Method and apparatus for autonomously deploying geophysical cables in the sand dunes areas

1 . A system for autonomously deploying geophysical cables in sand dunes, the system comprising:

a surface station positioned at the sand dunes;

a subsurface burrowing robot comprising a distributed acoustic sensing (DAS) geophysical cables laying robot and configured to:

dig in the sand dunes to a target depth located between a base of the sand dunes and a base of loose sand,

autonomously move under a surface of the loose sand along a predefined path,

exchange data with the surface station via an unspooling cable, and

receive commands from the surface station via the unspooling cable; and

a geo-locating radio system (GLRS) configured to transmit telemetry data, from the subsurface burrowing robot to the surface station, wherein the GLRS comprises:

a first GLRS positioned on the base of the sand dunes, and

a second GLRS disposed on the subsurface burrowing robot,

wherein the subsurface burrowing robot further comprises:

a body, wherein the body comprises a plurality of segments configured to provide undulating movements to the body and turns in space to the subsurface burrowing robot;

a rotational mechanism disposed between two consecutive segments and powered by a plurality of actuators; and

a mechanized head at a frontal side connected to a vibration actuator, wherein the mechanized head comprises:

a reciprocating mechanism,

a dual rotary drill bit,

a plurality of digging devices, and

a granular fluidizing system.

2 . The system according to claim 1 , wherein the surface station comprises:

a surface station controller, comprising:

a database configured to store a ground map and terrain data of the sand dunes;

a mission planner operatively connected to the database, wherein the mission planner prepares a movement trajectory for deploying the geophysical cables based on the ground map and the terrain data; and

a graphical user interface (GUI) operatively connected to the mission planner and configured to receive, from an operator of the surface station, setting parameters of a mission for deploying the geophysical cables.

3 . The system according to claim 2 , wherein the surface station further comprises:

a mission manager operatively connected to the GUI and the mission planner, wherein the mission manager is configured to allow the operator to:

oversee the mission as the mission manager unfolds by using the ground map displayed on the GUI,

visualize real-time positions of the subsurface burrowing robot,

make corrections to the movement trajectory, and

check positions of the geophysical cables.

4 . The system according to claim 3 , wherein the surface station further comprises:

a communication system operatively connected to the mission manager and configured to provide the movement trajectory to the subsurface burrowing robot,

a cable deployment system operatively connected to the communication system and the mission manager;

a navigation and localization system operatively connected to the mission manager and the database; and

a data storage operatively connected to the mission manager, wherein the data storage is configured to store:

data of the mission,

data of the positions of the geophysical cables, and

the telemetry data.

5 . The system according to claim 1 , wherein the subsurface burrowing robot further comprises:

a traction system located on the body and configured to provide forward and backward movements to the subsurface burrowing robot, wherein the traction system comprises:

a plurality of actuators,

a plurality of tracks,

an extraction-contraction propulsion system, and

a soft robotics system;

a cable spool and unspooling mechanism disposed at a rear side of the subsurface burrowing robot and configured to unspool the unspooling cable while the subsurface burrowing robot is moving along the predefined path; and

a robot controller disposed in the body and configured to control autonomous operation and navigation of the subsurface burrowing robot.

6 . The system according to claim 5 , wherein the robot controller comprises:

a microcomputer configured to control autonomous operation and navigation of the subsurface burrowing robot; and

a plurality of onboard sensors operatively connected to the microcomputer and configured to determine orientations of the subsurface burrowing robot, wherein the plurality of onboard sensors comprise:

a plurality of inertial measurement unit (IMU) sensors,

a plurality of accelerometers,

a plurality of gyroscopes, and

a plurality of compass sensors.

7 . The system according to claim 6 , wherein the robot controller further comprises:

a power supply system operatively connected to the microcomputer, wherein the power supply system comprises:

a plurality of batteries,

a plurality of power converters, and

a plurality of actuators; and

a cable deployment system operatively connected to the microcomputer.

8 . The system according to claim 7 , wherein the robot controller further comprises:

a navigation and localization system operatively connected to the microcomputer and configured to get positions of the subsurface burrowing robot and to geo-locate radio sources, wherein the navigation and localization system comprises:

a time difference of arrival (TDOA) system,

a time of arrival (TOA) system,

a magneto-inductive tracking system, and

an inertial navigation system;

a communication system operatively connected to the microcomputer, wherein the communication system is configured to:

wirelessly exchange data with the surface station, and

wirelessly receive commands from the surface station.

9 . The system according to claim 8 , wherein the robot controller further comprises:

a motion controller operatively connected to the microcomputer, wherein the motion controller is configured to:

manage work of:

the plurality of actuators of the traction system,

the plurality of actuators of rotational mechanism, and

the vibration actuator connected to the mechanized head; and

provide movement of the subsurface burrowing robot in a direction based on positions of the subsurface burrowing robot from the navigation and localization system; and

a memory operatively connected to the microcomputer and configured to store the telemetry data.

10 . A method for autonomously deploying geophysical cables in sand dunes, the method comprising:

positioning a surface station at the sand dunes;

digging in the sand dunes, using subsurface burrowing robot including a distributed acoustic sensing (DAS) geophysical cables laying robot, to a target depth located between a base of the sand dunes and a base of loose sand;

autonomously moving the subsurface burrowing robot under a surface of the loose sand along a predefined path;

exchanging data between the subsurface burrowing robot and the surface station via an unspooling cable;

receiving commands, by the subsurface burrowing robot, from the surface station via the unspooling cable; and

transmitting telemetry data, by a geo-locating radio system (GLRS) from the subsurface burrowing robot to the surface station, wherein the GLRS comprises:

a first GLRS positioned on the base of the sand dunes, and

a second GLRS disposed on the subsurface burrowing robot,

wherein the subsurface burrowing robot further comprises a body, a rotational mechanism, a mechanized head at a frontal side connected to a vibration actuator, a traction mechanism located on the body, a cable spool and unspooling mechanism disposed at a rear side, a robot controller, a navigation and localization system, and a memory, the method further comprises:

providing undulating movements to the body and turns in space to the subsurface burrowing robot; and

connecting the vibration actuator to the mechanized head, wherein the mechanized head comprises:

a reciprocating mechanism,

a dual rotary drill bit,

a plurality of digging devices, and

a granular fluidizing system.

11 . The method according to claim 10 , wherein the surface station comprises a surface station controller including a database, a mission planner, a graphical user interface (GUI), a mission manager, a communication system, a cable deployment system, a navigation and localization system, and a data storage, the method further comprises:

storing, in the database, a ground map and terrain data of the sand dunes;

preparing, using mission planner, a movement trajectory for deploying the geophysical cables based on the ground map and the terrain data; and

inputting on the GUI, by an operator of the surface station, a setting position of the geophysical cables of a mission for deploying the geophysical cables.

12 . The method according to claim 11 , the method further comprises:

overseeing the mission, by the operator using the mission manager, as the mission manager unfolds by using the ground map displayed on the GUI;

visualizing, by the operator using the mission manager, real-time positions of the subsurface burrowing robot;

making corrections, by the operator using the mission manager, to the movement trajectory; and

checking, by the operator using the mission manager, the positions of the geophysical cables.

13 . The method according to claim 12 , wherein the method further comprises:

providing the movement trajectory, using the communication system, to the subsurface burrowing robot; and

storing in the data storage:

data of the mission,

data of the setting position of the geophysical cables, and

the telemetry data.

14 . The method according to claim 10 , wherein the method further comprises:

providing forward and backward movements, by the traction mechanism, to the subsurface burrowing robot, wherein the traction mechanism comprises:

a plurality of actuators,

a plurality of tracks,

an extraction-contraction propulsion system, and

a soft robotics system;

unspooling the unspooled cable, by cable spool and unspooling mechanism, while the subsurface burrowing robot is moving along the predefined path; and

controlling, by the robot controller, autonomous operation and navigation of the subsurface burrowing robot.

15 . The method according to claim 14 , wherein the robot controller comprises a microcomputer, a plurality of sensors, a power supply system, a cable deployment system, a navigation and localization system, a communication system, a motion controller, and a memory, the method further comprises:

controlling, by the microcomputer, autonomous operation and navigation of the subsurface burrowing robot; and

determining, by the plurality of onboard sensors, orientations of the subsurface burrowing robot, wherein the plurality of onboard sensors comprise comprises:

a plurality of inertial measurement unit (IMU) sensors,

a plurality of accelerometers,

a plurality of gyroscopes, and

a plurality of compass sensors.

16 . The method according to claim 15 , wherein the method further comprises:

supplying power, by the power supply system, to the subsurface burrowing robot, wherein the power supply system comprises:

a plurality of batteries,

a plurality of power converters, and

a plurality of actuators.

17 . The method according to claim 16 , wherein the method further comprises:

getting positions of the subsurface burrowing robot and to geo-locating radio sources, by the navigation and localization system, wherein the navigation and localization system comprises:

a time difference of arrival (TDOA) system,

a time of arrival (TOA) system,

a magneto-inductive tracking system, and

an inertial navigation system;

wirelessly exchanging data, by the communication system, with the surface station; and

wirelessly receiving commands, by the communication system, from the surface station.

18 . The method according to claim 14 , wherein the method further comprises:

managing work of:

the plurality of actuators of the traction mechanism,

the plurality of actuators of rotational mechanism, and

the vibration actuator connected to the mechanized head; and

providing movement of the subsurface burrowing robot in a direction based on positions of the subsurface burrowing robot from the navigation and localization system; and

storing the telemetry data by the memory.