A submersible node and a method and system for using the node to acquire data, including seismic data is disclosed. The node incorporates a buoyancy system to provide propulsion for the node between respective landed locations by varying the buoyancy between positive and negative. A first acoustic positioning system is used to facilitate positioning of a node when landing and a second acoustic positioning system is used to facilitate a node transiting between respective target landed locations.

A movement device is for progressive movement on the surface of a body around which a fluid passes, such as a hull, a rotor blade, a rudder, a tubular body or the like. The movement device has a retaining system for adhesion of the movement device on the surface, a traction system for providing a course for the movement device on the surface, and a drive system for driving the movement of the movement device on the surface. The drive system has at least one flow element, around which flow can pass, for interaction with the fluid, such that, for the progressive movement of the movement device on the surface of the body around which the fluid passes, flow energy can be extracted from the fluid passing around it and can be used for driving the movement.

A movement device is for progressive movement on the surface of a body around which a fluid passes, such as a hull, a rotor blade, a rudder, a tubular body or the like. The movement device has a retaining system for adhesion of the movement device on the surface, a traction system for providing a course for the movement device on the surface, and a drive system for driving the movement of the movement device on the surface. The drive system has at least one flow element, around which flow can pass, for interaction with the fluid, such that, for the progressive movement of the movement device on the surface of the body around which the fluid passes, flow energy can be extracted from the fluid passing around it and can be used for driving the movement.

A system and method for sending instrument data from a sub-surface activity, such as data collection by one or more sensors, to another location, e.g., a satellite, a ground-based location, a vessel, etc., with minimal time exposure and minimal visibility of any system components at the water surface. Exemplary embodiments include a motorized payout-and-retrieval system or device, an air injection device, and a water-level sensor with automation control that together can be used to move a vessel, connected to an antenna, from a position in the water column in which the antenna is below the surface to a higher position in which the antenna is at or above the surface for data transmission.

A system and method for sending instrument data from a sub-surface activity, such as data collection by one or more sensors, to another location, e.g., a satellite, a ground-based location, a vessel, etc., with minimal time exposure and minimal visibility of any system components at the water surface. Exemplary embodiments include a motorized payout-and-retrieval system or device, an air injection device, and a water-level sensor with automation control that together can be used to move a vessel, connected to an antenna, from a position in the water column in which the antenna is below the surface to a higher position in which the antenna is at or above the surface for data transmission.

An autonomous underwater base for handling an autonomous underwater vehicle (AUV) equipped with seismic sensors for recording seismic signals during a marine seismic survey. The autonomous underwater base includes a storing module configured to store the AUV; an inlet/outlet module configured to control access of the AUV to the storing module; and a control module having a positioning system configured to adjust a position of the base in water. The positioning system autonomously drives the storing module from a first position to a second position underwater.

An autonomous underwater base for handling an autonomous underwater vehicle (AUV) equipped with seismic sensors for recording seismic signals during a marine seismic survey. The autonomous underwater base includes a storing module configured to store the AUV; an inlet/outlet module configured to control access of the AUV to the storing module; and a control module having a positioning system configured to adjust a position of the base in water. The positioning system autonomously drives the storing module from a first position to a second position underwater.

The present invention provides a self-positioning system of a deepwater underwater robot of an irregular dam surface of a reservoir, including cross reflection metal plates arranged on the irregular dam surface, and an underwater robot provided with a control motherboard, a water level indicator and a sonar system, wherein the water level indicator and the sonar system are respectively connected with the control motherboard, and the control motherboard is connected with a computer via a cable. The cross reflection metal plate has known coordinates and has four quadrants. A sonar signal emitted by the sonar system is reflected by the cross reflection metal plate to generate sonar reflection signals of four quadrants, and the sonar signals in the effective quadrants correspond to known coordinate parameters of the cross reflection metal plate so as to obtain the horizontal distance between the underwater robot and the irregular dam surface. The water level indicator is used for calculating the vertical position of the underwater robot. The computer calculates accurate positioning of the underwater robot according to the horizontal position and the vertical position. The present invention has the beneficial effects of being able to accurately obtain the positioning coordinates of the underwater robot in the deepwater of the irregular dam surface of the reservoir.

The present invention provides a self-positioning system of a deepwater underwater robot of an irregular dam surface of a reservoir, including cross reflection metal plates arranged on the irregular dam surface, and an underwater robot provided with a control motherboard, a water level indicator and a sonar system, wherein the water level indicator and the sonar system are respectively connected with the control motherboard, and the control motherboard is connected with a computer via a cable. The cross reflection metal plate has known coordinates and has four quadrants. A sonar signal emitted by the sonar system is reflected by the cross reflection metal plate to generate sonar reflection signals of four quadrants, and the sonar signals in the effective quadrants correspond to known coordinate parameters of the cross reflection metal plate so as to obtain the horizontal distance between the underwater robot and the irregular dam surface. The water level indicator is used for calculating the vertical position of the underwater robot. The computer calculates accurate positioning of the underwater robot according to the horizontal position and the vertical position. The present invention has the beneficial effects of being able to accurately obtain the positioning coordinates of the underwater robot in the deepwater of the irregular dam surface of the reservoir.

An example underwater vehicle includes a first section detachably coupled to a second section that is positioned forward of the first section, and a hinge detachably coupling the first section to the second section, where the hinge creates a pivot between the first section and the second section. The underwater vehicle includes a lock having a locked position and an unlocked position, where, in the locked position, the lock couples the first section and the second section together, and where, in the unlocked position, the second section is capable of decoupling from the first section. The underwater vehicle also includes a drag fin associated with the second section that is movable to an extended position away from the second section to create a drag force which causes the second section to pivot about the hinge, away from the first section, when the underwater vehicle is traveling through a fluid medium.