Systems and methods of coupling underwater vehicle with underwater sensor storage container
The present disclosure is directed to systems, methods, and apparatus for delivering seismic data acquisition units to, and retrieving from, an underwater vehicle. A sensor storage container can be tethered to a surface vessel, which can move on the surface with a non-zero velocity. The underwater vehicle can include a storage compartment to store seismic data acquisition units and a propulsion system to aid the movement of the underwater vehicle. The underwater vehicle also can include passive and active protrusions for coupling with corresponding receptacles on the sensor storage container. The sensor storage container also can include a propulsion system to aid movement of the sensor storage container. The propulsion systems of both the underwater vehicle and the sensor storage container can be controlled to allow the underwater vehicle and the sensor storage container to couple and allow transfer of seismic data acquisition units.
1. A system to interface underwater components in a seismic survey, comprising:
an underwater vehicle located in an aqueous medium, the underwater vehicle comprising:
a storage compartment storing a plurality of seismic data acquisition units;
a propulsion system to move the underwater vehicle;
a passive protrusion extending from the underwater vehicle; and
an active protrusion extending from the underwater vehicle, the active protrusion comprising a mechanical coupling pin that moves from a first position to a second position to provide a locking mechanism;
a sensor storage container located in the aqueous medium and tethered, via a cable, to a marine vessel that travels with a velocity greater than zero, the storage container comprising:
a passive receptacle to receive the passive protrusion from the underwater vehicle; and
an active receptacle to receive the active protrusion and the mechanical coupling pin to provide the locking mechanism to couple the storage container with the underwater vehicle, wherein the sensor storage container and the underwater vehicle are coupled to one another above a seabed and below a surface of the aqueous medium; and
the active protrusion comprising a plate positioned on an engaging surface and a self-locking mechanism to automatically couple the mechanical coupling pin with the active receptacle;
the active receptacle configured to contact the engaging surface;
the mechanical coupling pin configured to press downward on the plate to secure the active receptacle against the engaging surface; and
the underwater vehicle configured to transfer at least one of the plurality of seismic data acquisition units from the storage compartment to the sensor storage container coupled with the underwater vehicle via the passive protrusion and the passive receptacle and the active protrusion and the active receptacle.
2. The system of claim 1 , comprising:
the underwater vehicle comprising a second passive protrusion; and
the sensor storage container comprising a second passive receptacle to receive the second passive protrusion.
3. The system of claim 1 , comprising:
the underwater vehicle comprising a second passive protrusion; and
the sensor storage container comprising a second passive receptacle to receive the second passive protrusion,
wherein the passive protrusion and the second passive protrusion each have a length greater than a length of the active protrusion.
4. The system of claim 1 , wherein the active protrusion locks with the active receptacle subsequent to the passive protrusion coupling with the passive receptacle.
5. The system of claim 1 , comprising the underwater vehicle to:
perform, subsequent to the active protrusion of the underwater vehicle coupled with the active receptacle of the sensor storage container, a verification process to determine a level of coupling between the underwater vehicle and the sensor storage container.
6. The system of claim 1 , comprising the underwater vehicle to:
move, subsequent to the active protrusion of the underwater vehicle coupled with the active receptacle of the sensor storage container, in a direction opposite to the sensor storage container to determine a level of coupling between the underwater vehicle and the sensor storage container.
7. The system of claim 1 , comprising the propulsion system of the underwater vehicle to:
detect, based on an optical or acoustic signal, a location of the passive receptacle and the active receptacle; and
move the passive protrusion and the active protrusion towards a corresponding passive receptacle and the active receptacle.
8. The system of claim 1 , comprising the propulsion system of the underwater vehicle to:
determine a period and an amplitude of an oscillation of the sensor storage container; and
exert a force on the underwater vehicle to match the period and the amplitude of the oscillation of the underwater vehicle.
9. The system of claim 1 , comprising:
the sensor storage container comprising:
an accelerometer to detect a periodic vertical motion of sensor storage container; and
a wireless transmitter to transmit an indication of the periodic vertical motion to the underwater vehicle; and
the underwater vehicle comprising:
a wireless receiver to receive the indication of the periodic vertical motion from the underwater vehicle; and
the propulsion system to move the underwater vehicle to match the periodic vertical motion of the sensor storage container.
10. The system of claim 1 , comprising the propulsion system of the underwater vehicle to:
receive, from the marine vessel, an indication of a periodic vertical motion of the sensor storage container; and
move the underwater vehicle to match the periodic vertical motion of the sensor storage container.
11. The system of claim 1 , comprising:
a heave winch located on the marine vessel to provide active or passive heave control to maintain an amplitude of an oscillation of the sensor storage container within a threshold.
12. The system of claim 1 , comprising:
the plurality of seismic data acquisition units stored in the storage compartment of the underwater vehicle comprising a first seismic data acquisition unit stacked on a second seismic data acquisition unit via one or more cleat rings; and
the underwater vehicle to transfer the first seismic data acquisition unit stacked on the second seismic data acquisition unit to the sensor storage container.
13. The system of claim 1 , comprising the underwater vehicle to:
identify an environmental condition associated with the aqueous medium, the seabed, or the sensor storage container;
determine, based on a policy and the environmental condition, to initiate transfer of the plurality of seismic data acquisition units to the sensor storage container; and
transfer, responsive to the determination based on the policy and the environmental condition, the plurality of seismic data acquisition units from the storage compartment to the sensor storage container.
14. The system of claim 13 , wherein the environmental condition comprises at least one of an oscillation of the sensor storage container, an oscillation of the underwater vehicle, a topography of the seabed.
15. A system to interface underwater components in a seismic survey, comprising:
an underwater vehicle located in an aqueous medium, the underwater vehicle comprising:
a storage compartment storing a plurality of seismic data acquisition units;
a propulsion system to move the underwater vehicle;
a first passive interlocking mechanism;
a second passive interlocking mechanism;
a first active interlocking mechanism; and
an active protrusion comprising a plate positioned on an engaging surface and a self-locking mechanism to automatically couple a mechanical coupling pin with an active receptacle, the active receptacle configured to contact the engaging surface and the mechanical coupling pin configured to press downward on the plate to secure the active receptacle against the engaging surface;
a sensor storage container located in the aqueous medium and tethered, via a cable, to a marine vessel that travels with a velocity greater than zero, the sensor storage container comprising:
a third passive interlocking mechanism to couple with the first passive interlocking mechanism;
a fourth passive interlocking mechanism to couple with the second passive interlocking mechanism;
a second active interlocking mechanism to couple with the first active interlocking mechanism; and
the underwater vehicle configured to transfer at least one of the plurality of seismic data acquisition units from the storage compartment to the sensor storage container coupled with the underwater vehicle, wherein the sensor storage container and the underwater vehicle are coupled to one another above a seabed and below a surface of the aqueous medium.
16. The system of claim 15 , comprising:
the first active interlocking mechanism comprising a self-locking latch mechanism.
17. The system of claim 15 , comprising:
the second active interlocking mechanism comprising a self-locking latch mechanism.
18. A method of interfacing underwater components in a seismic survey, comprising:
providing an underwater vehicle located in an aqueous medium, the underwater vehicle comprising:
a storage compartment storing a plurality of seismic data acquisition units;
a propulsion system to move the underwater vehicle towards a sensor storage container;
a first passive interlocking mechanism;
a second passive interlocking mechanism;
a first active interlocking mechanism; and
an active protrusion comprising a plate positioned on an engaging surface and a self-locking mechanism to automatically couple a mechanical coupling pin with an active receptacle, the active receptacle configured to contact the engaging surface and the mechanical coupling pin configured to press downward on the plate to secure the active receptacle against the engaging surface;
providing the sensor storage container located in the aqueous medium and tethered, via a cable, to a marine vessel traveling with a velocity greater than zero, the sensor storage container comprising:
a third passive interlocking mechanism to couple with the first passive interlocking mechanism;
a fourth passive interlocking mechanism to couple with the second passive interlocking mechanism; and
a second active interlocking mechanism to couple with the first active interlocking mechanism; and
transferring, from the underwater vehicle to the sensor storage container coupled with the underwater vehicle above a seabed and below a surface of the aqueous medium, at least one of the plurality of seismic data acquisition units from the storage compartment.
19. The method of claim 18 , comprising:
identifying, by the underwater vehicle, a characteristic of oscillation of a sensor storage compartment;
moving, by the underwater vehicle, to match the characteristic of oscillation of the sensor storage compartment;
determining, by the underwater vehicle, that the characteristic of oscillation of the underwater vehicle matches the characteristic of oscillation of the sensor storage compartment; and
transferring, responsive to the determining that the characteristic of oscillation of the underwater vehicle matches the characteristic of oscillation of the sensor storage compartment, the plurality of seismic data acquisition units from the storage compartment to the sensor storage container.