EP2681591A2 - Déploiement et récupération de dispositif de fond marin - Google Patents

Déploiement et récupération de dispositif de fond marin

Info

Publication number
EP2681591A2
EP2681591A2 EP11815771.8A EP11815771A EP2681591A2 EP 2681591 A2 EP2681591 A2 EP 2681591A2 EP 11815771 A EP11815771 A EP 11815771A EP 2681591 A2 EP2681591 A2 EP 2681591A2
Authority
EP
European Patent Office
Prior art keywords
vehicle
seabed
hull
tether
sensor node
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP11815771.8A
Other languages
German (de)
English (en)
Inventor
Harry George Dennis Gosling
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autonomous Robotics Ltd
Original Assignee
Go Science Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GBGB1021902.0A external-priority patent/GB201021902D0/en
Priority claimed from GBGB1101861.1A external-priority patent/GB201101861D0/en
Application filed by Go Science Ltd filed Critical Go Science Ltd
Priority to EP21155332.6A priority Critical patent/EP3835834A1/fr
Publication of EP2681591A2 publication Critical patent/EP2681591A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • G01V1/3843—Deployment of seismic devices, e.g. of streamers
    • G01V1/3852—Deployment of seismic devices, e.g. of streamers to the seabed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
    • B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
    • B63B1/04—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with single hull
    • B63B1/047—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with single hull with spherical hull or hull in the shape of a vertical ring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/18—Control of attitude or depth by hydrofoils
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/24—Anchors
    • B63B21/26—Anchors securing to bed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B2241/00—Design characteristics
    • B63B2241/02—Design characterised by particular shapes
    • B63B2241/10—Design characterised by particular shapes by particular three dimensional shapes
    • B63B2241/12—Design characterised by particular shapes by particular three dimensional shapes annular or toroidal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/125—Arrangements on vessels of propulsion elements directly acting on water of propellers movably mounted with respect to hull, e.g. adjustable in direction, e.g. podded azimuthing thrusters
    • B63H2005/1254—Podded azimuthing thrusters, i.e. podded thruster units arranged inboard for rotation about vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
    • B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
    • B63H5/14—Arrangements on vessels of propulsion elements directly acting on water of propellers characterised by being mounted in non-rotating ducts or rings, e.g. adjustable for steering purpose
    • B63H5/15—Nozzles, e.g. Kort-type

Definitions

  • the present invention relates to methods of deploying and retrieving a seabed device such as a seismic sensor, a sensor node suitable for use in such methods, and a submersible vehicle for towing an object such as a seismic sensor.
  • a seabed device such as a seismic sensor
  • sensor node suitable for use in such methods
  • submersible vehicle for towing an object such as a seismic sensor.
  • a method of deploying seismic sensor nodes is described in WO2006/106085.
  • the nodes are dropped from a support vessel and the trajectory of the nodes is controlled by autonomous guiding equipment.
  • the trajectory of each node can be controlled by movable rudders or by displacing a battery inside the structure of the node.
  • a problem with this arrangement is that the nodes can only be deployed to a point directly below the support vessel, or close by.
  • the node has propulsion fins which transform to coupling and orientation units on the seabed where the fins dig into the sea floor to enhance coupling.
  • a problem with this arrangement is that the node must have a recording housing, power unit, propulsion control unit and buoyancy control unit. These add weight, cost and complexity to the node.
  • a further method of deploying seismic sensor nodes is described in US 2006/0159524.
  • a carrier containing a plurality of nodes is attached to a remotely operated vehicle (ROV).
  • the ROV transports the nodes to the seabed where they are removed from the carrier and placed on the seabed.
  • a problem with this method is that a complex carrier and deployment mechanism is required.
  • an ROV adjacent the seabed engages a deployment line extending from the vessel. The deployment line is used to guide nodes attached thereto down to the ROV for "on-time" delivery and placement on the seabed.
  • a problem with this arrangement is that the nodes can only be deployed to a point directly below the support vessel, or close by.
  • AUVs autonomous underwater vehicles
  • Each AUV carries about 10km of spooled seismic sensor nodes and cable sections on a storage reel.
  • the cable and sensor nodes are paid out from the storage reel and deployed on the ocean bottom.
  • a problem with this method is that a complex storage reel and deployment mechanism is required.
  • a first aspect of the invention provides a method of deploying a device on the seabed, the method comprising towing the device behind an undersea vehicle with a flexible tether; generating hydrodynamic lift with the device as it is towed behind the vehicle; and decelerating the vehicle so that the hydrodynamic lift reduces and the towed device sinks to the seabed.
  • a further aspect of the invention provides a method of retrieving a device from the seabed, the method comprising pulling the device off the seabed with a flexible tether behind an undersea vehicle; and towing the device away from the seabed behind the undersea vehicle with the flexible tether.
  • the device may comprise a single device, or a string of devices coupled nose-to-tail by flexible tethers.
  • the device may be any device which must be deployed to the seabed or retrieved from the seabed.
  • the device may comprise a sensor for acquiring data such as seismic data, acoustic data, temperature data, pressure data, salinity data, or electromagnetic data (e.g. for detecting the passage of a submarine); or a communication node.
  • a further aspect of the invention provides a method of acquiring seismic data from the seabed, the method comprising towing a sensor node behind an undersea vehicle with a flexible tether; generating hydrodynamic lift with the sensor node as it is towed behind the vehicle; decelerating the vehicle so that the hydrodynamic lift reduces and the towed sensor node sinks to the seabed; and acquiring seismic data from the seabed with the sensor node on the seabed.
  • a further aspect of the invention provides a method of acquiring seismic data from the seabed, the method comprising acquiring seismic data from the seabed with a sensor node on the seabed; and retrieving the sensor node from the seabed by pulling the device off the seabed with a flexible tether behind an undersea vehicle and towing the device away from the seabed behind the undersea vehicle with the flexible tether.
  • the method may further comprise parking the vehicle on the seabed adjacent to the sensor node.
  • the vehicle may return to the surface after the node has been deployed.
  • the data may be stored on the node, or more preferably the method further comprises transmitting the seismic data to the vehicle via the flexible tether; and storing the seismic data on the vehicle.
  • a further aspect of the invention provides a sensor node for acquiring seismic data from the seabed, the sensor node comprising at least one seismic sensor; means for generating hydrodynamic lift as the sensor node moves through the water; one or more coupling devices for coupling the sensor node to the seabed so that the seismic sensor can acquire seismic data from the seabed; and a flexible tether for towing the node through the water.
  • the means for generating lift may comprise an annular wing, or the node may comprise a central body carrying the seismic sensor(s) and the means for generating hydrodynamic lift comprises a pair of wings which extend from opposite sides of the central body and are shaped to generate hydrodynamic lift as the sensor node moves through the water.
  • a further aspect of the invention provides a sensor node for acquiring seismic data from the seabed, the sensor node comprising a central body carrying at least one seismic sensor; a pair of wings which extend from opposite sides of the central body and are shaped to generate hydrodynamic lift as the sensor node moves through the water; and one or more coupling devices for coupling the sensor node to the seabed so that the seismic sensor can acquire seismic data from the seabed.
  • the coupling device preferably comprises a spike, a blade (preferably a serrated blade) or any other device with sharp edges or points suitable for penetrating the seabed.
  • the coupling device (or at least one of them) may be mounted to the central body.
  • the coupling devices may comprise a pair of wing coupling devices each extending down from the tip of a respective one of the wings.
  • the coupling devices comprise a central coupling device mounted to the central body; and a pair of wing coupling devices each extending down from the tip of a respective one of the wings. In this case the bottom edges of the three coupling devices may lie in the same plane.
  • the seismic sensor comprises a geophone or hydrophone.
  • the seismic sensor comprises three orthogonally oriented geophones, optionally in combination with a hydrophone.
  • a further aspect of the invention provides a submersible vehicle comprising an annular hull with a central duct; a flexible tether for towing an object behind the vehicle; and a harness coupling the tether to the annular hull, the harness comprising two or more flexible harness lines which are coupled at one end to the hull and at the other end to the tether, wherein the harness lines are coupled to the hull at different points round the circumference of the duct.
  • the use of a harness to couple the tether to the annular hull provides the advantage that the force vector of the tether can be controlled by setting the coupling points and lengths of the harness lines. For instance the force vector may be aligned approximately with the centre of gravity of the vehicle to minimise the pitching moment created by the force vector.
  • the harness has only two lines coupled to the hull on opposite sides of the duct.
  • the harness may have three or more lines if required, typically equally spaced round the circumference of the duct.
  • the object may be any object which requires towing through the water, and may or may not be deployed to the seabed or retrieved from the seabed by the vehicle.
  • the device may comprise a sensor for acquiring data such as seismic data, acoustic data, temperature data, pressure data, salinity data, or electromagnetic data (e.g. for detecting the passage of a submarine); or a communication node.
  • Figure 1 is a perspective view of a sensor node
  • Figure 2 is a plan view of the sensor node
  • Figure 3 is a front view of the sensor node
  • Figure 4 is a side view of the sensor node
  • Figures 5-8 are schematic side views showing the sensor node being deployed on the seabed;
  • Figure 9 is a schematic view showing the main functional elements of the sensor node and submersible vehicle;
  • Figure 10 shows a method of acquiring seismic data with an array of sensor nodes
  • Figure 11 is a schematic side view showing the sensor node being lifted up from the seabed;
  • Figures 12-15 are schematic side views showing a string of sensor nodes being deployed on the seabed;
  • Figure 16 is a front view of a submersible vehicle
  • Figure 17 is a front view of the vehicle with its propellers fully contra-directed;
  • Figure 18 is a starboard side view of the vehicle;
  • Figure 19 is a plan view of the vehicle
  • Figure 20 is a starboard side view showing the vehicle towing a node
  • Figure 21 is a starboard side view showing the vehicle towing a node with an alternative harness arrangement
  • Figure 22 is a front view of the vehicle with its propellers omitted (for clarity) and showing the alternative harness arrangement;
  • Figure 23 is a plan view of the alternative harness arrangement, with the vehicle hull shown in dashed lines; and Figure 24 is a sectional view showing the tether and connection piece.
  • a sensor node 1 for acquiring seismic data from the seabed is shown in Figures 1-4.
  • the sensor node comprises a cigar-shaped central body or fuselage 2.
  • the nose of the central body 2 has a data port 9.
  • a pair of wings 3 extend from opposite sides of the central body and are shaped to generate hydrodynamic lift as the sensor node moves through the water.
  • the wings 3 may be made from a variety of alternative materials, including for example Nylon, or a composite material.
  • the composite material may comprise a sandwich composite with a pair outer skin layers formed from glass or carbon fibre reinforced polymer with a foam core.
  • the wings 3 may have a symmetrical cross-section, or a cambered and asymmetrical cross-section for maximising the lift generated by the wings. As shown in Figure 3, the wings have a small dihedral angle (i.e they are angled upwards). A dihedral angle is more preferred than an anhedral angle because it is more stable in tow.
  • a pair of central blades 4 are mounted to the central body 2 by mounting brackets 5. As shown in Figure 3 the central blades 4 extend vertically down from the underside of the body, and as shown in Figure 4 they terminate in a serrated cutting edge 6.
  • a pair of outer blades 7 extend vertically down from the tips of the wings and terminate in a serrated cutting edge 8. As shown in Figure 3 the serrated cutting edges 6,8 lie in the same plane.
  • the blades 4, 7 may be made from a variety of alternative materials, including for example Aluminium, composite, Nylon, HDPE, polycarbonate or stainless steel.
  • the central blades 4 may be made from a heavier material than the outer blades 7 in order to increase the stability of the vehicle.
  • a method of deploying the sensor node 1 is shown in Figures 5-8.
  • the sensor node 1 is towed behind an undersea vehicle 10 with a flexible tether 11 which is plugged into the data port 9.
  • the tether has a core containing electrical and/or fibre-optic cables, one or more insulating sleeves, a reinforcement member made of braided Kevlar or a similar high strength material, and an outer protective sheath.
  • the vehicle 10 and the sensor node 1 are moving at the same velocity VI and the wings 3 are generating hydrodynamic lift L.
  • V2 which may be positive, zero or even slightly negative (i.e. to the left).
  • the hydrodynamic lift generated by the wings 3 reduces and the towed sensor node sinks towards the seabed as shown in Figure 6 until the blades 4, 7 embed themselves into the seabed as shown in Figure 7.
  • the vehicle 10 is then parked on the seabed adjacent to the sensor node as shown in Figure 8.
  • FIG 9 is a schematic diagram shown the main functional components of the node 1 and vehicle 10.
  • the node 1 comprises a hydrophone 13 and a set of three orthogonally arranged geophones 14.
  • the hydrophone 13 and geophones 14 are coupled to the electrical and/or fibre optic cables in the core of the tether 11 so that they can send and receive data to/from the vehicle 10.
  • the vehicle comprises a controller 15 for generating and transmitting control signals to the node 1, and a store 16 for storing data received from the node 1.
  • the vehicle 10 also comprises a power system 17 (typically comprising one or more batteries) and a propulsion and navigation system 18.
  • Figure 10 shows a method of acquiring seismic data with the node 1.
  • the node 1 is one of many such nodes 1, la, lb etc which are deployed from a surface vessel 20, each node 1, la, lb being towed to the seabed 12 by its own dedicated submersible vehicle 10.
  • a seismic survey is then carried out by transmitting an acoustic pulse 21 from the surface vessel 20.
  • Each node 1, la, lb etc. then receives seismic waves 22 from the seabed which are transmitted to the onboard geophones and hydrophone via the coupling blades 4, 7.
  • the geophones and hydrophone then generate data which is transmitted to the submersible vehicle via the tether for storage.
  • each vehicle operates its propulsion system to move to the nose-up position shown in Figure 11 and pull its respective node 1 by its nose with the tether off the seabed. The vehicle then swims back up to the surface vessel 20.
  • a method of deploying a string of sensor nodes 1 is shown in Figures 12-15.
  • a number of sensor nodes are coupled nose-to-tail by flexible tethers, the front sensor node being connected to the vehicle 10.
  • the vehicle 10 and the sensor nodes are moving at the same velocity VI and the wings 3 are generating hydrodynamic lift.
  • V2 which may be positive, zero or even slightly negative.
  • the hydrodynamic lift generated by the wings reduces and the towed sensor nodes sink towards the seabed as shown in Figure 13 until the blades 4, 7 embed themselves into the seabed as shown in Figure 14.
  • the vehicle 10 is then parked on the seabed adjacent to the sensor nodes as shown in Figure 15.
  • the vehicle 10 is only shown schematically in Figures 5-15 above, and Figures 16-23 show the vehicle 10 in more detail, including a harness for attaching the flexible tether to the vehicle.
  • the vehicle has an outer hull 32 which appears annular when viewed along the hull axis as shown in Figure 16 and 17.
  • An inner wall of the annulus defines a duct 35 which is open fore and aft so that when the vehicle is submerged in water or any other liquid, the water floods the duct and flows through the duct as the vehicle moves through the water, generating hydrodynamic lift.
  • the hull has a hydrofoil section which tapers outwardly gradually from a narrow bow end (on the left of Figures 18 and 19) to a widest point, then tapers inwardly more rapidly to a stern end (on the right of Figures 18 and 19).
  • a pair of propulsors 39,40 are mounted symmetrically on opposite sides of the hull axis.
  • the propulsors comprise propellers which are mounted on L-shaped support shafts which in turn are rotatably mounted to the hull as shown in Figure 19.
  • the propellers are mounted within shrouds in such a way that their efficiency is increased.
  • Each L-shaped shaft is pivotally mounted to the hull so that it can rotate by 360 degrees relative to the hull about an axis parallel to the pitch axis of the vehicle, thus providing thrust-vectored propulsion.
  • Both the shroud and L-shaped shaft have a hydrofoil section using a ratio between chord length and height similar to that described for the outer hull.
  • the propulsors 39,40 can be rotated between the co-directed configuration shown in Figure 16, in which they provide a thrust force to propel the vehicle forward and along the hull axis, to the contra-directed configuration shown in Figure 17 in which they cause the vehicle to roll continuously around the hull axis.
  • Arrows V in Figure 17 illustrate movement of the vehicle.
  • the vehicle uses four motors within its propulsion system: two brushless DC electric motors to drive the propellers, and two DC electric motors to drive the L-shaped support shafts upon which the propeller motors are mounted, where a mechanical worm drive gear reduction mechanism is used to transfer drive and loads between the motor and the L-shaped shafts.
  • the thrust vectored propulsors provide the means for motion along the hull axis, either forward or in reverse, and spin or roll around the hull axis, and pitch or yaw about the vehicle's CofG.
  • the two propulsors may be contra- directed in order to induce vehicle roll.
  • the two propulsors may also be co-directed. For instance when both are directed down so that their thrust vectors lies above the CofG, then the vehicle will pitch nose down. Similarly when the two propulsors are directed up so that their thrust vector lies below the CofG, then the vehicle will pitch nose up.
  • the hull has four bow apexes 41-44 and four stern apexes 45-48 which are separated by 90 degrees around the circumference of the duct.
  • FIG 20 shows a first harness arrangement 50 for coupling the tether 11 to the annular hull.
  • the harness 50 comprises an upper harness line 51 and a lower harness line 52 which are coupled at one end to the hull and at the other end to the tether 11 via a connection piece 53.
  • the harness lines are coupled to the hull at opposite points round the circumference of the duct.
  • the upper line 51 is attached to the upper stern apex 45 and the lower line 52 is coupled to the lower stern apex 48.
  • the harness lines 51,52, connection piece 53 and tether 11 are all positioned in line with the central duct 35.
  • the lower harness line 52 is shorter than the upper harness line 53 so that the force vector 54 of the tether 11 is approximately in line with the centre of gravity of the vehicle. This minimises the pitch moment created by the drag force of the node 1.
  • the tether 11 has a core containing electrical and/or fibre-optic cables, and this core 55 is passed through the connection piece 53 and coupled to the vehicle hull.
  • the harness lines 51,52 are in tension but the core 55 is slack.
  • the harness lines 51,52 are made from Vectran (R) rope.
  • the tether 11 and harness lines 51,52 may be coupled to the connection piece in a number of ways.
  • the harness lines 51,52 may be formed as a single piece of rope which is tied to the connection piece 53, for instance by a shackle.
  • Figure 24 is a sectional view through the connection piece 53 showing how the tether 11 may be connected to it.
  • the tether 11 comprises a core 55, and a reinforcement member 56 which is terminated as shown.
  • the connection piece has a frustoconical bore containing potting compound 57 which bonds the tether to the connection piece.
  • connection piece 53 may be omitted entirely, and the reinforcement member 56 spliced directly into the harness lines 51,52, with a water-blocking compound preventing the ingress of water into the tether at the point where the member 56 is divided from the core 55.
  • FIGS. 21-23 show an alternative harness arrangement.
  • the harness 50 comprises a port harness line 61 and a starboard harness line 62 which are coupled at one to the hull and at the other end to the tether 1 1 via a connection piece 63.
  • the harness lines are coupled to the hull at opposite points round the circumference of the duct.
  • the port line 61 is attached to the port stern apex 46 and the starboard line 62 is coupled to the starboard stern apex 47.
  • the harness lines 61,62, connection piece 63 and tether 11 are all positioned in line with the central duct 35.
  • the lines 61,62 are of the same length so that the force vector of the tether 11 is approximately in line with the centre of gravity of the vehicle.
  • the annular vehicle shape enables a relatively simple and light harness system to be used without impeding the performance of the vehicle.
  • the propellers 39,40 are mounted within the duct forward of the harness lines, the rear- mounted harness lines do not impede the propulsion performance in any significant way.
  • the thrust vector propulsion system requires no rear-mounted control fins for manoeuvring the vehicle, the harness lines do not impede the manoeuvring ability of the vehicle in any significant way.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Geology (AREA)
  • Remote Sensing (AREA)
  • Oceanography (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

L'invention porte sur un procédé de déploiement d'un dispositif sur le fond de la mer. Le dispositif est remorqué derrière un véhicule sous-marin à l'aide d'une amarre souple, générant un soulèvement hydrodynamique avec le dispositif lorsqu'il est remorqué derrière le véhicule. Le véhicule est décéléré de sorte que le soulèvement hydrodynamique soit réduit, et le dispositif remorqué coule vers le fond de la mer. Le dispositif peut également être récupéré à partir du fond de la mer par traction du dispositif à partir du fond de la mer à l'aide de l'amarre souple et remorquage du dispositif de façon à l'éloigner du fond de la mer. Le dispositif peut être un nœud de capteurs pour acquérir des données sismiques à partir du fond de la mer, à l'aide d'au moins un capteur sismique; des moyens pour générer un soulèvement hydrodynamique lorsque le nœud de capteurs se déplace à travers l'eau; un ou plusieurs dispositifs d'accouplement pour accoupler le nœud de capteurs au fond de la mer de sorte que le capteur sismique puisse acquérir des données sismiques à partir du fond de la mer; et une amarre souple pour remorquer le nœud à travers l'eau. Le dispositif est remorqué par un véhicule submersible comprenant une coque annulaire; une amarre souple pour remorquer un objet derrière le véhicule; et un harnais accouplant l'amarre à la coque annulaire. Le harnais comprend deux ou plusieurs lignes de harnais souples qui sont accouplées à une extrémité à la coque, et à l'autre extrémité à l'amarre. Les lignes de harnais sont accouplées à la coque en différents points autour de la périphérie du conduit.
EP11815771.8A 2010-12-23 2011-12-22 Déploiement et récupération de dispositif de fond marin Withdrawn EP2681591A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21155332.6A EP3835834A1 (fr) 2010-12-23 2011-12-22 Noeud de capteur

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GBGB1021902.0A GB201021902D0 (en) 2010-12-23 2010-12-23 Deployment and retrieval of seabed device
GBGB1101861.1A GB201101861D0 (en) 2011-02-03 2011-02-03 Deployment and retrieval of seabed device
PCT/GB2011/052572 WO2012085590A2 (fr) 2010-12-23 2011-12-22 Déploiement et récupération de dispositif de fond marin

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP21155332.6A Division EP3835834A1 (fr) 2010-12-23 2011-12-22 Noeud de capteur

Publications (1)

Publication Number Publication Date
EP2681591A2 true EP2681591A2 (fr) 2014-01-08

Family

ID=45563435

Family Applications (2)

Application Number Title Priority Date Filing Date
EP11815771.8A Withdrawn EP2681591A2 (fr) 2010-12-23 2011-12-22 Déploiement et récupération de dispositif de fond marin
EP21155332.6A Pending EP3835834A1 (fr) 2010-12-23 2011-12-22 Noeud de capteur

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP21155332.6A Pending EP3835834A1 (fr) 2010-12-23 2011-12-22 Noeud de capteur

Country Status (2)

Country Link
EP (2) EP2681591A2 (fr)
WO (1) WO2012085590A2 (fr)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9090319B2 (en) 2011-09-30 2015-07-28 Seabed Geosolutions As Autonomous underwater vehicle for marine seismic surveys
US9381986B2 (en) 2012-11-21 2016-07-05 Seabed Geosolutions B.V. Jet-pump-based autonomous underwater vehicle and method for coupling to ocean bottom during marine seismic survey
US9457879B2 (en) 2012-12-17 2016-10-04 Seabed Geosolutions B.V. Self-burying autonomous underwater vehicle and method for marine seismic surveys
EP2976662B8 (fr) 2013-03-20 2022-06-29 PXGEO UK Limited Procédé d'utilisitation des vehicules sous-marins autonomes pour des relevés sismiques
US20150003194A1 (en) * 2013-06-26 2015-01-01 Cgg Services Sa Directional self-burying sensor system and method
US9873496B2 (en) 2014-10-29 2018-01-23 Seabed Geosolutions B.V. Deployment and retrieval of seismic autonomous underwater vehicles
US10322783B2 (en) 2015-10-16 2019-06-18 Seabed Geosolutions B.V. Seismic autonomous underwater vehicle
GB2557922B (en) * 2016-12-16 2019-01-02 Autonomous Robotics Ltd Autonomous underwater vehicle with multiplane wing and sensor
US10543892B2 (en) 2017-02-06 2020-01-28 Seabed Geosolutions B.V. Ocean bottom seismic autonomous underwater vehicle
US11255998B2 (en) 2018-05-17 2022-02-22 Seabed Geosolutions B.V. Cathedral body structure for an ocean bottom seismic node
EP3797319B1 (fr) 2018-05-23 2023-08-30 Blue Ocean Seismic Services Limited Système d'acquisition de données autonomes
AU2020308965A1 (en) * 2019-06-26 2022-02-24 Ron Allum Deepsea Services Pty Ltd Underwater glider
NO345833B1 (en) * 2019-08-13 2021-08-30 Magseis Fairfield ASA Ocean bottom seismic node deployment and retrieval system

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0071117A2 (fr) * 1981-07-31 1983-02-09 Edo Western Corporation Méthode et dispositif de touage sous-marin
GB2431380A (en) * 2005-10-18 2007-04-25 Ultra Electronics Ltd A buoy having fixed hydrodynamic surfaces

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2270141B1 (fr) * 1974-05-08 1978-11-17 Eca
US3961303A (en) * 1974-05-08 1976-06-01 Western Geophysical Company Of America Depth controllers with controllable negative and uncontrollable positive lift-producing means
US4494938A (en) * 1977-05-23 1985-01-22 The United States Of America As Represented By The Secretary Of The Navy Master buoy system for acoustic array deployment, using underwater glide bodies remotely launched from a submerged pod
FR2637561B1 (fr) * 1988-10-11 1990-11-16 Thomson Csf Dispositif destine a maintenir sous l'eau les engins sous-marins remorques, et procede d'utilisation
JP2915783B2 (ja) * 1994-03-16 1999-07-05 三菱重工業株式会社 水中ひれ構造
US5596943A (en) * 1995-08-16 1997-01-28 The United States Of America As Represented By The Secretary Of The Navy Apparatus and method for floating a towed device from a submerged vehicle
US6474254B1 (en) 1997-12-30 2002-11-05 Westerngeco Llc Submarine deployed ocean bottom seismic system
US6606958B1 (en) * 1999-06-22 2003-08-19 Hydroacoustics Inc. Towed acoustic source array system for marine applications
GB9925563D0 (en) * 1999-10-29 1999-12-29 Geco As Seismic surveying
GB0010556D0 (en) * 2000-05-03 2000-06-21 Geco As Marine seismic surveying
US6657921B1 (en) * 2000-05-31 2003-12-02 Westerngeco Llc Marine seismic sensor deployment system including reconfigurable sensor housings
US6951138B1 (en) 2000-11-01 2005-10-04 Westerngeco L.L.C. Method and apparatus for an ocean bottom seismic acquisition technique
FR2843805B1 (fr) * 2002-08-22 2004-12-17 Inst Francais Du Petrole Methode et dispositif d'acquisition pour l'exploration sismique d'une formation geologique par des recepteurs permanents implantes au fond de la mer
US20050276665A1 (en) * 2003-07-24 2005-12-15 Entralgo Roger D Remotely operated deployment system and method of use
US6845728B1 (en) * 2003-10-06 2005-01-25 The United States Of America As Represented By The Secretary Of The Navy Towable submarine mast simulator
US8534959B2 (en) 2005-01-17 2013-09-17 Fairfield Industries Incorporated Method and apparatus for deployment of ocean bottom seismometers
FR2884323B1 (fr) 2005-04-07 2007-06-15 Geophysique Cie Gle Procede d'acquisition sismique au fond de la mer, equipement de guidage, ensemble d'acquisition sismique et installation d'acquisition sismique pour la mise en oeuvre de ce procede
US7793606B2 (en) * 2007-02-13 2010-09-14 Ion Geophysical Corporation Position controller for a towed array
WO2009012422A2 (fr) * 2007-07-19 2009-01-22 Terralliance Technologies, Inc. Insertion et extraction de capteurs souterrains

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0071117A2 (fr) * 1981-07-31 1983-02-09 Edo Western Corporation Méthode et dispositif de touage sous-marin
GB2431380A (en) * 2005-10-18 2007-04-25 Ultra Electronics Ltd A buoy having fixed hydrodynamic surfaces

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2012085590A2 *

Also Published As

Publication number Publication date
EP3835834A1 (fr) 2021-06-16
WO2012085590A3 (fr) 2013-05-30
WO2012085590A2 (fr) 2012-06-28

Similar Documents

Publication Publication Date Title
EP3835834A1 (fr) Noeud de capteur
EP3554940B1 (fr) Véhicule sous-marin autonome
US20140226440A1 (en) Deployment of seabed device
US9828068B2 (en) Mechanical tether system for a submersible vehicle
TWI600586B (zh) 總成、浮體、波浪驅動部件、波動力裝置、鰭狀物系統、獲取資訊的方法、控制方法及波動力水運載器
AU2012327253B2 (en) Wave-powered endurance extension module for unmanned underwater vehicles
WO2019113137A2 (fr) Systèmes de navire d'exploration maritime de récupération et de transmission de données
US9873494B2 (en) Autonomous underwater vehicle hover apparatus, method, and applications
EP3784558B1 (fr) Système pour le déploiement et la récupération d'un engin autonome sous-marin, procédé d'utilisation
US20100212573A1 (en) Remotely operated underwater vehicle
EP3362351B1 (fr) Véhicule sous-marin
US11845521B2 (en) Marine structure comprising a launch and recovery system
JP2007276609A (ja) 水中グライダー
US11447209B2 (en) Recovery apparatus and allocated method
US10272979B2 (en) System and method for subsea propulsion and energy harvesting using current shear
FR2496277A1 (fr) Procede d'entrainement d'un organe d'exploration sismique a partir d'un bateau-mere
Yoshida et al. Development of the cruising-AUV “Jinbei”
WO2018087300A1 (fr) Station d'amarrage
US11906673B2 (en) Sonar system
CN115848677A (zh) 一种海下多能源交叉供能无人机发射平台
CN116338798A (zh) 一种海洋地震勘探节点布放装置
CN117566064A (zh) 一种基于l型线列阵的深海声学探测系统及其布放方法

Legal Events

Date Code Title Description
PUAJ Public notification under rule 129 epc

Free format text: ORIGINAL CODE: 0009425

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20131108

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAX Request for extension of the european patent (deleted)
19U Interruption of proceedings before grant

Effective date: 20130731

19W Proceedings resumed before grant after interruption of proceedings

Effective date: 20140901

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: GO SCIENCE GROUP LTD

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: AUTONOMOUS HOLDINGS LTD.

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: AUTONOMOUS ROBOTICS LIMITED

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20190403

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20210302