and storage instrument or modem instrument 7 housed within the deep sea robot 11.
The optical fiber hydrophone is an interference type optical fiber hydrophone, an optical fiber grating type optical fiber hydrophone or an optical fiber laser hydrophone. The interference type optical fiber hydrophone 4 is selected from an amplitude modulation type optical fiber hydrophone, a phase modulation type optical fiber hydrophone or a polarization type optical fiber hydrophone.
The three-component vector sensor 6 is an intensity modulation optical fiber sensor or a phase modulation optical fiber sensor or a frequency modulation optical fiber sensor or a polarization state modulation optical fiber sensor or a wavelength modulation optical fiber sensor or a full polarization maintaining optical fiber acceleration vector sensor, and the three-component vector sensor 6 is also a three-component seismic signal detector.
If the collecting nipple 3 only comprises the hydrophone 4, the collecting nipple 3 can only collect single-component marine seismic data. If the acquisition nipple 3 further comprises a three-component attitude sensor 5 and a three-component vector sensor 6, the acquisition nipple 3 can acquire four-component marine seismic data.
The space between the collecting short sections 3 is selected from any one of 3.125 meters, 6.25 meters, 12.5 meters or 25 meters.
The bottom of the source ship 8 is provided with a sound source signal transmitting transducer 12 of an ultra-short baseline positioning system, and the upper parts of the underwater controllable air gun source 10 and the deep sea robot 11 are provided with a sound source signal transponder 13 of the ultra-short baseline positioning system, so that the underwater controllable air gun source 10 and the deep sea robot 11 are positioned in real time during marine seismic data acquisition operation. From the position of the deep sea robot 11 at the end of each acquisition streamer 1 being straightened and the spacing of each acquisition nipple 3, the real-time coordinate position of each acquisition nipple 3 on the acquisition streamer 1 can be calculated.
The data acquisition method of the deep sea seismic data acquisition towing cable based on the deep sea robot 11 comprises the following steps:
a. The head and tail of each acquisition towing rope 1 are respectively towed by two deep sea robots 11, or a plurality of acquisition towing ropes 1 are parallelly arranged in the deep sea of a marine seismic data acquisition working area by the plurality of deep sea robots 11 according to a preset interval, synchronously and uniformly move along with the moving direction of a source ship 8 during data acquisition operation, and the distance (offset distance) between an underwater controllable air gun source 10 and all the acquisition towing ropes 1 is kept unchanged, or a plurality of acquisition towing ropes 1 are parallelly sunk to the seabed of the submarine seismic data acquisition working area according to the preset interval;
b. Before the data acquisition operation starts, a seismic data acquisition storage instrument or a modulation demodulation instrument 7 in each deep sea robot 11 starts an acquisition towing rope 1 through a cable 2 to perform self-checking on the state of an acquisition towing joint 3, so that each acquisition towing joint 3 on each acquisition towing rope 1 is ensured to work normally;
c. The marine seismic data acquisition uses a source ship 8 to drag one or a plurality of underwater controllable air gun seismic sources 10 to sequentially excite the underwater controllable air gun seismic sources through a marine air gun seismic source controller 9 point by point according to a seismic source line designed by construction, and full-wave-field four-component marine seismic data excited by the underwater controllable air gun seismic sources 10 are synchronously acquired by dragging an acquisition towing cable 1 behind a deep sea robot 11 or an acquisition towing cable 1 sunk on the sea bottom according to an offset distance designed by construction, namely a distance between a seismic source point and a receiving point;
d. The three-component attitude sensor 5 installed next to the three-component vector sensor 6 synchronously collects three-component attitude data of each collecting nipple 3 at a data collecting position in real time and records the inclination angle, azimuth angle and tendency of each three-component vector sensor 6 in real time so as to perform necessary rotation processing on the recorded four-component marine seismic data;
e. The high-precision chip-level atomic clock in the seismic data acquisition and storage instrument or the modem instrument 7 is used for carrying out time scale timing on acquired marine seismic data in real time and carrying out time synchronization and data processing on the seismic source signals which are excited by the underwater controllable air gun seismic source 10 and are timed by using GPS or Beidou satellites.
E. The acquisition towing rope 1 transmits the four-component marine seismic data acquired in the step c to a seismic data acquisition storage instrument or a modulation demodulation instrument 7 in the deep sea robot 11 through a cable 2, and then converts the three-component attitude data of the acquisition pup joint 3 acquired in the step d into marine four-component seismic data of the corresponding position through modulation demodulation;
f. C, according to three-component attitude data of each acquisition nipple 3 at a data acquisition position, which are synchronously acquired in real time by a three-component vector sensor 6, converting marine four-component seismic data of the corresponding acquisition position in the step e into three-component marine seismic data of the corresponding acquisition position and azimuth-free sound pressure marine seismic data by rotary projection, wherein the three-component marine seismic data are three-component marine seismic data of the position along a vertical direction and two orthogonal horizontal directions parallel to a sea level, one horizontal component is a horizontal component along the extension direction of an acquisition towing cable 1, and the other horizontal component is a horizontal component perpendicular to the extension direction of the acquisition towing cable 1;
g. Performing marine seismic data processing on the marine four-component seismic data converted to the corresponding data acquisition locations in step f, including but not limited to: shaping, removing complex multiples, extracting, separating and recovering reliable effective reflected waves from low signal-to-noise ratio data, performing seismic source signal deconvolution to realize shaping of seismic records, improving signal-to-noise ratio, speed modeling, stratum division and tomography of the effective reflected waves, performing high-frequency recovery, ghost wave removal, multiple elimination, deconvolution treatment, anisotropic time domain or depth domain offset imaging and Q compensation or Q offset imaging, and finally obtaining high-resolution geologic structure imaging, longitudinal and transverse wave speed, longitudinal and transverse wave impedance, longitudinal and transverse wave anisotropy coefficient, longitudinal and transverse wave attenuation coefficient, elastic parameter, viscoelastic parameter and seismic attribute data of a medium below the seabed.
As shown in fig. 1, the array marine seismic data acquisition towing rope based on the deep sea robot of the embodiment 1 comprises a plurality of acquisition towing ropes 1, and each acquisition towing rope 1 is formed by equally and intermittently connecting a plurality of identical acquisition pup joints 3 in series. Each acquisition sub 3 comprises a hydrophone 4, a three-component attitude sensor 5 and a three-component vector sensor 6 mounted inside the acquisition streamer 1. The hydrophone 4 is arranged at the front part of the acquisition nipple 3, and a three-component attitude sensor 5 and a three-component vector sensor 6 are arranged at the rear part of the acquisition nipple in sequence; the hydrophone 4, three-component attitude sensor 5 and three-component geophone or sensor 6 are connected to a seismic data acquisition and storage instrument or modem instrument 7 housed within a deep sea robot 11.
Each acquisition streamer 1 is towed by two (a pair of) deep sea robots 11 at its end-to-end ends and straightened at deep water not far from the sea floor. The acquisition streamers 1 are connected with seismic data acquisition and storage instruments or modem instruments 7 on the deep sea robot 11 through cables 2. The acquisition streamers 1 are towed in parallel at equal intervals by pairs of deep sea robots 11 at deep water not far from the sea floor, with a distance between the cables of between a few meters and tens of meters.
The acquisition towing cable 1 provided by the invention, an underwater controllable air gun source 10 and a source ship 8 form a deep sea towing type single-component or multi-component marine seismic data acquisition system (Streamer) based on a deep sea robot 11. Single or tens of acquisition streamers 1 may be towed at deep water at the tail end of the deep sea robot 11, not far from the sea floor, with the acquisition streamers 1 being spread in parallel along the sea floor, with a distance between several meters and tens of meters, as shown in fig. 1 and 2. The head and tail of each acquisition towing rope 1 is respectively towed by two deep sea robots 11, or a plurality of acquisition towing ropes 1 are parallelly arranged in the deep sea of a marine seismic data acquisition work area by a plurality of pairs of deep sea robots 11 according to a predesigned interval, synchronously and uniformly move along with the moving direction of a source ship 8 during data acquisition operation, and the distance (offset distance) between an underwater controllable air gun source 10 and all the acquisition towing ropes is kept unchanged during marine seismic data acquisition operation.
Example 2 tens of the acquisition streamers 1 provided in example 1 are submerged in parallel spread on the sea floor by two (a pair of) deep sea robots 11 connected end to end of the streamers, and form a submarine single-component or multi-component seismic data acquisition system (OBC) together with an underwater controllable air gun seismic source 10 on the sea surface, as shown in fig. 3.
According to the construction design, the underwater controllable air gun seismic source 10 is towed by a seismic source ship 8 to advance along the direction vertical to the acquisition towing cables 1 and is excited point by point along the seismic source line of the construction design, and the acquisition towing cables 1 which are sunk on the seabed synchronously acquire the seabed single-component or multi-component seismic data excited by the air gun seismic source in real time. The acquisition of the submarine single-component or multi-component seismic data is controlled by a seismic data acquisition and storage instrument or a modem instrument 7 connected to one end of the acquisition streamer 1. After the collection operation is finished, the sound source signal transmitting transducer 12 of the ultra-short baseline positioning system towed at the tail end of the source ship 8 transmits sound control signals to all the deep sea robots 11 sinking the sea bottom together with the collection towing cables 1, after the sound source signal transponder 13 of the ultra-short baseline positioning system at the top of the deep sea robots 11 receives the sound control signals, the towed collection towing cables 1 are driven to float upwards for a certain distance to separate from the sea bottom, then all the collection towing cables 1 are towed to move in parallel to the next submarine seismic data collection block according to the preset coordinate information of the next submarine seismic data collection block, all the collection towing cables 1 are sunk to the sea bottom, the source ship 8 tows the underwater controllable air gun source 10 to advance along the direction perpendicular to the collection towing cables 1 and excite the submarine according to the construction design source line, and the collection towing the underwater controllable air gun source 10 on the sea bottom synchronously collects the submarine single-component or multi-component seismic data excited by the air gun source in real time in the next submarine seismic data collection block.
Claims (1)
1. The deep sea seismic data acquisition towing line based on the deep sea robot comprises a plurality of parallel acquisition towing lines (1), wherein the acquisition towing lines (1) are connected in series at equal intervals through cables (2) by a plurality of acquisition pup joints (3); the cable (2) is an armored cable or an optical-electrical composite cable; the head end and the tail end of each acquisition towing rope (1) are respectively towed by a deep sea robot (11); the cable (2) is connected with a seismic data acquisition and storage instrument or a modem instrument (7) arranged in the deep sea robot (11); the high-precision chip-level atomic clock in the seismic data acquisition and storage instrument or the modem instrument (7) is used for timing the acquired marine seismic data and carrying out time synchronization and data processing on the excitation signals of the underwater controllable air gun seismic source (10) on the seismic source ship (8) at a later stage; the collecting towing rope (1) is a neutral buoyancy towing rope with the density or specific gravity of 1, so that the deep-sea robot (11) can conveniently drag or put the collecting towing rope at the deep water which is not far away from the sea bottom during operation;
each collecting nipple (3) comprises at least one hydrophone (4);
Each collecting nipple (3) further comprises a three-component attitude sensor (5) and a three-component vector sensor (6); the hydrophone (4) is arranged at the front part of the acquisition nipple (3), and a three-component attitude sensor (5) and a three-component vector sensor (6) are sequentially arranged behind the hydrophone (4); the hydrophone (4), the three-component attitude sensor (5) and the three-component vector sensor (6) are respectively connected with a seismic data acquisition storage instrument or a modulation demodulation instrument (7) arranged in the deep sea robot (11);
The hydrophone (4) is a piezoelectric crystal hydrophone or an optical fiber hydrophone, the three-component attitude sensor (5) is a three-component electronic or optical fiber attitude sensor, and the three-component vector sensor (6) is a three-component moving coil type detector, a piezoelectric detector, an accelerometer, a MEMS detector or an optical fiber vector sensor;
The optical fiber hydrophone is an interference type optical fiber hydrophone, an optical fiber grating type optical fiber hydrophone or an optical fiber laser hydrophone; the interference type optical fiber hydrophone is selected from an amplitude modulation type optical fiber hydrophone, a phase modulation type optical fiber hydrophone or a polarization type optical fiber hydrophone;
The optical fiber vector sensor is an intensity modulation optical fiber sensor or a phase modulation optical fiber sensor or a frequency modulation optical fiber sensor or a polarization state modulation optical fiber sensor or a wavelength modulation optical fiber sensor or a full polarization maintaining optical fiber acceleration vector sensor, and is also a three-component seismic signal detector;
The space between the collecting pup joints (3) is selected from any one of 3.125 meters, 6.25 meters, 12.5 meters or 25 meters;
The bottom of the source ship (8) is provided with a sound source signal transmitting transducer (12) of an ultra-short baseline positioning system, and the upper parts of the underwater controllable air gun source (10) and the deep sea robot (11) are provided with a sound source signal transponder (13) of the ultra-short baseline positioning system, so that the underwater controllable air gun source (10) and the deep sea robot (11) are positioned in real time during marine seismic data acquisition operation;
The method is characterized by comprising the following steps:
a. The head and tail of each acquisition towing rope (1) is respectively towed by a pair of deep sea robots (11), or a plurality of acquisition towing ropes (1) are parallelly arranged in the deep sea of a marine seismic data acquisition work area by the pair of deep sea robots (11) according to a predesigned interval, and synchronously and uniformly move along with the moving direction of a source ship (8) during data acquisition operation, so that the distance between an underwater controllable air gun source (10) and all the acquisition towing ropes (1), namely the offset distance, is kept unchanged, or a plurality of acquisition towing ropes (1) are parallelly sunk to the seabed of the marine seismic data acquisition work area according to the predesigned interval;
b. Before data acquisition operation starts, a seismic data acquisition storage instrument or a modulation demodulation instrument (7) in each deep sea robot (11) starts an acquisition towing rope (1) through a cable (2) to perform self-checking on the state of the acquisition towing joints (3), so that each acquisition towing joint (3) on each acquisition towing rope (1) is ensured to work normally;
c. A seismic source ship (8) used for marine seismic data acquisition drags one or a plurality of underwater controllable air gun seismic sources (10) to sequentially excite the underwater controllable air gun seismic sources through a marine air gun seismic source controller (9) point by point according to a seismic source line designed by construction, and full-wave field four-component marine seismic data excited by the underwater controllable air gun seismic sources (10) are synchronously acquired by dragging an acquisition towing cable (1) behind a deep sea robot (11) or an acquisition towing cable (1) sunk on the sea bottom according to an offset distance designed by construction, namely a distance between a seismic source point and a receiving point;
d. the three-component attitude sensor (5) synchronously collects three-component attitude data of each collecting nipple (3) at a data collecting position in real time and records the inclination angle, azimuth angle and tendency of each three-component vector sensor (6) in real time so as to be used for carrying out rotation processing on the recorded full-wave-field four-component marine seismic data;
e. The high-precision chip-level atomic clock in the seismic data acquisition and storage instrument or the modem instrument (7) is used for carrying out time mark timing on acquired marine seismic data in real time and carrying out time synchronization and data processing on an underwater controllable air gun seismic source (10) in the later period;
f. The acquisition towing cable (1) transmits full-wave-field four-component marine seismic data acquired in the step c and three-component attitude data of the acquisition pup joint (3) acquired in the step d at a data acquisition position to a seismic data acquisition storage instrument or a modulation demodulation instrument (7) in the deep sea robot (11) through a cable (2), and then the data are converted into marine four-component seismic data at the corresponding position through modulation demodulation;
g. c, according to three-component attitude data of each acquisition nipple (3) at a data acquisition position, which are synchronously acquired in real time by a three-component vector sensor (6), converting marine four-component seismic data at the corresponding acquisition position in the step e into three-component marine seismic data at the corresponding acquisition position and azimuth-free sound pressure marine seismic data by rotary projection, wherein the three-component marine seismic data are three-component marine seismic data of the acquisition position along a vertical direction and two orthogonal horizontal directions parallel to a sea level, one horizontal component is a horizontal component along the extending direction of an acquisition towing cable (1), and the other horizontal component is a horizontal component perpendicular to the extending direction of the acquisition towing cable (1);
h. And d, performing marine seismic data processing on the marine four-component seismic data converted into the corresponding data acquisition positions in the step g to obtain high-resolution geologic structure imaging below the sea bottom, longitudinal and transverse wave speeds, longitudinal and transverse wave impedances, longitudinal and transverse wave anisotropy coefficients, longitudinal and transverse wave attenuation coefficients, elastic parameters or viscoelastic parameters of the medium below the sea bottom and seismic attribute data, thereby realizing high-resolution geologic structure imaging of geological mineral resources and oil and gas reservoirs below the sea bottom and comprehensive evaluation of oil and gas reservoirs.
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