SISTEMAS SUBMARINOS PARA A TRANSFERÊNCIA SUBMARINA DE UMA PLURALIDADE DE NÓS SÍSMICOS DE FUNDO OCEÂNICO, MÉTODOS PARA A IMPLANTAÇÃO E RECUPERAÇÃO DE UMA PLURALIDADE DE NÓS SÍSMICOS DE FUNDO OCEÂNICO, MÉTODO PARA RECUPERAÇÃO DE UM VEÍCULO SUBAQUÁTICO AUTÔNOMO INOPERANTE, MÉTODO PARA GERAR IMAGENS DO LEITO MARINHO, E, VEÍCULO SUBAQUÁTICO AUTÔNOMO

Abstract

A system and method for deploying and retrieving a plurality of ocean bottom seismic nodes to and from the seabed. An autonomous underwater vehicle (AUV) is coupled to a node skid that is configured to handle the nodes. The AUV and coupled skid is lowered to and raised from the seabed and a surface vessel in a garage or basket. The skid may have a variable buoyancy system (VBS) formed of a plurality of pipes and a positive displacement pump, such that the VBS is configured to automatically control a buoyancy of the skid. The AUV and / or skid has a plurality of cameras for optical 3D stereo photogrammetry for identification, deployment, and retrieval of the nodes. Also disclosed is a method for retrieving a dead AUV from the ocean bottom by utilizing a garage and an unmanned underwater vehicle (UUV).

Description

[001] This application claims priority over U.S. Provisional Patent Application No. 63 / 482,682, filed February 1, 2023, the full content of which is incorporated herein by reference. FIELD OF THE INVENTION

[002] This invention relates to the deployment and recovery of seismic nodes by an underwater vehicle and, more particularly, relates to the identification, tracking, deployment and recovery of ocean floor seismic nodes during underwater operations by an autonomous underwater vehicle. DESCRIPTION OF THE RELATED TECHNIQUE

[003] The acquisition and processing of marine seismic data generates a profile (image) of a geophysical structure beneath the ocean floor. Reflection seismology is a geophysical exploration method for determining the properties of the Earth's subsurface, which is especially useful for determining the precise location of oil and gas reservoirs or any specific features. Marine reflection seismology relies on the use of a controlled energy source (usually acoustic energy) that sends energy through seawater and subsurface geological formations. The transmitted acoustic energy propagates downwards through the subsurface as acoustic waves, also called waves. Petition 870260056146, dated 10 / 06 / 2026, page 10 / 44 / 34 or seismic signals. By measuring the time it takes for reflections or refractions to return to seismic receivers (also known as seismic data recorders or nodes), it is possible to assess the depth of the features that cause such reflections. These features may be associated with underground hydrocarbon deposits or other geological structures of interest.

[004] In general, ocean floor cables (OBCs) or ocean floor nodes (OBNs) are placed on the seabed. Marine seismic surveys require a fast and economical system to deploy and retrieve autonomous seismic receivers configured to operate underwater. A conventional method for deploying OBNs is to deploy an ROV in a body of water while also deploying a separate underwater node transfer device, such as a basket, which is configured to hold a plurality of seismic nodes and be lowered and raised from a surface vessel. At a given underwater position, the ROV docks or couples to the node transfer device and transfers one or more nodes from the node transfer device to the ROV. The ROV then places the retrieved nodes in one or more positions on the seabed.Patents and publications of prior art illustrating the use of an ROV or AUV to deploy or retrieve ocean floor seismic nodes include at least the following: U.S. Patents Nos. 6,975,560; 7,210,556; 7,324,406; 7,632,043; 8,310,899; 8,611,181; 9,415,848; 9,784,873;. 9,873,496; 9,969,470; 10,099,760; 11,059,552 and 11,442,191, each of which is incorporated herein by reference. In addition, prior art patents also describe the monitoring of the landing of an ocean floor seismic node by an autonomous underwater vehicle (AUV). See, for example, U.S. Patent No. 9,891,333. An ROV typically uses a TMS connected to a surface vessel for power and communications, allowing the ROV to travel up to 1,300 meters from its landing site. Petition 870260056146, dated 10 / 06 / 2026, page 11 / 44 / 34 of a TMS position. Unlike an AUV, it is a remotely operated vehicle (ROV). In general, the structure and operation of maritime ROVs are well known to subject matter experts. For example, publication no. WO2014 / 090811, incorporated herein by reference, describes an ROV configured to deploy and retrieve autonomous seismic nodes on the seabed with a separate AUV configured to monitor and exchange data with the seismic nodes. Similarly, U.S. Patent No. 8,075,226, incorporated herein by reference, describes an ROV configured to physically deploy autonomous seismic nodes from a carrier located on the ROV, as well as a basket lowered by a surface vessel, and to mechanically connect the ROV to the lowered basket to transfer nodes from the basket to the ROV carrier.

[005] Prior art systems for identifying, handling, and deploying seismic nodes from a surface vessel, underwater basket, and / or underwater vehicle are problematic. The closest prior art to the described embodiments is the use of an ROV to individually handle seismic nodes, such as those described in U.S. Patents Nos. 9,969,470 and 11,442,191, incorporated herein by reference. These ROVs are electrically connected to the surface by a shielded umbilical cable and electrically powered by a hydraulic power unit. These ROVs are typically deployed via a Cable Management System (TMS) that utilizes a near-neutral cable to allow the ROV to travel up to 1,300 meters radially from the TMS position. When multiple ROVs are used, each ROV has a deployment line with its own operational issues.These existing systems often fail to identify, manage, handle, and / or deploy individual seismic nodes. These systems are not automated, are expensive, and are slow. There is an ongoing need to improve the efficiency of seafloor seismic node deployment and recovery. Petition 870260056146, dated 10 / 06 / 2026, page 12 / 44 / 34

[006] The deficiencies mentioned are not intended to be exhaustive, but are among many that tend to impair the effectiveness of previously known techniques in ocean floor deployment systems; however, those mentioned in this document are sufficient to demonstrate that the methodologies appearing in the art have not been satisfactory and that there is a significant need for the systems, apparatus and techniques described and claimed in this invention.

[007] There is a need for an improved method and system for deploying and retrieving ocean floor seismic nodes from and to the seabed using an underwater vehicle. There is a need to reduce operating costs, reduce HSE exposure, and improve operational efficiency. There is a need for an improved remotely operated vehicle for these deployment and retrieval operations. SUMMARY OF THE INVENTION

[008] A system and method for deploying and retrieving a plurality of seafloor seismic nodes from and to the seabed. An autonomous underwater vehicle (AUV) is coupled to a node platform configured to handle the nodes. The AUV and the coupled platform are lowered to and lifted from the seabed and from a surface vessel in a cage or basket. The platform may have a variable buoyancy system (VBS) consisting of a plurality of tubes and a positive displacement pump, such that the VBS is configured to automatically control the buoyancy of the platform. The AUV and / or the platform have a plurality of cameras for optical 3D stereo photogrammetry for node identification, deployment, and retrieval. A system and method for individually identifying, handling, tracking, deploying, and retrieving seismic nodes by the AUV are also described.A method for recovering a non-operational AUV from the ocean floor using a cage and an unmanned underwater vehicle (UUV) is also described. Petition 870260056146, dated 10 / 06 / 2026, page 13 / 44 / 34

[009] A subsea system is described for the subsea transfer of a plurality of seafloor seismic nodes, comprising an autonomous underwater vehicle (AUV) comprising a power source and a plurality of thrusters and a platform configured to be removablely attached to the AUV, wherein the platform is configured to contain a plurality of seafloor seismic nodes. The platform may comprise a node manipulator configured to transfer each of the plurality of seismic nodes to and from the seabed. The platform and / or the AUV may comprise one or more cameras configured to take pictures of the seabed and / or the seismic nodes. The subsea system may also comprise an AUV cage configured to be lifted to and lowered from a surface vessel and the seabed, wherein the AUV cage is configured to contain the AUV and the platform.The AUV will contain other components known to those skilled in the art that are not necessarily unique to the present invention.

[0010] The node platform may comprise a variable buoyancy system (VBS) that is configured to control the platform's buoyancy based on the payload of the platform node. The VBS may comprise one or more pressure chambers, containers, tubes, or pipes. In one embodiment, the VBS comprises a plurality of pipes and a positive displacement pump. In one embodiment, the VBS is configured to inject and discharge water from the VBS to maintain a substantially constant and / or neutral weight of the node platform and / or coupled AUV and node platform during node deployment and / or recovery operations.

[0011] A method is also described for deploying a plurality of seafloor seismic nodes on or near the seabed, comprising deploying an underwater vehicle.Petition 870260056146, dated 10 / 06 / 2026, page. 14 / 44 / 34 autonomous (AUV) from a stern deck of a sea-surface vessel, wherein the AUV is coupled to a node platform comprising a plurality of sea-floor seismic nodes, which automatically locates a pre-plotted position for each of the plurality of sea-floor seismic nodes, which automatically positions the AUV close to the pre-plotted position, for example, using a position derived by an Inertial Navigation System (INS) on board the AUV and a combined Doppler Velocity Log (DVL), which automatically deploys a selected plurality of sea-floor seismic nodes to the pre-plotted position, which automatically records a landing position of the deployed seismic node, and which automatically adjusts the buoyancy of the node platform based on the node payload of the node platform to maintain substantially neutral buoyancy in the water.The method may also comprise injecting water into one or more pressurized chambers of the node platform to vary the platform's weight taking into account the node's payload. The landing position may also comprise the node's position, depth, and azimuth coordinates. The method may further comprise automatically associating the node's landing position with a unique node identification number. The recording step may comprise taking a picture of the node on the seabed using cameras on the AUV and / or the platform. The method step may further comprise deploying the AUV and node platform from the surface vessel into an AUV cage, wherein the AUV cage is configured to be raised and lowered from the surface vessel. The method step may further comprise using one or more cameras as a multibeam echo sounder to scan the seabed.

[0012] A method is also described for recovering a plurality of ocean floor seismic nodes from the seabed, which Petition 870260056146, dated 10 / 06 / 2026, page 15 / 44 / 34, comprises positioning an autonomous underwater vehicle (AUV) near the seabed, wherein the AUV is coupled to a node platform configured to contain a plurality of ocean floor seismic nodes, which automatically locates a position on the seabed for each of the plurality of ocean floor seismic nodes, which automatically positions the AUV near the position on the seabed for each of the plurality of ocean floor seismic nodes, which automatically retrieves each of the plurality of seismic nodes on the node platform by a manipulator arm, and which automatically adjusts the buoyancy of the node platform based on the node payload of the node platform to maintain substantially neutral buoyancy in the water. The method may also include removing water from one or more pressurized chambers of the node platform to vary the platform's weight, taking into account the node's payload.The method may further comprise using one or more cameras on the AUV or platform to automatically locate each of the plurality of seafloor seismic nodes on the seabed. The method may further comprise using one or more cameras to determine the orientation of each of the plurality of seafloor seismic nodes on the seabed. The method may further comprise using one or more cameras as a multibeam echo sounder to scan the seabed.

[0013] Also described is a method for recovering an inoperable autonomous underwater vehicle (AUV) on or near the seabed, comprising deploying a cage from the aft deck of a surface vessel in a position near the seabed, deploying an unmanned underwater vehicle (UUV) from the aft deck of the surface vessel, positioning the UUV near the inoperable AUV, coupling the UUV to the inoperable AUV, coupling the inoperable AUV to the cage, and hoisting the cage to the deck. Petition 870260056146, dated 10 / 06 / 2026, page 16 / 44 / 34 rear of the maritime surface vessel with the inoperative AUV attached. The method may further comprise deploying the UUV into the cage from the rear deck of the maritime vessel. The method may further comprise positioning the inoperative AUV inside the cage by the UUV.

[0014] Also described is a method for generating images of the seabed, comprising positioning an autonomous underwater vehicle (AUV) close to the seabed, wherein the AUV comprises a power source, a plurality of thrusters and a plurality of cameras, which scan the seabed using stereo photogrammetry based on one or more camera images obtained by the plurality of cameras, which generates images of the seabed using point cloud recognition and which identifies objects on the seabed using a neural network based on one or more camera images.

[0015] Also described is an autonomous underwater vehicle (AUV) for the subsea transfer of a plurality of ocean floor seismic nodes, comprising a power source, a propulsion system configured to propel and steer the AUV as it moves underwater, wherein the propulsion system comprises a plurality of thrusters and a variable buoyancy system (VBS) configured to control the buoyancy of the AUV based on the AUV payload. The AUV is configured to hold a plurality of ocean floor seismic nodes. The AUV is configured to move each of the plurality of ocean floor seismic nodes to and from the seabed, such as by means of a node manipulator arm. The AUV may have one or more cameras configured to take pictures of the seabed.

[0016] Also described is a submarine system for the underwater transfer of a plurality of ocean floor seismic nodes, comprising an autonomous underwater vehicle (AUV) comprising a Petition 870260056146, dated 10 / 06 / 2026, page 17 / 44 / 34 power source and a plurality of thrusters, and a platform embedded in the AUV, wherein the platform is configured to contain a plurality of ocean floor seismic nodes, wherein the AUV comprises a node manipulator configured to transfer each of the plurality of seismic nodes to and from the seabed, wherein the AUV comprises a variable buoyancy system (VBS) configured to control the buoyancy of the platform based on the platform's payload. Cameras may be placed on the AUV or the platform to take pictures of the seabed and seismic nodes. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The following drawings form part of this descriptive report and are included to better demonstrate certain aspects of the present invention. The invention can be better understood by reference to one or more of these drawings in combination with the detailed description of specific embodiments presented in this document.

[0018] Figure 1A illustrates an embodiment of an autonomous underwater vehicle (AUV) for handling seafloor seismic nodes according to an embodiment of the present invention; Figure 1B shows an alternative view of the AUV from Figure 1A; Figure 1C shows an alternative view of the AUV from Figure 1A; Figure 1D shows an alternative view of the AUV from Figure 1A; Figure 1E shows an alternative view of the AUV from Figure 1A; Figure 1F shows an alternative view of the AUV from Figure 1A; Figure 2A illustrates one embodiment of an AUV coupled to Petition 870260056146, dated 10 / 06 / 2026, page 18 / 44 / 34 a platform of nodes that can be positioned inside a cage or basket, according to an embodiment of the present invention; Figure 2B shows the AUV from Figure 2A and a cage; Figure 2C shows an alternative view of the AUV from Figure 2A and a cage; Figure 3A illustrates one embodiment of handling an AUV and the associated cage on the aft deck of a marine vessel, according to one embodiment of the present invention, wherein the AUV and the attached platform node are inside a cage and positioned close to a manipulator arm on the aft deck of the marine vessel; Figure 3B shows the AUV from Figure 3A after it has been removed from the cage and transported to a cleaning or storage station; Figure 3C shows an AUV handling system without a cage or AUV or platform attached to the handling system; Figure 4A illustrates one embodiment of deploying an AUV from the aft deck of a marine vessel, according to one embodiment of the present invention; Figure 4B shows the AUV from Figure 4A at a subsequent deployment stage from the aft deck of the marine vessel; Figure 5A illustrates one embodiment of recovering a non-operational AUV from the seabed, according to an embodiment of the present invention, wherein Figure 5A shows a non-operational AUV on the seabed; Figure 5B shows the AUV from Figure 5A and a rescue submarine hovering over the inoperative AUV; Figure 5C shows the AUV and rescue sub from Figure 5B with the rescue sub attached to the inoperative AUV by means of an arm of the Petition 870260056146, dated 10 / 06 / 2026, page 19 / 44 / 34 manipulator; and Figure 5D shows the AUV and the rescue sub from Figure 5C, where the rescue sub is guiding the inoperative AUV into the cage. DETAILED DESCRIPTION

[0019] Several advantageous properties and details are explained in more detail with reference to the non-limiting embodiments that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of starting materials, processing techniques, components, and well-known equipment are omitted so as not to unnecessarily obscure the invention with details. It should be understood, however, that the detailed description and specific examples, while indicating embodiments of the invention, are provided for illustrative purposes only and not as a limitation. Various substitutions, modifications, additions, and / or rearrangements within the spirit and / or scope of the underlying inventive concept will become apparent to those skilled in the art from this invention. The following detailed description does not limit the invention.

[0020] The reference throughout the descriptive report to “1 embodiment” or “a embodiment” means that a specific property, structure or feature described in connection with an embodiment is included in at least one embodiment of the subject matter described. Thus, the appearance of the phrases “in 1 embodiment” or “in an embodiment” in various parts throughout the descriptive report does not necessarily refer to the same embodiment. Furthermore, specific properties, structures or features may be combined in any suitable manner in one or more embodiments. OVERVIEW

[0021] In one or more embodiments, an autonomous underwater vehicle (AUV) is used to deploy or retrieve seismic nodes from the seabed. Petition 870260056146, dated 10 / 06 / 2026, page 20 / 44 / 34 of the ocean. An AUV in the following description is considered to encompass an autonomous, self-propelled underwater vehicle. In general, the structure and operation of an AUV and a seismic AUV are well known to subject matter experts. For example, U.S. Patent No. 9,090,319 of the Applicant, incorporated herein by reference, describes a type of autonomous underwater vehicle for marine seismic surveys. Other AUVs are also known, such as U.S. Patent No. 9,891,333, incorporated herein by reference. An AUV may or may not incorporate seismic sensors. A HAUV may be considered a hovering autonomous underwater vehicle and may equivalently be called an unmanned underwater vehicle (UUV). For the purposes described in this document, the terms AUV and HAUV are used interchangeably.As described in this document, the AUV (which may refer to a UUV or a HAUV) does not require an electrical connection for power or communication with a surface vessel. The AUV may contain its own power source (e.g., batteries). The AUV is autonomous, as it is pre-programmed to perform a range of subsea tasks. As a result, the described AUV can be completely disconnected from a surface vessel and can move faster between knot positions on the seabed than a traditional ROV / AUV approach. Communications with the AUV can be maintained from the surface vessel (as the surface vessel is typically within the AUV's acoustic range), and the monitoring and control approach can be considered supervised autonomy. In other embodiments, the AUV may be operated completely independently of a surface vessel, such as a surface platform launch facility.The AUV is configured to store, transport, and handle ocean floor seismic nodes to and from the seabed and the AUV. In some embodiments, the described AUV may comprise or be coupled to a node platform. Petition 870260056146, dated 10 / 06 / 2026, page 21 / 44 / 34 separate for the transport and / or handling of seismic nodes. In some embodiments, the described AUV can be transferred to and from the seabed by the use of a cage or basket that is lowered and raised from a surface vessel.

[0022] An autonomous seismic node is well known in the art. The AUV described does not necessarily depend on a specific design or configuration of a seismic node. In general, autonomous seafloor nodes are independent seismometers and, in a typical application, are self-contained units comprising an enclosure, frame, skeleton, or housing that includes various internal components such as geophone and hydrophone sensors, a data recording unit, a reference clock for time synchronization, and a power source. The power sources are usually battery-powered, and in some cases, the batteries are rechargeable. In operation, the nodes remain on the ocean floor for an extended period of time. After the data recorders are retrieved, the data is downloaded, and the batteries can be replaced or recharged in preparation for the next deployment. Several designs of autonomous seafloor seismic nodes are well known in the art.Autonomous nodes include spherical nodes, cylindrical nodes, disc nodes, and square nodes. Some of these devices and related methods are described in more detail in the following patents, incorporated herein by reference: U.S. Patents Nos. 6,024,344; 7,310,287; 7,675,821; 7,646,670; 7,883,292; 8,427,900;. 8,675,446; and 9,523,780. In one embodiment, the seismic nodes used by the described AUV are the Applicant's MANTA nodes, which may be substantially similar to the seismic node described in U.S. Patents Nos. 9,494,700 and 9,523,780, incorporated herein by reference.

[0023] In one embodiment, the described AUVs are deployed and recovered from the aft deck of a maritime vessel. These Petition 870260056146, dated 10 / 06 / 2026, page 22 / 44 / 34. Offshore vessels and aft decks are well known to those skilled in the art. The aft deck may comprise a plurality of containerized shipping containers containing seismic nodes, platform deck loader units, servers, and other equipment required on the aft deck of the offshore vessel, as described in U.S. Patents Nos. 9,784,873 and 9,459,366, incorporated herein by reference. The aft deck of the vessel may include a conventional LARS unit for the deployment of ROVs, AUVs, and baskets on the seabed. A plurality of AUVs and underwater garages may be placed on the surface of the vessel during deployment and recovery operations.In one embodiment, when the cage is placed on the aft deck, it fully connects to the containerized deployment system for handling AUVs, autonomous seismic nodes and / or attached platforms, and the autonomous seismic nodes can be washed, recharged, stored and have data transferred.

[0024] The Applicant's U.S. Patent Publication No. 2019 / 0265378, entitled Automated Ocean Bottom Seismic Node Identification, Tracking, Deployment, and Recovery System and Method, is incorporated herein. That system describes an ROV coupled to a subsea basket that carries nodes in the basket. The identification system is configured to track, select, deploy, and recover a specific seismic node by its unique identification number. The present application describes an AUV instead of an ROV and a unique platform for coupling to the AUV for deployment and recovery on the seabed. AUTONOMOUS UNDERWATER VEHICLE

[0025] Figures 1A to 1D depict an embodiment of an AUV according to the present invention. In one embodiment, an AUV may comprise a body with a propulsion system, a guidance system, an acoustic system, and a navigation system. The general shape Petition 870260056146, dated 10 / 06 / 2026, pp. 23 / 44 / 34, and the AUV design are not necessarily important, provided that it is configured to move on the seabed and attach to the described node platform. In one embodiment, the described AUV may be substantially similar in function to that described in U.S. Patent No. 9,891,333, incorporated herein by reference; these AUV components and AUV acoustic technology are well known in the art and are discussed in more detail below.

[0026] With reference to Figure 1A, the AUV 101 may comprise the front part 103, the rear part 105, the upper part 107 and the lower part 109. With reference to Figure 1B, the AUV may comprise horizontal thrusters 111, which may be positioned at the rear part 105 or near the rear part. With reference to Figure 1C, the AUV may comprise vertical thrusters 113, which may be positioned at the front part 103 and / or at the rear part 105 of the AUV. With reference to Figure 1D, the AUV may comprise side thrusters 115, which may be positioned at the rear part 105 of the AUV.

[0027] As described in this document, the AUV is configured to contain a plurality of seafloor seismic nodes. The nodes may be located within the AUV itself or may be handled by a separate node platform coupled to the AUV that may be removable and fixed to the AUV. In still other embodiments, the node platform may be an integral part of or incorporated into the AUV, so that the AUV and the node platform are essentially considered a single unit. In general, a node platform, as described in this document, is coupled to the AUV and contains a plurality of seafloor seismic nodes. The described node platform may be removablely fixed to the AUV and may comprise a variable buoyancy system, as described in more detail in this document. With reference to Figures 1A to 1D, node platform 131 is illustrated as Petition 870260056146, dated 10 / 06 / 2026, p. 24 / 44 / 34 being coupled in form and shape to the AUV 101. In one embodiment, the node platform 131 is coupled to the underside of the AUV and may also be coupled or formed around the sides of the AUV. In one embodiment, the node platform 131 comprises a plurality of horizontal pipes 133, which may be located on one or more sides of the AUV / platform and / or in the middle of the platform, so that, when coupled to the AUV, the pipes 133 may be located below the AUV.

[0028] In one embodiment, the AUV may comprise a propulsion system that may include one or more propellers or thrusters. A motor within the AUV body may power the propellers. Other propulsion systems may be used, for example, jets, thrusters, pumps, etc. For example, the AUV may include one or more vertical thrusters (for vertical lift) and a plurality of horizontal thrusters (for lateral movement). The AUV may include one or more fins or wings for flight stabilization and / or greater control of the AUV. A motor may be controlled by a processor / controller. A processor may also be connected to a memory unit and a tracking system, which may be configured to track the deployed cable and / or seismic nodes. One or more batteries may be used to power all these components.

[0029] The AUV may also include an inertial navigation system (INS) configured to guide the AUV to a desired location. An inertial navigation system includes at least one module containing accelerometers, gyroscopes, magnetometers, or other motion-sensing devices. The INS initially receives the AUV's position and velocity from another source, for example, a human operator, a global positioning system (GPS) satellite receiver, another INS from a surface vessel, etc., and then the INS calculates its own updated position and velocity by integrating (and optionally filtering) the information received from its motion sensors. The advantage of a Petition 870260056146, dated 10 / 06 / 2026, page 25 / 44 / 34 The key advantage of INS is that it does not require external references to determine its position, orientation, or speed after initialization. As noted above, alternative systems can be used, such as acoustic positioning systems. An optional acoustic Doppler Velocity Log (DVL) (not shown) can also be employed as part of the AUV, providing bottom tracking capabilities for the AUV. Sound waves reflected off the seabed can be used to determine the AUV's velocity vector, and combined with a calculated position, compass heading, and data from various sensors on the AUV, the AUV's position can be determined. This aids in AUV navigation and provides confirmation of its position relative to the seabed.

[0030] In addition to or instead of an INS, the AUV may include a compass and other sensors, such as an altimeter to measure its altitude, a pressure gauge, an interrogation module, a location beacon, etc. The AUV may optionally include an obstacle avoidance system and a communication device (e.g., WiFi device, a device that uses an acoustic connection) or other data transfer device capable of wirelessly transferring data. One or more of these elements may be connected to the processor. The AUV additionally includes an antenna (which may be flush with the AUV body) and a corresponding acoustic system for underwater communications, such as communication with the deployment, launch or recovery vessel (or another surface vessel) or an underwater base / station, ROV or other AUV, or even the deployed nodes themselves.For surface communications (e.g., while the AUV is on a ship), one or more antennas and communication devices may be used to transfer data to and from the AUV. Fins and / or stabilizing wings to guide the AUV to the desired position may be used along with a propeller to steer the AUV. However, in one embodiment, the AUV has no fins or wings. The AUV... Petition 870260056146, dated 10 / 06 / 2026, page 26 / 44 / 34 may include a buoyancy system to control its depth and keep it stable after landing. In some embodiments, the AUV has neutral buoyancy in a body of water, while in other embodiments it may have positive or negative buoyancy. Those skilled in the art will know that more or fewer modules or components may be added to or removed from the AUV based on the specific needs of the AUV.

[0031] The acoustic system used by the AUV may be an ultrashort baseline (USBL) system, sometimes known as a supershort baseline (SSBL) system. This system uses an underwater acoustic positioning method. A complete USBL system includes a transceiver or acoustic positioning system mounted on a mast under a vessel (such as the Hi-PAP, commercially available from Kongsberg) and a transponder on the AUV. In general, a hydroacoustic positioning system consists of a transmitter (transducer) and a receiver (transponder). An acoustic positioning system uses any combination of communication principles for measurements and calculations, such as SSBL. In one embodiment, the transceiver of the acoustic positioning system comprises a spherical transducer with hundreds of individual transducer elements. A signal (pulse) is sent from the transducer and directed to the transponder on the seabed.This pulse activates the transponder, which responds to the vessel's transducer. The transducer detects this return pulse and, with the corresponding electronics, calculates a precise position of the transponder relative to the vessel based on the ranges and heading measured by the transceiver. In one embodiment, to calculate an underwater position, the USBL system measures the horizontal and vertical angles along with the transponder's range (located on the AUV in a typical SSBL configuration) to calculate a 3D position projection of the AUV relative to the vessel. An error in the angle measurement causes the position error to be a function of the transponder's range; therefore, a USBL system has a precision error. Petition 870260056146, dated 10 / 06 / 2026, page 27 / 44 / 34, which increases with range. Alternatively, a short baseline (SBL) system, an inverted short baseline (iSBL) system, or an inverted USBL (iUSBL) system, the technology of which is known in the art, may be used. For example, in an iUSBL system, the transceiver is mounted on or inside the AUV, while the transponder / responder is mounted on the surface vessel or ROV, and the AUV is aware of its individual position instead of depending on that position from a surface vessel (as is the case in a typical USBL system). In another embodiment, a long baseline (LBL) acoustic positioning system may be used. In an LBL system, reference beacons or transponders are mounted on the seabed around the perimeter of a work site as reference points for navigation.The LBL system can use a USBL system to obtain precise locations of these reference points on the seabed. Thus, in one embodiment, the reference beacon can comprise a USBL transponder and an LBL transceiver. The LBL system results in very high positioning accuracy and position stability, independent of water depth, and each AUV can have its position determined by the LBL system. The acoustic positioning system can also use an acoustic protocol that utilizes wideband Direct Sequence Spectral Mirroring (DSSS) signals, which provides a greater communication range in the water.

[0032] Figures 1E and 1F illustrate the AUV 101 in operation. For example, Figure 1E shows the AUV from a bottom perspective, with the node platform 131 attached to the underside of the AUV. A front section 133 of the node platform is open, through which seismic nodes can be deployed from the AUV and / or the node platform. In some embodiments, a node manipulator arm may be attached to the AUV or the node platform to assist in handling the seismic nodes. In some embodiments, the AUV may contain a tool compartment that is located Petition 870260056146, dated 10 / 06 / 2026, page 28 / 44 / 34 within the node platform or within an external form of the AUV. Figure 1F shows the AUV near seabed 100 and scanning seismic node 120 positioned on the seabed. As described in this document, various sensors or cameras can be used by the AUV or the node platform to scan the seabed, obtain information about the node and the seabed, and / or identify the specific seismic node. Platform for handling knots

[0033] In general, a node platform, as described in this document, is coupled to the AUV and contains a plurality of ocean-floor seismic nodes. The described node platform may be removablely attached to the AUV and may comprise a variable buoyancy system, as described in more detail in this document. In other embodiments, the node platform may be permanently fixed embedded in the AUV. In still other embodiments, the AUV may comprise a large belly or void space to contain the seismic nodes and achieve the same functionality as the described node platform without having a separate node platform.

[0034] A schematic of a coupled node platform, as described in this document, is illustrated in Figures 2A to 2C. This may be substantially similar to node platform 131, as illustrated in Figures 1A to 1D. With reference to Figure 2A, the AUV 201 may be coupled to node platform 211. Node platform 211 is configured to contain a plurality of ocean floor seismic nodes 221a to 221d. Node platform 211 may comprise one or more manipulator arms 213. One or more cameras (not shown) may also be located on the node platform. In one embodiment, the node platform comprises a variable buoyancy system 215, which may comprise a plurality of pipes and a water displacement pump, discussed in greater detail below. With reference to Figure 2B, the AUV and the platform Petition 870260056146, dated 10 / 06 / 2026, page 29 / 44 / 34. The attached knot platform can be positioned inside the cage or basket 231 for handling or transport purposes. With reference to Figure 2C, the cage 231 can be lowered and raised from a surface vessel by means of cable 233. As also illustrated in Figure 2C, the AUV and the attached knot platform can be deployed from the cage for underwater operations.

[0035] The node platform and / or the AUV are configured to transport and / or handle seismic nodes to and from the seabed. In general, the described platform may also be considered a cart, cage, or basket, as known in the art. In one embodiment, the AUV is configured to move on the seabed and a plurality of seismic nodes are positioned on the platform. In one embodiment, the platform may be attached to or detached from the AUV on the aft deck of the sea vessel, at sea, or on the seabed. The AUV and the attached platform may move to and from the seabed and to and from the surface vessel with or without nodes. In the past, remotely operated vehicles (ROVs) offered similar but different configurations and methods, such as those described in U.S. Patents Nos. 6,975,560; 7,210,556; 7,324,406; 7,632,043; 8,310,899; 8,611,181; 9,090,319; 9,415,848; and 9,873,496, incorporated herein by reference.In one embodiment, the platform is removablely attached to the AUV, while in other embodiments the node platform is integrally formed and / or forms part of the AUV. For example, the AUV may have a large belly or empty space on the underside where seismic nodes can be stored and transferred to and from, instead of having a separate node platform removablely attached to the AUV. In one embodiment, the described AUV does not actually need to handle the nodes, but rather move the platform to the operable subsea position and / or on the seabed. In one embodiment, the platform has its own power source, while in other embodiments... Petition 870260056146, dated 10 / 06 / 2026, p. 30 / 44 / 34 the platform uses a power source in the AUV when they are docked.

[0036] In one embodiment, the described platform is a cart that can be coupled to the described AUV. The platform can be configured to support up to 50 or more seismic nodes, each with a payload of up to 25 kg in water. In general, a platform is separate from the AUV and can be coupled and / or integrated with the AUV to provide power, control, and movement. It can be mounted below the AUV and secured with a plurality of fasteners, such as flanges or pins. It can have a substantially cuboid or rectangular shape and can be aerodynamic to reduce drag. In one embodiment, the platform incorporates an integrated, automatic XYZ manipulator to position nodes to and from a storage position on the platform on the seabed. The manipulator can be integrated with a mission control system on the AUV for automatic control. As the seismic nodes need to be manipulated, the mission control system of the AUV and / or the platform automatically manipulates the nodes at the appropriate time.The platform may have substantially neutral buoyancy in the water and may be formed of a flotation material and / or syntactic foam to keep the platform nearly neutral in the water. In one embodiment, the platform may comprise a variable buoyancy system (discussed in more detail below) to maintain the weight in the water close to zero for the platform, regardless of the platform's payload while it is deploying and recovering nodes.

[0037] In one embodiment, the described platform incorporates one or more cameras for targeting the seabed to identify seismic nodes and the position of the nodes on the seabed. In one embodiment, the platform comprises two fixed cameras facing vertically downwards, spaced at a predetermined distance (such as 30 centimeters or more). In one embodiment, the XYZ manipulator is positioned at an equal distance of Petition 870260056146, dated 10 / 06 / 2026, page 31 / 44 / 34 both cameras and have a fixed displacement from the AUV navigation reference.

[0038] In one embodiment, the described platform design reduces platform form drag. In one embodiment, the described platform incorporates a sliding section (see Figure 1E) over a forward portion of the platform that moves forward to provide a handling compartment for the manipulator to retrieve and deploy seismic nodes to and from the platform. The sliding section can be pushed forward by the manipulator, and when the manipulator is retrieved into the platform, the sliding section can slide freely back into its position. Alternatively, the handling can be opened / closed automatically by a separate motor or gear system, or even closed with water pressure. This design effectively closes the interior of the platform to prevent the entry of marine life and reduce drag while the AUV moves underwater.

[0039] In one embodiment, the platform may incorporate a buoyancy control system so that the AUV can maintain a nearly uniform pitch and near-neutral buoyancy (+ / - 25 kg) throughout submersion, despite variations in payload as knots are recovered or deployed. This system may be called a variable buoyancy system or VBS. In one embodiment, the VBS is configured from several pipes that run in parallel and are specially arranged to keep the center of buoyancy (COB) nearly vertically above the center of gravity (COG). These pipes may be positioned on the sides of the AUV and / or underneath the AUV, being located within or in different parts of the platform. The residual momentum between these positions is controlled by the use of vertical thrusters on the AUV that automatically control the pitch and rotation of the AUV to maintain the AUV's orientation close to horizontal. In one embodiment, Figures Petition 870260056146, dated 10 / 06 / 2026, p. 32 / 44 / 34 Figures 1A to 1D illustrate the VBS pipes 133 according to one embodiment. In another embodiment, Figure 2A illustrates the variable buoyancy system 215. The limited power supply to the platform and AUV is usually a problem and requires an optimized design of the AUV and platform. The location of the seismic nodes, the VBS response, the drag of the AUV and platform, and the positions of the vertical and horizontal thrusters on the AUV are all important elements of the described embodiment. In some embodiments, the described VBS is part of the AUV and not the node platform itself.

[0040] In one embodiment, the described platform comprises a plurality of pressure chambers configured for water inlet and outlet from the chambers to vary the mass of the node platform. In one embodiment, the VBS comprises a plurality of pressurized chambers, tubes, containers, or pipes arranged horizontally along the platform and running the entire length of the platform, such that a metered water pump can supply a mass of water into and out of the pipes to account for the node payload. In one embodiment, the pipes are positioned between the AUV side thrusters at the bottom of the platform, but in other embodiments they may be at the top, bottom, or side of the AUV and / or the platform. The barrels may be made of aluminum or titanium and may have threaded caps. The pipes may be arranged to optimize the Center of Gravity (CoG) of the added mass to match the vehicle's time maintenance.For example, as the seismic nodes advance within the platform, the Center of Balance (CoB) is aligned with the CoG of the weight of the nodes. In one embodiment, a weight of water equivalent to the weight of a seismic node is injected into the pipes as each node is deployed and, conversely, water is ejected from the pipes as each node is recovered. In one embodiment, the VBS uses a positive displacement pump (such as a piston pump). Petition 870260056146, dated 10 / 06 / 2026, page 33 / 44 / 34 high-pressure or a screw pump) and seawater to act as a variable mass medium to vary the weight of the platform and account for the knot payload. The water volume is regulated by the engine RPM to match the weight change required by the platform to maintain buoyancy or pitch. The pump may use a torque conversion system to drive the pump with a small motor. Alternatively, to generate a given torque on the pump, the corresponding motor may use a closed-circuit fluid coupling or a pressure intensification approach. In one embodiment, each horizontal pipe has an internal floating piston that separates the compressed gas from the seawater. In one embodiment, one or more discharge valves may be used to relieve internal pressure when the platform is being recovered to the aft deck of the marine vessel. DEPLOYMENT AND RECOVERY SYSTEM

[0041] In one embodiment, the described AUV (and the attached node platform) can be deployed by a surface vessel to a subsea depth by means of a cage or basket. Figures 2B and 2C illustrate schematic designs of this basket, AUV, and platform. Figures 3A to 3C and Figures 4A and 4B illustrate the deployment and handling steps of the cage from a surface vessel.

[0042] One embodiment of a cage is illustrated in Figures 3A and 3B. Figure 3A illustrates the AUV 101 and the attached platform node 131 contained within the cage, box or basket 311 positioned near the manipulator arm 301 on the aft deck of the surface vessel 300. The surface manipulator arm has an attachment point 303 that can be attached to the cage for deployment and retrieval of the cage from the aft deck of the surface vessel. A cage transport system 313 can be located on the aft deck to move the cage from one position on the aft deck to another position on the aft deck, at which time the AUV can Petition 870260056146, dated 10 / 06 / 2026, page 34 / 44 / 34 to be removed from the cage and the seismic nodes removed from the AUV and / or node platform. The manipulator arm is known to those skilled in the art and can be part of any conventional LARS system for ROV systems on a surface vessel.

[0043] Comparing Figures 3A and 3B, in Figure 3B, AUV 111a has been removed from the cage and is being transported to a cleaning or storage station. Additionally, a top portion of AUV 111a has been removed to show some of the AUV's internal components. In Figure 3B, other AUVs are shown in sequence and are being handled on the aft deck. For example, AUV 111b is still contained in cage 311b, and AUV 111c is being transported in transport system 313. Figure 3C shows the AUV handling system 313 without a cage or AUV or platform connected to the handling system. In one embodiment, the handling system comprises a series of rails 312 arranged on the aft deck of the vessel to move the AUVs, cages, and / or node platforms between different positions on the aft deck.Elevated rail assemblies 316 can be positioned over rails 312 for movement within the transport system and for moving nodes, node platforms, cages or AUVs on the vessel's aft deck.

[0044] Figures 4A to 4B illustrate an embodiment of deploying an AUV from the aft deck of a sea vessel, according to an embodiment of the present invention. As shown in Figures 4A and 4B, the surface manipulator arm 301 is located near one side of the surface vessel 300 for deploying and retrieving the cage 431 onto one side of the surface vessel. In other embodiments, a maneuvering opening may be located in the center of the vessel, and the arm or similar winch system is configured to raise and lower the cage from the middle or bottom of the surface vessel. A plurality of AUVs may be positioned on the deck of the Petition 870260056146, dated 10 / 06 / 2026, page 35 / 44 / 34 surface vessel in a handling or transport system. After the AUV (with or without platform) is positioned inside a cage, arm 301 connects to the cage and moves cage 431 (and the attached AUV 401 and knot platform 411) from the vessel's aft deck to one side of the vessel. Figure 4B shows cage 431 being lowered into a body of water by means of cable 303 and after a moment the AUV 401 (and the attached knot platform 411) has moved away from the cage. Depending on the deployment operation, the cage may remain in a position underwater, may be lifted to the surface to retrieve another AUV, or a second AUV that is in the ocean may be retrieved by the cage and lifted back onto the surface vessel. In general, AUV recovery operations are the opposite of the deployment method described above.

[0045] When lowered from the surface vessel, the AUV may or may not have an attached node platform containing a plurality of seismic nodes, as described in this document. Once lowered from the surface vessel and at a desired subsea position, the AUV may exit the cage for its mission operation. The cage may remain in this position or be hoisted onto the surface vessel. A second AUV, after completing its subsea mission, may dock at the cage and be recovered by the surface vessel.

[0046] In one embodiment, the cage can land on the seabed while the AUV is docked / undocked, while in other embodiments the docking steps can be performed at a depth above the seabed. The AUV can automatically enter or exit the cage based on acoustic beacons positioned on the cage for triangulation purposes. In one embodiment, the exiting AUV can acoustically communicate with an entering AUV for better positioning of the AUVs. The cage may or may not contain thrusters for better positioning / alignment. Petition 870260056146, dated 10 / 06 / 2026, page 36 / 44 / 34 submarine. The cage can be powered and / or connected to a surface vessel for power / communications. The cage may have real-time video cameras, thrusters, and a manipulator to handle inoperative AUVs or seismic nodes. The cage may have locking mechanisms to safely transfer an AUV from the seabed and the surface vessel.

[0047] In one embodiment, when the cage lands on the rear deck, it fully connects to a containerized deployment system for handling the autonomous seismic nodes coupled to the AUV. In another embodiment, a sliding front section of the node platform can be opened and the seismic nodes can be placed into a transport system that carries the seismic nodes into the rear deck containerized system, at which point they can be washed, have their data downloaded, reloaded, and stored. Loading the node platform is a reverse process using the same equipment.

[0048] When a seismic node is placed on the seabed, a photo can be taken by the AUV or the seismic node platform during landing, providing further confirmation of the seismic node's landing position. This position can be automatically entered into the relevant database for the specific node. For the present invention, the landing is the point of contact of a seismic node with the seabed. Once the node is positioned on the seabed, the landing position can be automatically recorded (e.g., by a calculated position and / or a photo) and associated with the specific seismic node in a database. In one embodiment, an automated control system – which can be combined with the AUV's navigation system – manages the identification, handling, and positioning operations of seismic nodes.For example, for any specific operation, a specific seismic node can be selected by the AUV, and the ID and position of the seismic nodes can be displayed in a user interface. These properties... Petition 870260056146, dated 10 / 06 / 2026, pp. 37 / 44 / 34 allows for real-time knowledge of the position of all seismic nodes during a deployment operation and greater operational control of the seismic node deployment and recovery process. This identification, tracking, deployment, and automatic recovery of seismic nodes are described in more detail in the Applicant's U.S. Patent Application No. 2019 / 0265378, incorporated herein by reference, which describes an ROV with an attached platform.

[0049] After the desired node is placed on the seabed, the AUV navigation system automatically guides the AUV to the next seabed position where the next seismic node will be placed. In one embodiment, each of the predetermined positions of the ocean floor nodes (which may number in the hundreds or thousands) has been determined, and based on the desired deployment system, a list of specific actions and / or steps has been generated to compose the most efficient seismic node deployment operation and / or scheme. In one embodiment, after positioning an AUV over a node position, the AUV can estimate the XY displacement and then lock that position in the AUV navigation system as a vehicle reference point. As the AUV descends to the seabed (either during seismic node deployment or retrieval), a manipulator arm can make contact with the target node using onboard IMU and DVL. Stereo Optical Photogrammetry

[0050] The AUV and platform described utilize camera technology, platform manipulator, AUV hovering capabilities, and automated control software to correctly position, locate, deploy, and recover ocean floor seismic nodes. In one embodiment, the AUV is used to guide the seismic node's bearings, take a digital photograph of the specific seismic node on the seabed (with the landing point on the bottom), and categorize all this information in the payload computer for use. Petition 870260056146, dated 10 / 06 / 2026, pp. 38 / 44 / 34 later, important aspects of the present request are considered. In one embodiment, a Node Implementation Phase and a Node Recovery Phase are described.

[0051] In one embodiment, for the Node Deployment Phase, the location and positioning of seismic nodes on the seabed are obtained by navigating to a pre-charted position (PP) determined by the survey designer. Upon reaching the PP position, the AUV will descend to the ocean floor and hover just above the seabed. The target height above the seabed can be determined by the vertical course of the XYZ manipulator and the need to stay away from the seabed and maintain bottom tracking with a Doppler Velocity Recorder (DVL). In one embodiment, the target height can be up to 50 centimeters above the seabed. At this position, the platform manipulator can transfer the seismic node to a position for release from the platform, and the AUV will orient its course to the desired azimuth just before node release.The AUV and / or platform are configured to take photos of the seismic node after positioning on the seabed and record the precise position of settling (AL).

[0052] After seismic recording is completed and seismic nodes need to be recovered, a Node Recovery Phase can begin. In this phase, the AUV (with attached platform) is programmed to automatically navigate back to the AL position for each seismic node using a combination of inertial guidance, DVL corrections, and USBL assistance. When the AUV reaches the subsea position, in one modality, an optical 3D stereo photogrammetry approach is used to locate the seismic node. This procedure is performed by teaching the AUV control system to recognize the unique 3D shape of the specific seismic node, and the processed image output provides an XYZ position and an azimuth position relative to the AUV. This optical approach has not been previously performed for seismic node deployment and recovery, but can be described further. Petition 870260056146, dated 06 / 10 / 2026, pp. 39 / 44 / 34 detailed in U.S. Patent Publication No. 2003 / 0231788 and CN103544315A, each incorporated herein by reference.

[0053] By acquiring the precise position using this optical approach, the AUV will descend and the XYZ manipulator will arrive directly above the seismic node and the AUV at the correct azimuth. In some cases, optical methods can become problematic with high turbidity. However, since the XYZ position should have been captured before turbidity became a problem, onboard inertial poisoning / DVL takes priority in the final approach to overcome turbidity / visibility issues. In one embodiment, this switch in positioning methods is achieved by measuring the noise within the digital image.

[0054] In one embodiment, the stereo photogrammetry system / optical approach is also used in the deployment phase and is not limited to the recovery phase. This optical approach is capable of detecting variations in the bathymetry of the seabed. For example, a very irregular seabed compared to the reference would indicate the presence of a rock, marine creature, or a deep-sea benthic community. If this type of anomaly is detected at a PP location, the AUV is programmed to automatically relocate to a programmed displacement position and attempt to repeat the task. If the same problem is encountered, an acoustic communication can be sent to the surface supervisor and, if necessary, the problematic PP position will be ignored or an image of the seabed can be requested for verification or another displacement can be applied until a suitable terrain of the ocean floor is obtained.In one embodiment, the AUV can be used to generate images of the seabed using point cloud recognition for seabed characterization purposes, so that the seabed can be scanned by cameras using stereo photogrammetry / optical approaches, as described in this document. Petition 870260056146, dated 10 / 06 / 2026, p. 40 / 44 / 34 AUV Emergency Recovery

[0055] In one embodiment, a method for emergency recovery of an inoperable or dead AUV is described. One embodiment of this method is described in Figures 5A to 5E. In one embodiment, AUVs may lose power or suffer an operational error during underwater operations, causing the AUV to become inoperable on the seabed. In these situations, it is desirable to recover the AUV efficiently and effectively. In one embodiment, the surface vessel may carry a spare AUV or ROV attached to a handler platform. This spare sub can be deployed on the seabed to recover the inoperable AUV in the spare cage on the handler platform.

[0056] Figure 5A illustrates an inoperable AUV on the seabed. A cage / basket 501 can be deployed on the seabed 500 from a surface vessel near a position of the inoperable AUV 511. The deployed cage 501 may also include a second AUV or sub (i.e., a rescue sub) equipped with a manipulator platform. Figures 5B and 5C illustrate a rescue sub with an attached platform. The rescue sub 521 may or may not include a tether to the surface vessel. The rescue sub 521 can attach to and / or grab the inoperable AUV using the manipulator 523. Figure 5B illustrates a scheme where the rescue sub 521 is hovering over the inoperable AUV 511, and Figure 5C illustrates a scheme where the rescue sub has been attached to the inoperable AUV via the manipulator arm. Figure 5D illustrates rescue sub 521 guiding the inoperable AUV 511 to cage 501 using manual or automatic piloting.Figure 5E illustrates the inoperable AUV 511 being locked and / or secured in place within cage 501. After the inoperable AUV is secured in the cage, the attached rescue sub and cage can be hoisted onto the surface vessel. In one embodiment, the rescue sub may be an AUV or an unmanned underwater vehicle (UUV), and in another... Petition 870260056146, dated 10 / 06 / 2026, page 41 / 44 / 34 modality, may be the Orion Manipulator platform piloted manually via fiber optic cable.

[0057] Many other variations in the overall configuration of the platform, cage, and AUV are possible within the scope of the invention. For example, the platform and the AUV can be integrated so that they are considered a single unit. The platform can be removablely attached to the AUV, permanently attached to the AUV, or incorporated or integrated into the AUV. In some embodiments, a platform may not be used, and the AUV may be configured with the variable buoyancy system and a node storage compartment for storing and handling seismic nodes. A manipulator arm may be located on the platform or on the AUV. The platform and cage may be self-powered or may be powered by the AUV. The platform and / or the AUV may comprise one or more cameras configured to take pictures of the seabed and / or seismic nodes.It should be noted that the previous embodiments are merely examples of the many different structural and material configurations that are possible within the scope of the present invention.

[0058] Although the invention(s) is / are described in this document with reference to specific embodiments, various modifications and alterations may be made without departing from the scope of the present invention(s), as set forth in the claims below. Consequently, the descriptive report and figures should be considered in an illustrative and non-restrictive sense, and all such modifications should be included within the scope of the present invention(s). Any benefits, advantages, or solutions to problems described in this document with respect to specific embodiments should not be interpreted as a critical, necessary, or essential property or element of any or all of the claims.

[0059] Unless otherwise indicated, terms such as “first” andPetition 870260056146, dated 10 / 06 / 2026, page 42 / 44 / 34 “According to” are used to arbitrarily distinguish between the elements that these terms describe. Therefore, these terms are not necessarily intended to indicate temporal or other types of prioritization of these elements. The terms “coupled” or “operationally coupled” are defined as connected, although not necessarily directly, and not necessarily mechanically. The terms “a” and “an” are defined as one or more, unless otherwise indicated. The terms “comprise” (and any form of comprehend, such as “comprises” and “that comprehends”), “have” (and any form of have, such as “has” and “that has”), “include” (and any form of include, such as “includes” and “that includes”) and “contain” (and any form of contain, such as “contains” and “that contains”) are open linking verbs.As a result, a system, device, or apparatus that “comprises,” “has,” “includes,” or “contains” one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Similarly, a method or process that “comprises,” “has,” “includes,” or “contains” one or more operations possesses those one or more operations, but is not limited to possessing only those one or more operations.

Claims

1. Submarine system for the subsea transfer of a plurality of seafloor seismic nodes, characterized in that it comprises an autonomous underwater vehicle (AUV) comprising a power source and a plurality of thrusters; and a platform configured to be removablely attached to the AUV, wherein the platform is configured to contain a plurality of seafloor seismic nodes, wherein the platform comprises a node manipulator configured to transfer each of the plurality of seismic nodes to and from the seabed, wherein the platform comprises a variable buoyancy system (VBS).

2. System according to claim 1, characterized in that the VBS comprises a plurality of pipes and a positive displacement pump, wherein the VBS is configured to control the buoyancy of the platform based on the platform's payload.

3. System according to claim 1, characterized in that it further comprises an AUV cage configured to be lifted to and lowered from a surface vessel and from the seabed, wherein the AUV cage is configured to contain the AUV and the platform.

4. Method for deploying a plurality of seafloor seismic nodes on or near the seafloor, characterized in that it comprises deploying an autonomous underwater vehicle (AUV) from a stern deck of a surface vessel, wherein the AUV is coupled to a node platform comprising a plurality of seafloor seismic nodes; automatically locating a pre-plotted position for each of the plurality of seafloor seismic nodes; automatically positioning the AUV near the pre-plotted position; automatically deploying a selected node from among the plurality of seafloor seismic nodes at the pre-plotted position; automatically recording a landing position of the deployed seismic node; and automatically adjust the buoyancy of the node platform based on the node platform's payload to maintain substantially neutral buoyancy in the water.

5. Method according to claim 4, characterized in that the step for adjusting buoyancy comprises injecting water into one or more pressurized chambers of the node platform to vary the weight of the platform taking into account the node's payload.

6. Method according to claim 4, characterized in that the landing position comprises position, depth and azimuth coordinates of the node.

7. Method according to claim 4, characterized in that it further comprises automatically associating the landing position of the node with a unique node identification number.

8. Method according to claim 4, characterized in that the recording step comprises taking a picture of the knot on the seabed.

9. Method according to claim 4, characterized in that it further comprises deploying the AUV and the node platform from the surface vessel into an AUV cage, wherein the AUV cage is configured to be raised and lowered from the surface vessel.

10. Method according to claim 4, characterized in Petition 870250066711, dated 07 / 31 / 2025, page 48 / 97 3 / 5 by the fact that it further comprises using one or more AUV cameras as a multibeam echo sounder to scan the seabed.

11. Method for recovering a plurality of seafloor seismic nodes from the seabed, characterized in that it comprises positioning an autonomous underwater vehicle (AUV) near the seabed, wherein the AUV is coupled to a node platform configured to contain a plurality of seafloor seismic nodes; automatically locating a position on the seabed for each of the plurality of seafloor seismic nodes; automatically positioning the AUV near the seabed position for each of the plurality of seafloor seismic nodes; automatically recovering each of the plurality of seismic nodes on the node platform by a manipulator arm; and automatically adjusting the buoyancy of the node platform based on the payload of the node platform to maintain substantially neutral buoyancy in the water.

12. Method according to claim 11, characterized in that the step for adjusting buoyancy comprises removing water from one or more pressurized chambers of the node platform to vary the weight of the platform taking into account the node's payload.

13. Method according to claim 11, characterized in that it further comprises using one or more AUV cameras to automatically locate each of the plurality of seafloor seismic nodes on the seabed.

14. Method according to claim 11, characterized in that it further comprises using one or more AUV cameras to determine the orientation of each of the plurality of seafloor seismic nodes on the seabed. Petition 870250066711, dated 07 / 31 / 2025, page 49 / 97 4 / 5 15. Method according to claim 11, characterized in that it further comprises using one or more AUV cameras as a multibeam echo sounder to scan the seabed.

16. Method for recovering an inoperative autonomous underwater vehicle (AUV) on or near the seabed, characterized in that it comprises deploying a cage from the aft deck of a surface vessel in a position close to the seabed; deploying an unmanned underwater vehicle (UUV) from the aft deck of the surface vessel; positioning the UUV close to the inoperative AUV; coupling the UUV to the inoperative AUV; coupling the inoperative AUV to the cage; and hoisting the cage to the aft deck of the surface vessel with the inoperative AUV attached.

17. Method according to claim 16, characterized in that it further comprises deploying the UUV in the cage from the aft deck of the marine vessel.

18. Method according to claim 16, characterized in that the coupling of the inoperative AUV to the cage step comprises positioning the inoperative AUV inside the cage by the UUV.

19. Method for generating images of the seabed, characterized in that it comprises positioning an autonomous underwater vehicle (AUV) close to the seabed, wherein the AUV comprises a power source, a plurality of thrusters and a plurality of cameras; scanning the seabed using stereo photogrammetry based on one or more camera images obtained by the plurality of cameras; Petition 870250066711, dated 07 / 31 / 2025, page 50 / 97 5 / 5 generating images of the seabed using point cloud recognition; and identifying objects on the seabed using a neural network based on one or more camera images.

20. Autonomous underwater vehicle (AUV) for the underwater transfer of a plurality of ocean floor seismic nodes, characterized in that it comprises a power source; a propulsion system configured to propel and steer the AUV as it moves underwater, wherein the propulsion system comprises a plurality of thrusters; and a variable buoyancy system (VBS) configured to control the buoyancy of the AUV based on the AUV payload, wherein the AUV is configured to hold a plurality of ocean floor seismic nodes, wherein the AUV is configured to move each of the plurality of ocean floor seismic nodes to and from the seabed by means of a manipulator arm.

21. Submarine system for the subsea transfer of a plurality of seafloor seismic nodes, characterized in that it comprises an autonomous underwater vehicle (AUV) comprising a power source and a plurality of thrusters; and a platform embedded in the AUV, wherein the platform is configured to contain a plurality of seafloor seismic nodes, wherein the AUV comprises a node manipulator configured to transfer each of the plurality of seismic nodes to and from the seabed, wherein the AUV comprises a variable buoyancy system (VBS) configured to control the buoyancy of the platform based on the platform payload.

Images