System and method for deploying seismic land sensors

Abstract

Various measurement devices, systems including measurement devices, and methods using measurement devices are discussed. As one of many examples, a measurement device (201) is discussed that includes a grid (210) configured to allow ground material in contact with the measurement device (201) to pass through the grid (210), a motion sensor (240, 240a-240f) coupled to the grid (210), a drive system (250) coupled to the grid (210), and an operation sensor coupled to the grid (210).

Description

Background Technology

[0001] Seismic surveys are used in the oil and gas industry to image subsurface features. The resulting images can then be used to locate oil and gas reservoirs. Such seismic surveys rely on the propagation and sensing of large numbers of seismic waves, for example, using tens of thousands of seismic sensors deployed near the surface of the area being imaged. Deploying tens of thousands of sensors is labor-intensive and can be hazardous.

[0002] Therefore, there is a need in the art for advanced systems and methods for deploying seismic sensors. Summary of the Invention

[0003] This summary is provided to introduce a series of concepts that will be further described in the following detailed description. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to limit the scope of the claimed subject matter.

[0004] Various embodiments provide measuring devices. In some such embodiments, the measuring device includes: a grid configured to allow ground material in contact with the measuring device to pass through the grid; a motion sensor coupled to the grid and configured to acquire ground motion measurement data at measurement points; a drive system coupled to the grid and configured to vibrate the grid; and at least one operation sensor coupled to the grid and configured to detect operation data related to operation of the measuring device. The measuring device further includes a controller coupled to the grid and configured to receive information from the motion sensor and the at least one operation sensor, and control the drive system and the motion sensor based on the information.

[0005] Some embodiments provide methods for acquiring seismic measurement data. Some such methods relate to a measuring device comprising: a grid configured to allow ground material in contact with the measuring device to pass through the grid; a motion sensor coupled to the grid and configured to acquire ground motion measurement data at measurement points; a light sensor coupled to the grid and configured to generate an output corresponding to sensed light; a drive system coupled to the grid; and a controller coupled to the grid. The controller is configured to receive the output. The method includes placing the measuring device at a location, activating the drive system by the controller such that the drive system vibrates the grid, and deactivating the drive system by the controller when the output indicates the absence of light.

[0006] Other such embodiments may include a method comprising deploying a measuring device at a location; the measuring device including a grid configured to allow ground material in contact with the measuring device to pass through the grid; a motion sensor coupled to the grid and configured to acquire ground motion measurement data at the location; a sound generating device coupled to the grid; a light sensor coupled to the grid; a drive system coupled to the grid; and a port. The method further includes triggering the measuring device to self-install, wherein the self-installation activates the drive system to cause the grid to vibrate in a manner that moves ground material through the grid toward the upper surface of the grid until the light sensor indicates the absence of light; retrieving the measuring device using indicators selected from the group consisting of: audio indicators, position indicators, and visual indicators generated by the sound generating device; and transmitting the ground motion measurement data via the port.

[0007] Other aspects and advantages of the claimed subject matter will become apparent from the following description and the appended claims. Attached Figure Description

[0008] Specific embodiments of the disclosed technology will now be described in detail with reference to the accompanying drawings. Similar elements in the various drawings are indicated by similar reference numerals for consistency. When reference numerals are used without specific description of existing sub-reference numerals, they are intended to refer to all such plurality of similar parts.

[0009] Figure 1 A data acquisition system comprising multiple self-installing measuring devices is illustrated according to some embodiments, wherein the self-installing measuring devices are deployed on the surface of an underground area to be imaged.

[0010] Figure 2A and Figure 2B This is a top view of a self-installing measuring device according to various embodiments;

[0011] Figure 2C yes Figure 2A and Figure 2B Side view of the self-installing measuring device.

[0012] Figure 3 This is a flowchart illustrating a method for deploying a self-installing measurement device, including autonomous installation, according to some embodiments.

[0013] Figures 4A to 4D A side view is shown of a self-installing measuring device autonomously advancing below the ground surface, according to various embodiments.

[0014] Figure 5 This is a flowchart illustrating a method for deploying and retrieving self-installing measuring devices according to some embodiments.

[0015] Figure 6 This is a flowchart illustrating a method for acquiring seismic measurement data according to various embodiments.

[0016] Figure 7 This is a flowchart illustrating another method for acquiring seismic measurement data according to some embodiments. Detailed Implementation

[0017] Various embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. Similar elements in the drawings are indicated by similar reference numerals to maintain consistency.

[0018] In the following detailed description of embodiments of the present disclosure, numerous specific details are set forth in order to provide a more thorough understanding of the present disclosure. However, it will be apparent to those skilled in the art that the present disclosure may be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid unnecessarily complicating the description.

[0019] Throughout the application, ordinal numbers (e.g., first, second, third, etc.) may be used as adjectives for elements (i.e., any noun in this application). Unless explicitly disclosed, such as by using the terms “before,” “after,” “single,” and other such terms, the use of ordinal numbers does not imply or create any particular order of elements, nor does it limit any element to a single element. Rather, the use of ordinal numbers is for the purpose of distinguishing between elements. As an example, a first element is different from a second element; a first element may contain more than one element and may be located after (or before) the second element in the element order.

[0020] It should be understood that the singular forms “a,” “an,” and “the” include plural indicators unless the context clearly specifies otherwise. Thus, for example, referring to “battery” includes referring to one or more such batteries.

[0021] Terms such as “about” or “basically” mean that the listed characteristics, parameters or values ​​are not required to be implemented precisely, but rather that deviations or variations (including, for example, tolerances, measurement errors, measurement accuracy limitations and other factors) known to a person skilled in the art may occur without excluding the effects that the characteristic is intended to provide.

[0022] It should be understood that one or more elements shown in the flowchart may be omitted, repeated, and / or performed in a different order than that shown. Therefore, the scope of this specification should not be considered limited to the specific arrangement of the steps shown in the flowchart.

[0023] Although not multiple dependent claims are introduced, it will be apparent to those skilled in the art that the subject matter of the dependent claims of one or more embodiments can be combined with the subject matter of other dependent claims.

[0024] In the following Figures 1 to 7 In the description of the various embodiments disclosed in this specification, any component described with respect to one drawing may be equivalent to one or more components with similar names described with respect to any other drawing. For the sake of brevity, descriptions of these components will not be repeated for each drawing. Therefore, each embodiment of a component in each drawing is incorporated by reference and is assumed to optionally exist in each other drawing having one or more components with similar names. Furthermore, any description of a component in a drawing according to the various embodiments disclosed in this specification should be interpreted as an optional embodiment that may supplement, combine with, or replace embodiments described with respect to corresponding components with similar names in any other drawing.

[0025] Turn Figure 1 The diagram illustrates a data acquisition system 100 according to some embodiments. The data acquisition system 100 includes a plurality of self-installing measuring devices 116 according to various embodiments. The self-installing measuring devices 116 can be implemented as described below. Figure 2A and Figure 2B Those similar to those described in detail. Based on the disclosure provided herein, those skilled in the art will recognize a variety of self-installing measuring devices that can be used in combination with different embodiments.

[0026] Self-installing measurement equipment 116 is shown deployed on the surface 124 of the subsurface region 102 to be imaged. As shown, the subsurface region 102 includes: a geological discontinuity 112, an oil and gas reservoir 104, and a natural gas reservoir 120. Although the geological discontinuity 112, the oil and gas reservoir 104, and the natural gas reservoir 120 are shown, those skilled in the art will recognize that various subsurface features can be imaged using the self-installing measurement equipment 116 according to different embodiments. A wellbore 118 extends from the surface 124 into the subsurface region 102.

[0027] The seismic source 106 generates a radiated wave 108 that propagates through the underground region 102. In a terrestrial environment, the seismic source 106 may be, but is not limited to, an explosive seismic source or one or more seismic vibrators (i.e., controlled seismic source vehicles) known in the art. The radiated wave 108 may be sensed and recorded by one or more self-installed measuring devices 116. In some cases, a single activation of the seismic source 106 may be recorded by tens of thousands or hundreds of thousands of self-installed measuring devices 116. Typically, in a terrestrial environment, each self-installed measuring device 116 may include one or more ground motion sensors that record the velocity or acceleration of ground motion caused by the radiated wave 108.

[0028] The radiated wave 108 may propagate below the surface 124 or as a surface wave 122 along the surface 124. The radiated wave 108 propagating below the surface 124 may return as a refracted wave 110, or it may be reflected once or multiple times by a geological discontinuity and return to the surface 124 as a reflected wave 114. The sensing of these waves is referred to herein as ground motion measurement data. Ground motion measurement data may include acceleration.

[0029] The data sensed by numerous self-installed measuring devices 116 are collectively referred to as a dataset. While beyond the scope of this disclosure, this dataset can be processed to generate one or more images of features in subsurface region 102 and / or one or more attributes of subsurface region 102. Typically, a seismic processing workflow involves a series of steps, including noise attenuation, acquisition regularization, multiple wave identification and attenuation, seismic wave propagation velocity determination, seismic imaging, and seismic attribute determination. Several of these steps, such as seismic imaging and seismic attribute attenuation, require further interpretation to identify locations where subsurface oil and gas accumulations may exist.

[0030] In some embodiments, the drone 128 is used to record the position of the self-installed measuring devices 116 during deployment and subsequently use it as a visual indicator of the position of each self-installed measuring device 116 during retrieval. The drone 128 includes a processor, a memory, a location determination circuit configured to determine its position, and a wireless transceiver. The wireless transceiver of the drone 128 is configured to communicate with each self-installed measuring device 116 when the drone 128 approaches the respective measuring device. The location determination circuit is configured to determine the position of the drone 128. In some cases, the location determination circuit is a Global Positioning System (GPS) circuit. Note that for the purposes of this disclosure, the terms “GPS” and “Global Positioning System” are used in their broadest sense to refer to any airborne or satellite positioning system operating on a global or regional basis. In some embodiments, the GPS circuit is capable of receiving one or more of positioning information, navigation information, and / or timing information. Based on the disclosure provided herein, those skilled in the art will recognize various systems from which position information can be derived, as well as corresponding circuitry for generating position information. The memory is configured to store information received from the self-installed measuring devices 116 and to store instructions executable by the processor. The processor can be any processor known in the art capable of executing instructions to control the drone 128.

[0031] In operation, an operator (not shown) carries multiple self-installing measuring devices 116 to the area of ​​interest. Before being carried to the area of ​​interest, the battery in each self-installing measuring device 116 is charged, and the self-installing measuring device 116 is set to standby mode. In standby mode, the position determination circuit included in each self-installing measuring device 116 determines the position of the corresponding measuring device, the transceiver in each self-installing measuring device 116 is ready to transmit position information, and the clock in each self-installing measuring device 116 runs and indicates the current time. In some embodiments, the clock in each self-installing measuring device 116 is an atomic clock, capable of providing the same time as the atomic clock in each of the other self-installing measuring devices 116. This enables accurate timestamping of data collected by any self-installing measuring device 116 and enables accurate correlation between data collected by one self-installing measuring device 116 and data collected by other self-installing measuring devices 116.

[0032] The self-installing measuring device 116 is programmed to switch from standby mode to installation mode based on defined trigger conditions. Defined trigger conditions may include, but are not limited to: the arrival of a specific self-installing measuring device 116 at a defined position indicated by a position determination circuit within the self-installing measuring device 116, a defined time indicated by a clock within the self-installing measuring device 116, an operator pressing a trigger input on the self-installing measuring device 116, or receiving an installation message transmitted from a drone 128 flying past the self-installing measuring device 116. Based on the disclosure provided herein, those skilled in the art will recognize various defined trigger conditions that can be used to switch the self-installing measuring device 116 from standby mode to installation mode according to different embodiments.

[0033] In some embodiments, after an operator has placed multiple self-installing measuring devices 116 covering an area of ​​interest at various locations on the ground surface 124, a drone 128 flies over the area of ​​interest in system mode, communicating with each self-installing measuring device 116 as it flies over the respective measuring device. Communication with each self-installing measuring device 116 includes requesting the corresponding self-installing measuring device 116 to provide its location information, followed by a response from the measuring device to the drone 128 indicating the measuring device's unique identifier and its location. The drone 128 stores the location information along with the unique identifier in its memory. Subsequently, the drone 128 transmits a command to switch the corresponding self-installing measuring device 116 from standby mode to installed mode. This communication process of the drone 128 is repeated for each self-installing measuring device 116, thereby generating a table including the location of each self-installing measuring device 116, which is stored in the drone 128's memory.

[0034] Once the self-installing measuring device 116 transitions to installation mode, it begins the process of autonomously burying itself beneath the ground surface 124, subsequently transitioning to operating mode. By burying itself beneath the ground surface 124, the physical coupling of the self-installing measuring device 116 to the ground is increased, and its exposure to ground conditions (such as wind-induced noise) is reduced. This installation process and the subsequent transition to operating mode are described below. Figure 3 This will be discussed in more detail in Figure 4.

[0035] Once the operation period is complete, the operator returns to retrieve the self-installed measuring devices 116. This may include the operator moving to the location recorded for each self-installed measuring device 116, uncovering the self-installed measuring device 116 at that location, and moving to the location of the next self-installed measuring device 116. This process is repeated until all self-installed measuring devices 116 have been retrieved. To facilitate the retrieval of the self-installed measuring devices 116, multiple indicators may be provided to the operator attempting retrieval. As an example, location indicators may be provided by activating the location circuitry of each self-installed measuring device 116 and transmitting location information. Such location indicators can be used by the operator as a guide to begin excavating the measuring device. As another example, visual indicators may be provided to the operator by having a drone 128 fly to the recorded location of a corresponding self-installed measuring device 116 and hover until the measuring device is retrieved. The drone 128 may be programmed to automatically fly from one location of a self-installed measuring device 116 to the next during retrieval. In some embodiments, the indication that a measuring device has been retrieved is that the operator manually shuts down the retrieved self-installed measuring device 116. In some cases, one or more of the above indicators may be provided simultaneously during the retrieval period.

[0036] Once recovered, the data port on each self-installing measuring device 116 becomes accessible, and data previously recorded by the self-installing measuring device 116 can be uploaded to a data processing system (not shown) for use there. Such use of data is beyond the scope of this disclosure. The battery of each recovered self-installing measuring device 116 can be recharged. Thereafter, the recovered self-installing measuring device 116 can be redeployed. (See below...) Figure 5 Methods for deploying and retrieving self-installing measuring device 116 according to some embodiments are described.

[0037] Turn Figure 2A and Figure 2B A top view of a self-installing measuring device 201 according to various embodiments is shown. As described above, the self-installing measuring device 201 can be combined with... Figure 1 An example of a self-installing measuring device used in the data acquisition system 100. For example... Figure 2AAs shown, the self-installing measuring device 201 includes a grid 210 configured to allow ground material deployed on the grid 210 to pass through.

[0038] like Figure 2B As shown in the extended view, the grid 210 includes openings 212 (e.g., openings 212a, 212b, 212c, and 212d), each opening being defined by a structural member 214 surrounding the respective opening. In some embodiments, the structural member 214 is formed of a metal core coated with a flexible plastic material. In other embodiments, the structural member 214 is formed of a rigid or flexible plastic material.

[0039] The opening 212 is configured to be larger than the expected particle size of the ground material. As an example, in the case where the self-installing measuring device 201 is to be deployed in a sandy area, the opening 212 in the grid 210 can be designed to be larger than the sand grains in that area. In some embodiments, the area of ​​the opening 212 is greater than four (4) times the maximum expected cross-sectional area of ​​the ground material particles. In other embodiments, the opening 212 is greater than eight (8) times the maximum expected cross-sectional area of ​​the ground material particles. Based on the disclosure provided herein, those skilled in the art will recognize the various sizes of the opening 212 and / or the composition of the structural members 214 that can be used in combination with different embodiments.

[0040] return Figure 2A The self-installing measuring device 201 includes a drive system configured to vibrate a grid 210. The drive system includes two vibrators 250. The drive system may include one or more vibrators 250 (e.g., vibrator 250a and vibrator 250b) attached to the grid 210. Although the self-installing measuring device 201 is shown as having two vibrators 250 arranged at opposite ends of the self-installing measuring device 201, those skilled in the art will understand that different numbers of vibrators and / or different positions of the vibrators on the grid 210 may be used in combination with different embodiments. In some embodiments, each vibrator 250 includes a motor, a rotating eccentric mass, and a power supply unit. The motor uses electricity provided by the power supply unit to move the rotating eccentric mass, thereby causing vibration. Based on the disclosure provided herein, those skilled in the art will recognize other types of vibrators that may be used in combination with different embodiments.

[0041] Vibrations in the grid 210 caused by the drive system cause particles of ground material placed on it to move through the opening 212 toward the upper surface 270. As more and more ground material particles pass through the grid 210, the self-installing measuring device 201 is buried beneath the ground material. The burial of the self-installing measuring device 201 increases the physical coupling between the self-installing measuring device 116 and the ground and reduces the exposure to surface conditions.

[0042] The self-installing measurement device 201 also includes a plurality of motion sensors 240 (e.g., motion sensor 240a, motion sensor 240b, motion sensor 240c, motion sensor 240d, motion sensor 240e, and motion sensor 240f) distributed around the edge. The motion sensors 240 can be configured to acquire ground motion measurement data at the measurement point. When the motion sensors 240 are buried below the ground surface, the fidelity of the motion sensors 240 is improved due to the increased physical coupling between the motion sensors 240 and the ground, and the buried sensors are not exposed to airflow, for example, above the ground surface.

[0043] The motion sensor 240 can be any sensor known in the art that can be attached to the grid 210 and used to acquire ground motion measurement data at the location where the self-installed measurement device 201 is deployed. The size of such a motion sensor 240 limits interference to the self-installed measurement device 201. In some embodiments, the motion sensor 240 is a microelectromechanical (MEMS) sensor. In other embodiments, the motion sensor is a detector. Based on the disclosure provided herein, those skilled in the art will recognize a variety of different types of motion sensors that can be used in combination with different embodiments.

[0044] As described more fully below, when the self-installing measuring device 201 autonomously buries itself below the ground surface, one side of the measuring device may be completely buried while the other side remains undisturbed. Since the motion sensors 240 are distributed around the edge, even in the case of partial burial, one or more of the motion sensors 240 will be buried, thus providing the desired fidelity for buried sensors. Furthermore, even in the case of full burial (i.e., all motion sensors 240 are buried below the ground surface), the sensing information from multiple motion sensors allows the sensing information to be rotated to the desired axial plane.

[0045] The self-installing measurement device 201 also includes an electronic module 220 comprising various electronic circuits. In some embodiments, the electronic module 220 is monolithic. In other embodiments, the electronic module 220 comprises a set of sub-modules interconnected by electrical conductors. This sub-module approach allows for spacing between the individual sub-modules, enabling ground particles to pass between them as the self-installing measurement device 201 autonomously installs itself. This results in a smaller obstruction to the self-installation process due to the total surface area of ​​the electronic modules.

[0046] Electronic module 220 includes: controller 222, memory 224, sound generating device 226, light sensor 228, clock 230, GPS circuitry 232, battery 234, transceiver and antenna 236, and switch 238. Controller 222 is configured to direct the operation of the self-mounted measurement device 201. Such directives include, but are not limited to: receiving ground motion measurement data from motion sensor 240; timestamping ground motion measurement data and other status information using time output from clock 230; storing the timestamped ground motion measurement data and other status information in memory 224; activating and deactivating the drive system based on information received from, for example, light sensor 228; activating and deactivating GPS circuitry 232 based on one or more defined conditions; sensing and reporting the power level of battery 234; receiving output from light sensor 228; transmitting and generating messages via transceiver and antenna 236; and / or altering the operation of the self-mounted measurement device 201 based on, for example, output from trigger 230. Again, the term "GPS" is used in the broad sense described above.

[0047] Battery 234 is configured to provide power to various components of the vibrator 250, motion sensor 240, and electronic module 220. Battery 234 can be powered via the following description... Figure 2C The external access port 260 discussed is for recharging. In some embodiments, battery 234 is a lithium-ion battery. Based on the disclosure provided herein, those skilled in the art will recognize that other types of batteries can be used in conjunction with different embodiments.

[0048] Clock 230 is configured to provide a continuous time output. This continuous time output can be used, for example, to timestamp ground motion measurement data from motion sensor 240, and / or to trigger the activation of vibrator 250. In some embodiments, clock 230 is an atomic clock capable of providing the same time in one self-installed measurement device 201 as is available in other self-installed measurement device 201 instances deployed together in the data acquisition system. This enables accurate correlation of data collected by all self-installed measurement device 201 instances.

[0049] Memory 224 is communicatively coupled to controller 222. Memory 224 is configured to store ground motion measurement data from motion sensor 240 and other operational information about self-mounted measuring device 201, and / or to store instructions executable by controller 222 to control the operation of self-mounted measuring device 201. The stored information can be timestamped using time obtained from clock 230.

[0050] A light sensor 228 is configured to sense light illuminating a self-installing measurement device 201. In some embodiments, the output of the light sensor 228 may be a binary output indicating the absence or presence of light. The absence of light is indicated when the light intensity is below a threshold value of the light sensor 228, and the presence of light is indicated when the intensity is above the threshold value. In some embodiments, the light sensor 228 includes a photodiode, and the threshold value is the threshold value of the photodiode. In some such embodiments, the photodiode is tuned to sense visible light and filter out, for example, infrared light or heat emitted from the ground into which the self-installing measurement device 201 is buried. In operation, the output of the light sensor 228 serves as a proxy for whether the self-installing measurement device 201 is buried. When the output of the light sensor 228 indicates the absence of light, the self-installing measurement device 201 is considered to be buried. Conversely, when the output indicates the presence of light, the self-installing measurement device 201 is not considered to be buried. Based on the disclosure provided herein, those skilled in the art will recognize that various light sensors can be used in combination with different embodiments.

[0051] Switch 238 may be, for example, a pressure-activated switch that changes the operating state of the self-installed measuring device 201 when pressed by the operator. For example, the operator may press switch 238 to activate or deactivate the drive system.

[0052] GPS circuit 232 includes: a GPS sensor configured to sense information from multiple satellites or other aerial devices; and a position circuit configured to determine the spatial location (i.e., position) of the self-mounted measuring device 201 based on the information sensed by the GPS sensor. Based on the disclosure provided herein, those skilled in the art will recognize alternative position techniques that can be used in conjunction with different embodiments.

[0053] The transceiver and antenna 236 are configured to transmit communications via a wireless communication link. Such communications may include, but are not limited to: commands from the drone 128 or other remote devices (e.g., a remote control station) modifying the operation of the self-installed measuring device 201; location information transmitted from the GPS circuitry 232 to the drone 128 or other wireless devices; device status information transmitted from the controller 222 to the drone 128 or other wireless devices; and / or seismic data sensed and / or collected by the self-installed measuring device 201 transmitted from the controller 222 to the drone 128 or other wireless devices. Based on the disclosure provided herein, those skilled in the art will recognize various communications facilitated by the transceiver and antenna 236 according to different embodiments.

[0054] The sound generating device 226 can be any device known in the art for generating audible or machine-detectable sounds that can be used as an audio indicator to facilitate the recovery of the self-installed measuring device 201. Alternatively or additionally, the controller 222 can cause the sound generating device 226 to generate a sound when a malfunction of the self-installed measuring device 201 is detected. In some cases, the sound generating device 226 can generate different sounds depending on the condition indicated by a particular sound.

[0055] Turn Figure 2C Anchoring system 280 extends from the bottom surface of self-installing measuring device 201. Anchoring system 280 includes a plurality of protrusions 282 configured to enhance coupling with the ground, thereby enhancing the fidelity of ground motion sensed by motion sensor 240. Self-installing measuring device 201 also includes an external access port 260 through which: battery 234 can be connected to a power source for recharging via a physical cable (not shown), data can be transferred from memory 224 to an external device (not shown) via a physical cable, and programming commands can be transferred to memory 224 via a physical cable.

[0056] Turn Figure 3 Flowchart 300 illustrates a method for deploying and using a self-installing measurement device according to some embodiments. According to flowchart 300, the location circuit of the self-installing measurement device is activated before deployment (box 301). In some embodiments, the location circuit is a GPS-based location circuit that allows the self-installing measurement device to determine and report its location. The self-installing measurement device is placed on the ground surface above the area to be imaged (box 302). This placement can be performed, for example, by a human operator. In some embodiments, the self-installing measurement device can be as described above regarding… Figures 2A to 2C The self-installing measuring device 201 is described. In such embodiments, the self-installing measuring device is positioned such that the anchoring system 280 is in contact with the ground. (Steering) Figure 4A The image shows a side view of a self-installed measuring device 410 placed on the ground surface 424.

[0057] In some embodiments, as part of placing the self-installing measuring device (box 302), the operator placing the measuring device may use a handheld recorder (not shown) to store the identifier of the self-installing measuring device and the location of the self-installing measuring device generated by the handheld recorder or transmitted from the location circuitry of the self-installing measuring device. In other embodiments, a drone flying over the operator may receive and record the identifier and location information received from the self-installing measuring device via wireless communication.

[0058] Activate the self-installing measurement device (box 304). This may include switching the self-installing measurement device from a standby mode to an installation mode. In installation mode, one or more vibrators of the self-installing measurement device are activated to begin vibration. In some embodiments, activation of the self-installing measurement device is performed by an operator pressing a switch on the self-installing measurement device. In such embodiments, the self-installing measurement device may be activated before it is placed on the ground. In other embodiments, activation of the self-installing measurement device is performed automatically based on a position circuit in the self-installing measurement device indicating that the measurement device is in a programmed position. In such embodiments, the self-installing measurement device may be activated before or after it is placed on the ground. In other embodiments, activation of the self-installing measurement device is performed automatically after an activation command has been received via a transceiver and antenna in the self-installing measurement device. In such embodiments, the self-installing measurement device may be activated before or after it is placed on the ground. In some cases, the activation command is received from a drone flying close to the self-installing measurement device. In other cases, the activation command is received from a fixed-position remote control station. In other embodiments, activation of the self-installing measurement device is performed automatically when a clock in the self-installing measurement device indicates a programming time. In such embodiments, the self-installing measuring device can be activated either before or after it is placed on the ground.

[0059] In some embodiments, the position circuitry of the self-installing measuring device is disabled to conserve battery power (box 305). A combination of a first and a second vibrator included in the self-installing measuring device, and the frequency at which each vibrator will vibrate, are selected (box 306). In some embodiments, this may include selecting both vibrators to vibrate at the same frequency. In other embodiments, this may include selecting only one of the two vibrators to vibrate at a certain frequency. In other embodiments, this may include selecting the first vibrator to vibrate at a first frequency and the second vibrator to vibrate at a second frequency. In some embodiments, the vibrator combination and frequency are selected by a controller in the self-installing measuring device according to a pre-programmed schedule included in the memory of the self-installing measuring device. Although Figure 3 The embodiment is described as using two vibrators, but other embodiments may include more or fewer vibrators.

[0060] The selected combination of vibrators is actuated to operate at a selected frequency (box 308). Actuating the vibrators turns on the selected vibrators and operates them at one or more selected frequencies. The vibrators cause the grid of the self-installing measuring device to vibrate, thereby causing particles of the ground material to pass through openings in the grid and move toward the upper surface of the self-installing measuring device. While this vibration continues, the output of a light sensor in the self-installing measuring device is monitored to determine whether light is detected (box 310). The output of the light sensor serves as a proxy for whether the self-installing measuring device is buried. When the output of the light sensor indicates the absence of light, the self-installing measuring device is considered buried. Conversely, when the output indicates the presence of light, the self-installing measuring device is not considered buried. In various embodiments, a clock may be included to compensate for nighttime hours, and in such cases, the light level must be lower during nighttime hours for the device itself to be considered buried.

[0061] If light is still detected (box 310), it is determined whether a programmed time period has elapsed since the vibrator combination was actuated (box 311). If the programmed time period has not elapsed (box 311), the process in box 310 continues. Alternatively, if the programmed time period has elapsed (box 311), another combination of the first and second vibrators and the frequency at which each vibrator will vibrate is selected (box 312). Again, this may include selecting one or more vibrators and one or more frequencies. Furthermore, such selection can be performed by the controller in the self-installing measuring device according to a pre-programmed plan included in the memory of the self-installing measuring device. After selecting the next vibrator combination and corresponding frequency (box 312), the process starting from box 308 is repeated.

[0062] Alternatively, if light is no longer detected (box 310), the first and second vibrators are deactivated (box 313). Light is no longer detected when the light sensor in the self-mounted measuring device is sufficiently below the ground surface. Such failure to detect light can indicate, for example, when a single light sensor is deployed near the center of the self-mounted measuring device. Figure 4B and Figure 4C The example illustrates partial burial. In such an example, vibrations of the self-installed measuring device 410 have caused one side of the measuring device to be buried, while the other side remains above the ground surface 424. In this situation, the motion sensor on the buried side of the self-installed measuring device 410 will be coupled to the ground (i.e., ground motion is coupled to the motion sensor) and operate effectively. Conversely, the motion sensor on the unburied side of the self-installed measuring device 410 may not provide the desired fidelity. In such cases, ground motion measurement data from the unburied motion sensor can be filtered out during subsequent processing of data collected from multiple measuring devices. Alternatively, as... Figure 4DAs shown, the self-installing measuring device 410 can be completely embedded during vibration, resulting in good coupling between the ground and all motion sensors in the self-installing measuring device.

[0063] If the self-installed measuring device is fully or partially buried as indicated by the absence of light detected by the light sensor (box 310), the measuring device switches to a measuring mode in which it determines whether ground motion is sensed (box 314). When ground motion is sensed (box 314), the corresponding ground motion measurement data from the motion sensor of the self-installed measuring device is timestamped using the real-time output of the clock of the self-installed measuring device, and the timestamped ground motion measurement data is stored in the memory of the self-installed measuring device (box 316).

[0064] The process of sensing, timestamping, and storing ground motion measurement data (boxes 314-316) continues until a device retrieval trigger occurs (box 318). A device retrieval trigger can be any signal indicating that the self-installed measurement device will be retrieved. In some embodiments, the retrieval trigger is a programmed end time. Based on the disclosure provided herein, those skilled in the art will recognize various retrieval triggers that can be used in conjunction with different embodiments.

[0065] Once a retrieval trigger occurs (box 318), the location circuitry (box 319) in the self-installing measurement device is activated, as is the sound generator (box 320) within the device. Upon activation, the sound generator emits a sound with sufficient power to be sensed above the ground, and the location circuitry determines the location of the self-installing measurement device and wirelessly transmits the location information in a manner that allows it to be sensed above the ground. The sound can be audible to humans and / or machines and provides audio indicators to facilitate the retrieval of the self-installing measurement device. The transmitted location information can be used by the operator to guide them to the location received by sensing the transmitted location information.

[0066] Determine whether the self-installed measuring device has been retrieved by the operator (box 322). Such retrieval includes removing the self-installed measuring device from the ground. In some embodiments, retrieval is indicated by the operator pressing a switch on the self-installed measuring device. Once it is determined that the self-installed measuring device has been retrieved (box 322), the position circuit is deactivated (box 323) and the sound generating device is deactivated (box 324).

[0067] Turn Figure 5 Flowchart 500 illustrates a method for deploying and retrieving a self-installing measurement device according to some embodiments. In some embodiments, the self-installing measurement device may be as described above. Figures 2A to 2CThe self-installing measuring device 201 is described. According to flowchart 500, the self-installing measuring device is activated in standby mode (block 502). In standby mode, various functions of the self-installing measuring device are activated, but other functions are not activated. For example, in some embodiments, the position function of the self-installing measuring device may be activated in standby mode, while the vibration function is not activated.

[0068] The self-installing measuring device is placed on the ground surface above the area to be imaged (box 504). This may include placing the self-installing measuring device such that its anchoring system is in contact with the ground. If a drone is used (box 506), the drone records the location and identification information transmitted by the self-installing measuring device in its memory (box 510). Alternatively, if a drone is not used (box 506), the operator placing the self-installing measuring device records the location and identification information transmitted by the measuring device (box 508). This can be done automatically using a handheld recorder (not shown) to store the identification of the self-installing measuring device and its location. This location can be generated by the handheld recorder or transmitted from the self-installing measuring device.

[0069] Determine whether a trigger condition has occurred (box 512). In some embodiments, the trigger condition is that an operator presses a switch on the self-installing measurement device. In such embodiments, the trigger condition may occur before the device is placed on the ground. As an example, in other embodiments, the trigger condition occurs automatically. In some embodiments, the trigger condition occurs when the position circuitry in the self-installing measurement device indicates that the measurement device is in a programmed position. In such embodiments, the trigger condition may occur before or after the device is placed on the ground. As another example, in some embodiments, the trigger condition occurs when an activation command is received via a transceiver and antenna in the self-installing measurement device. This activation command may be received from a drone flying close to the self-installing measurement device or from a fixed-position remote control station. In such embodiments, the trigger condition may occur before or after the device is placed on the ground. As yet another example, in some embodiments, the trigger condition occurs when the clock in the self-installing measurement device indicates a programming time. In such embodiments, the trigger condition may occur before or after the device is placed on the ground.

[0070] Once the trigger condition is met (box 512), the self-mounted measuring device transitions to the mounting mode (box 514). In the mounting mode, the drive system begins to vibrate the grid. This vibration causes particles of the ground material placed by the self-mounted measuring device to pass through the holes in the grid of the measuring device and move toward the upper surface of the measuring device. As more and more ground material particles pass through the grid, the self-mounted measuring device is at least partially buried beneath the ground material. The drive system may include one or more vibrators.

[0071] If another self-installing measurement device is still waiting to be placed (box 516), activate the next self-installing measurement device in standby mode (box 518) and repeat the process of boxes 504-516 for the next self-installing measurement device. Alternatively, if no other self-installing measurement device is waiting to be placed (box 516), determine whether it is time to retrieve the previously deployed self-installing measurement device (box 520).

[0072] When it is time to retrieve a previously deployed self-installed measuring device (Box 520), the operator returns to the location where the self-installed measuring device was deployed (Box 522). In the case of using a drone (Box 524), the drone automatically hovers above the location of one of the self-installed measuring devices, providing the operator with visual indicators that can be used to locate the measuring device (Box 526). Additionally, as part of the retrieval process, a sound-generating device in the self-installed measuring device is automatically activated, causing sound to be emitted from the measuring device, providing the operator with audio indicators that can be used to locate the measuring device. The operator uses one or both of the visual and audio indicators to identify the location for digging and retrieving the self-installed measuring device (Box 528). Alternatively, without using a drone (Box 524), the operator may use only the audio indicators to identify the location for digging and retrieving the self-installed measuring device (Box 530). As mentioned above regarding... Figure 3 As mentioned, the position circuitry in each self-installing measuring device can be activated to transmit position information, which can be used by the operator to locate the previously deployed self-installing measuring device.

[0073] Determine if there are still more self-installed measuring devices to be recycled (box 532). If there is still another measuring device to be recycled (box 532), repeat the process of boxes 524-532 for the next measuring device. Alternatively, if there are no self-installed measuring devices to be recycled (box 532), access the data recorded on each recycled self-installed measuring device and transmit it to an external device (box 534), and recharge the battery on each recycled self-installed measuring device (box 536).

[0074] Turn Figure 6Flowchart 600 illustrates a method for acquiring seismic measurement data according to various embodiments. According to flowchart 600, a measuring device is deployed at a location (box 602) comprising: a grid configured to allow ground material in contact with the measuring device to pass through the grid; a motion sensor attached to the grid and configured to acquire ground motion measurement data at that location; a sound generating device attached to the grid; a light sensor attached to the grid; a drive system attached to the grid; and a port. The measuring device is triggered to perform self-installation (box 604). This self-installation activates the drive system to cause the grid to vibrate in a manner that moves ground material through the grid toward the upper surface of the grid until the light sensor indicates the absence of light. The measuring device is retrieved using indicators (box 606). These indicators include: an audio indicator generated by the sound generating device, a position indicator, and / or a visual indicator. The ground motion measurement data is transmitted via the port (box 608).

[0075] Turn Figure 7 Flowchart 700 illustrates another method for acquiring seismic measurement data according to some embodiments. According to flowchart 700, a measuring device is placed at a location (box 702). The measuring device includes: a grid configured to allow ground material in contact with the measuring device to pass through the grid; a motion sensor attached to the grid and configured to acquire ground motion measurement data at measurement points; a light sensor attached to the grid and configured to generate an output corresponding to sensed light; a drive system attached to the grid; and a controller attached to the grid and configured to receive the output. The drive system is activated by the controller (box 704). The drive system causes the grid to vibrate. When the output indicates the absence of light, the drive system is deactivated by the controller (box 706).

[0076] Although only a few exemplary embodiments have been described in detail above, those skilled in the art will readily understand that various modifications can be made to the exemplary embodiments without substantially departing from the invention. Therefore, all such modifications are intended to fall within the scope of this disclosure as defined by the following claims.

Claims

1. A measuring device (201, 410), comprising: A grid (210) configured to allow ground material in contact with the measuring devices (201, 410) to pass through the grid (210). Motion sensors (240, 240a-240f) are coupled to the grid (210) and are configured to acquire ground motion measurement data at measurement points; A drive system (250) coupled to the grid (210) is configured to cause the grid (210) to vibrate; At least one operating sensor coupled to the grid, the at least one operating sensor being configured to detect operating data related to the operation of the measuring devices (201, 410); as well as Controller (222), coupled to the grid, is configured to: Information is received from the motion sensors (240, 240a-240f) and the at least one operational sensor, and The drive system (250) and the motion sensors (240, 240a-240f) are controlled based on the information.

2. The measuring device (201, 410) according to claim 1, wherein, The ground motion measurement data includes acceleration.

3. The measuring device (201, 410) according to claim 1 or claim 2, wherein the measuring device (201, 410) further comprises: Sound generating device (226).

4. The measuring device (201, 410) according to any one of claims 1 to 3, wherein, The at least one operational sensor includes a light sensor (228) configured to detect light.

5. The measuring device (201, 410) according to any one of claims 1 to 4, wherein, The drive system (250) includes at least one rotational eccentric mass.

6. The measuring device (201, 410) according to claim 5, wherein, The drive system (250) also includes a power supply unit.

7. The measuring device (201, 410) according to any one of claims 1 to 6, wherein, The controller (222) is also configured to control the activation of the drive system (250) based on the information.

8. The measuring device (201, 410) according to any one of claims 1 to 7, wherein, The operational sensors include a Global Positioning System (GPS) sensor configured to receive information for determining the spatial location of the measuring devices (201, 410).

9. The measuring device (201, 410) according to any one of claims 1 to 8, wherein the measuring device (201, 410) further comprises: A memory (224) is configured to store at least the ground motion measurement data.

10. The measuring device (201, 410) according to any one of claims 1 to 9, wherein, The motion sensors (240, 240a-240f) include microelectromechanical sensors.

11. The measuring device (201, 410) according to any one of claims 1 to 10, wherein the measuring device (201, 410) further comprises: A switch (238) that can be switched by a human operator, wherein the switch (238) is configured to activate and deactivate the drive system (250).

12. The measuring device (201, 410) according to any one of claims 1 to 11, wherein, The controller (222) is also configured to receive commands via a wireless communication link and modify the operation of the measuring devices (201, 410) based on the commands.

13. The measuring device (201, 410) according to any one of claims 1 to 12, wherein the measuring device (201, 410) further comprises: An anchoring system (280) configured to couple ground motion to the motion sensors (240, 240a-240f).

14. A method for acquiring seismic measurement data, the method comprising: The measuring devices (201, 410) are placed in a location, the measuring devices (201, 410) comprising: A grid (210) configured to allow ground material in contact with the measuring devices (201, 410) to pass through the grid (210). Motion sensors (240, 240a-240f) are coupled to the grid (210) and are configured to acquire ground motion measurement data at measurement points. A light sensor (228) coupled to the grid (210) is configured to generate an output corresponding to the sensed light. Drive system (250), which is coupled to the grid (210); and A controller (222) coupled to the grid (210) is configured to receive the output; The drive system (250) is activated by the controller (222), wherein the drive system (250) causes the grid (210) to vibrate; and When the output indication is not in use, the controller (222) disables the drive system (250).

15. The method according to claim 14, wherein, The drive system (250) is activated based on a trigger event selected from the group consisting of: the output of the switch (238) on the measuring device (201, 410), the position of the measuring device (201, 410), the time, and a command received via a wireless communication link.

16. The method according to claim 14 or claim 15, further comprising: The measuring device (201, 410) is retrieved, wherein the retrieval of the measuring device (201, 410) is facilitated by at least one indicator selected from the group consisting of: audio indicators, position indicators, and visual indicators.

17. The method according to claim 16, wherein, The audio metrics include sound generated by a sound generating device (226) coupled to the grid (210) and controlled by the controller (222).

18. The method according to claim 16, wherein, The visual indicators include drones hovering above the measuring devices (201, 410).

19. The method of claim 15, further comprising: The ground motion measurement data is received by the controller (222); The controller (222) stores the ground motion measurement data into a memory (224) associated with the measuring devices (201, 410); and The ground motion measurement data is transmitted by the controller (222) via the port on the measuring device (201, 410).

20. A method for acquiring seismic measurement data, the method comprising: Deploying measuring devices (201, 410) at a location, the measuring devices (201, 410) include: A grid (210) configured to allow ground material in contact with the measuring devices (201, 410) to pass through the grid (210). A motion sensor coupled to the grid (210) is configured to acquire ground motion measurement data at the location; A sound generating device (226) is coupled to the grid (210). A light sensor (228) is coupled to the grid (210). Drive system (250), which is coupled to the grid (210); and port; The measuring device (201, 410) is triggered to perform self-installation, wherein the self-installation activates the drive system (250) to cause the grid (210) to vibrate in such a way that ground material is moved through the grid (210) toward the upper surface (270) of the grid (210) until the light sensor (228) indicates that there is no light; The measuring device (201, 410) is retrieved using indicators selected from the group consisting of: audio indicators, positional indicators, and visual indicators generated by the sound generating device; and The ground motion measurement data is transmitted via the port.

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