Seismic drone with adaptable landing

Abstract

A seismic drone and methods of use are disclosed. The seismic drone includes a body and a seismic receiver alignment mechanism fixed to the body. The seismic receiver alignment mechanism includes adaptable landing gear and a seismic receiver deployment system. The seismic receiver alignment mechanism includes an alignment sensor, a leg, and an adaptable mechanism. The alignment sensor is configured to determine an alignment of the seismic drone, the leg is adaptable in at least one of length and angle, using the adaptable mechanism, based, at least in part, on the alignment of the seismic drone, and the leg is disposable onto a ground surface. The seismic receiver deployment system includes a seismic receiver and a deployment mechanism. The seismic receiver is disposable, using the deployment mechanism, into / onto the ground surface along an axis.

Description

A SEISMIC DRONE WITH ADAPTABLE LANDING FOR SEISMIC RECEIVER DEPLOYMENT BACKGROUND

[0001] In the oil and gas industry, surface seismic surveys are conducted to characterize a subterranean region neighboring a ground surface in the search for hydrocarbon reservoirs. To conduct a surface seismic survey, a seismic source and seismic receivers are each deployed at a known location on the ground surface prior to conducting the surface seismic survey. Tens to hundreds of thousands of seismic receivers may be needed to resolve the level of detail needed to characterize the subterranean region. Accordingly, manual deployment of the tens to hundreds of thousands of seismic receivers is time consuming, costly, and arduous.

[0002] Following deployment, the seismic source generates seismic waves that propagate through the ground surface and into the subterranean region during the surface seismic survey. The seismic waves, which may reflect, refract, etc. within the subterranean region, are detected and recorded by each of the seismic receivers over time as seismic data. The seismic data are then processed to characterize the subterranean region typically in the form of a seismic image.SUMMARY

[0003] This summary is provided to introduce a selection of concepts that are further described below in the detailed description. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used as an aid in limiting the scope of the claimed subject matter.

[0004] In general, in one aspect, embodiments relate to a seismic drone. The seismic drone includes a body and a seismic receiver alignment mechanism fixed to the body. The seismic receiver alignment mechanism includes adaptable landing gear and a seismic receiver deployment system. The seismic receiver alignment mechanism an alignment sensor, a leg, and an adaptable mechanism. The alignment sensor is configured to determine an alignment of the seismic drone, the leg is adaptable in at least one of length and angle, using the adaptable mechanism, based, at least in part, on the alignment of the seismic drone, and the leg is disposable onto a ground surface. The seismic receiver deployment system includes a seismic receiver and a deployment mechanism. The seismic receiver is disposable, using the deployment mechanism, into / onto the ground surface along an axis.

[0005] In general, in one aspect, embodiments relate to a method of using a seismic drone. The method includes deploying a seismic drone in space, navigating the seismic drone above a location on a ground surface, landing the seismic drone in a position at the location on the ground surface using adaptable landing gear of the seismic drone, and deploying, using a deployment mechanism of the seismic drone, a seismic receiver of the seismic drone into / onto the ground surface along an axis. The adaptable landing gear includes an alignment sensor, a leg, and an adaptable mechanism. The alignment sensor is configured to determine an alignment of the seismic drone, the adaptable mechanism is configured to adapt at least one of length and angle of the leg based, at least in part, on the alignment of the seismic drone, and landing the seismic drone includes disposing the leg onto the ground surface.

[0006] Other aspects and advantages of the claimed subject matter will be apparent from the following description and the appended claims.BRIEF DESCRIPTION OF DRAWINGS

[0007] Specific embodiments of the disclosed technology will now be described in detail with reference to the accompanying figures. Like elements in the various figures are denoted by like reference numerals for consistency.

[0008] FIG. 1 illustrates a surface seismic survey in accordance with one or more embodiments.

[0009] FIG. 2 illustrates a seismic drone survey in accordance with one or more embodiments.

[0010] FIG. 3 illustrates a seismic drone in accordance with one or more embodiments.

[0011] FIG. 4 illustrates a gear-and-leadscrew mechanism in accordance with one or more embodiments.

[0012] FIG. 5 illustrates a cable mechanism in accordance with one or more embodiments.

[0013] FIG. 6 illustrates a worm gear mechanism in accordance with one or more embodiments.

[0014] FIG. 7 illustrates a passive link mechanism in accordance with one or more embodiments.

[0015] FIG. 8 illustrates a translational reciprocating-rotational mechanism in accordance with one or more embodiments.

[0016] FIG. 9 illustrates a translational mechanism in accordance with one or more embodiments.

[0017] FIG. 10 illustrates a spring mechanism in accordance with one or more embodiments.

[0018] FIG. 11 illustrates a burying mechanism in accordance with one or more embodiments.

[0019] FIG. 12 displays a seismic drone equipped with landing gear with a seismic receiver on each leg in accordance with one or more embodiments.

[0020] FIG. 13 displays a seismic drone control system in accordance with one or more embodiments.

[0021] FIG. 14 describes a method in accordance with one or more embodiments.

[0022] FIG. 15 illustrates a computer system in accordance with one or more embodiments.DETAILED DESCRIPTION

[0023] In the following detailed description of embodiments of the disclosure, numerous specific details are set forth in order to provide a more thorough understanding of the disclosure. However, it will be apparent to one of ordinary skill in the art that the 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.

[0024] Throughout the application, ordinal numbers (e.g., first, second, third, etc.) may be used as an adjective for an element (i.e., any noun in the application). The use of ordinal numbers is not to imply or create any particular ordering of the elements nor to limit any element to being only a single element unless expressly disclosed, such as using the terms “before,” “after,” “single,” and other such terminology. Rather, the use of ordinal numbers is to distinguish between the elements. By way of an example, a first element is distinct from a second element, and the first element may encompass more than one element and succeed (or precede) the second element in an ordering of elements.

[0025] It is to be understood that the singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to “a seismic drone” includes reference to one or more of such drones.

[0026] Terms such as “approximately,” “substantially,” etc., mean that the recited characteristic, parameter, or value need not be achieved exactly, but that deviations or variations, including for example, tolerances, measurement error, measurement accuracy limitations and other factors known to those of skill in the art, may occur in amounts that do not preclude the effect the characteristic was intended to provide.

[0027] It is to be understood that one or more of the steps shown in the flowcharts may be omitted, repeated, and / or performed in a different order than the order shown. Accordingly, the scope disclosed herein should not be considered limited to the specific arrangement of steps shown in the flowcharts.

[0028] Although multiple dependent claims are not introduced, it would be apparent to one of ordinary skill that the subject matter of the dependent claims of one or more embodiments may be combined with other dependent claims.

[0029] In the following description of FIGs. 1-15, any component described regarding a figure, in various embodiments disclosed herein, may be equivalent to one or more like- named components described regarding any other figure. For brevity, descriptions of these components will not be repeated regarding each figure. Thus, each and every embodiment of the components of each figure is incorporated by reference and assumed to be optionally present within every other figure having one or more like-named components. Additionally, in accordance with various embodiments disclosed herein, any description of the components of a figure is to be interpreted as an optional embodiment which may be implemented in addition to, in conjunction with, or in place of the embodiments described regarding a corresponding like-named component in any other figure.

[0030] A seismic drone is disclosed. In the context of this disclosure, a drone may be an unmanned aerial vehicle (UAV). Accordingly, the seismic drone may be configured to takeoff, fly, and / or land autonomously. However, the seismic drone includes additional software and / or hardware that may distinguish it from a standard drone. The software and / or hardware of the seismic drone may be configured to aid in performing a seismic survey. A seismic survey is described relative to FIGs. 1 and 2.

[0031] Structurally, the seismic drone may include a body and a seismic receiver alignment mechanism fixed to the body. The seismic receiver alignment mechanism may include adaptable landing gear and a seismic receiver deployment and retrieval or traction system. The adaptable landing gear may include an alignment sensor, leg, and adaptable mechanism. The alignment sensor may be configured to determine an alignment of theseismic drone, in particular, the alignment with respect to vertical. The adaptable mechanism may be configured to adapt at least one of length and angle of the leg based on the alignment of the seismic drone. The seismic receiver deployment and retrieval or traction system may include a seismic receiver and deployment mechanism. The deployment mechanism may be configured to dispose the seismic receiver into / onto the ground surface along an axis, in some embodiments, based on the alignment of the seismic drone.

[0032] In practice, the seismic drone may include multiple legs. The legs may be configured, in part, to adequately stabilize the seismic drone during and following landing of the seismic drone onto a ground surface. Further, each of one or more of the legs may rely on an adaptable mechanism to adapt at least one of length and angle of each leg based on an alignment of the seismic drone. Accordingly, in some embodiments, the seismic drone may be configured to land in a vertical or upright position on an uneven, rough, and / or unstable ground surface by virtue of each of the legs taking a unique length and / or angle to accommodate the uneven, rough, and / or unstable ground surface. Uneven, rough, and / or unstable ground surfaces may include sloped or inclined surfaces, surfaces with obstacles (such as vegetation), and surfaces that deform under force (such as sand).

[0033] The seismic drone may be an improvement over other seismic drones. By way of example, other seismic drones may omit the adaptable mechanism as described relative to FIGs. 4-7 below. Accordingly, other seismic drones may not be configured to adapt in at least one of length and angle of at least one of the legs using the adaptable mechanism. Further, other seismic drones may omit the deployment mechanism as described relative to FIGs. 8- 11 below. Accordingly, other seismic drones may be configured to dispose the seismic receiver into / onto the ground surface using alternative mechanisms and / or at a non-vertical or -upright position.

[0034] Further, the methods of deploying the seismic receiver of the seismic drone may be an improvement over other seismic receiver deployment methods. For example, manual seismic receiver deployment methods may be time consuming and arduous when the seismic receivers need to be disposed into / onto ground surfaces 140 that are difficult to access, such as swamps, mountainous regions, or even land-mined areas. Further, other seismic receiver deployment methods may manually dispose the seismic receiver into / onto the ground surface for inadequate coupling between the seismic receiver and ground surface. Further, other seismic receiver deployment methods may dispose the seismic receiver at a non-vertical or -upright position. In contrast, the methods of deploying theseismic receiver of the seismic drone dispose the seismic receiver into / onto the ground surface at a vertical or upright position for adequate and robust coupling between the seismic receiver and ground surface. Accordingly, the ability of the seismic receiver to detect seismic waves during a seismic survey may be improved and, accordingly, the seismic data may be improved.

[0035] The seismic drone may take various configurations. Four configurations are described below. However, a person of ordinary skill in the art will appreciate that the seismic drone may take other configurations not described. The first configuration is a flying configuration. In the flying configuration, the seismic drone is deployed in space above a ground surface. Accordingly, the seismic drone may hover, translate, and / or rotate in space. For example, in the flying configuration, the seismic drone may be flying (i.e., translating and / or rotating) to a location to aid in conducting a seismic survey or may fly away from the location following a seismic survey. The second configuration is a stationary configuration. In the stationary configuration, the seismic drone is disposed on a ground surface. For example, in the stationary configuration, the seismic drone may be awaiting deployment or deployed in a position at a location on a ground surface waiting to aid in conducting a seismic survey. The third configuration is a seismic receiver deployment configuration. In the seismic receiver deployment configuration, the seismic receiver of the seismic drone is deployed into / onto and mechanically coupled with the ground surface. Accordingly, sufficient mechanical coupling may provide for sufficient seismic / acoustic coupling between the seismic receiver and ground surface. The fourth configuration is a seismic receiver recording configuration. In the seismic receiver recording configuration, the seismic receiver is detecting seismic data and one or more modules of the seismic drone are recording the seismic data.

[0036] FIG. 1 illustrates a seismic survey 100 in accordance with one or more embodiments. Specifically, FIG. 1 illustrates a surface seismic survey. The seismic survey 100 is conducted over a subterranean region of interest 105. The subterranean region of interest 105 may include layers of rock 110 separated by geological discontinuities 115. Further, in some embodiments, the subterranean region of interest 105 may include hydrocarbons stored within a reservoir 120, the boundaries of which, particularly the upper boundary, may be a type of geological discontinuity 115.

[0037] A seismic acquisition system 125 is configured to conduct the seismic survey 100.The seismic acquisition system 125 includes at least one seismic source 130 and seismicPC17RU2025 / 000023receivers 135 each located on or within a ground surface 140 above the subterranean region of interest 105.

[0038] The seismic source 130 is configured to generate radiated seismic waves 145 (i.e., emitted energy, wavefield) during the seismic survey 100. The type of seismic source 130 may depend on the environment in which the seismic source 130 is used. For example, on land, the seismic source 130 may be a vibroseis truck or explosive charge. In water, the seismic source 130 may be an airgun. The radiated seismic waves 145 may radiate along the ground surface 140 and into the subterranean region of interest 105. The radiated seismic waves 145 may refract and / or reflect at the geological discontinuities 115 within the subterranean region of interest 105. Accordingly, some radiated seismic waves 145 may continue to propagate into the subterranean region of interest 105 as refracted and / or reflected seismic waves 150 or return to the ground surface 140 as refracted and / or reflected seismic waves 150. The radiated seismic waves 145 may also propagate along the ground surface 140 as Rayleigh waves or Love waves known collectively as “ground roll” 155. Vibrations associated with ground roll 155 do not penetrate far beneath the ground surface 140 and, hence, are not influenced by, nor contain information about, deep portions of the subterranean region of interest 105.

[0039] Each seismic receiver 135 is configured to detect and record the radiated seismic waves 145, reflected seismic waves 150, refracted seismic waves, and ground roll 155 collectively in time as a seismic trace during the seismic survey 100.

[0040] Denoting the two-dimensional position of the seismic source 130 as xand the two-dimensional position of each seismic receiver 135 as xr= ^xr',yr'^ on the ground surface 140, respectively, the seismic trace recorded by each seismic receiver 135 may then be denoted L> (xp,yp, x',where t denotes recording time (i.e., the time elapsed after the activation of the seismic source 130). The collection of all seismic traces acquired during the seismic survey 100 may be described as the seismic data. As such, the seismic data may be initially collected in five dimensions.

[0041] While FIG. 1 specifically illustrates a surface seismic survey, a person of ordinary skill in the art will appreciate that other seismic surveys, such as vertical seismic profile (VSP) surveys, may be alternatively or additionally used to acquire the seismic data. Specifically, VPS surveys may use seismic receivers 135 disposed in a wellbore that penetrates the subterranean region of interest 105.

[0042] In practice, tens to hundreds of thousands of seismic receivers 135 may be deployed over a ground surface 140 that covers many square kilometers or miles to aid in conducting a seismic survey 100. Accordingly, manually deploying the seismic receivers 135 into / onto the ground surface 140 is time consuming, costly, and arduous, particularly when the ground surface 140 is difficult to access such as swamps, mountainous regions, and land-mined areas. Further, in some situations, the ground surface may be uneven, rough, and / or unstable making deployment of the seismic receivers even more arduous, especially, logically. Using a seismic drone to automatically position and deploy a seismic receiver 135 prior to conducting a seismic survey 100 may save time and money.

[0043] FIG. 2 displays a seismic drone survey 200 in accordance with one or more embodiments. Each of one or more seismic receivers 135 illustrated in FIG. 1 are now replaced with a seismic drone 205 that includes a seismic receiver 135. Accordingly, in some embodiments, a fleet of seismic drones 205 (z.e., two or more seismic drones 205) may be deployed and configured, in part, to conduct the seismic drone survey 200.

[0044] In some embodiments, each seismic drone 205 may be communicably coupled to a base station 210. The base station 210 may include a graphical or terminal user interface (UI) configured to send commands to and / or receive commands from each seismic drone 205. The UI may be further configured to send and / or receive data, such as seismic data and sensor data.

[0045] In some embodiments, one or more seismic drones 205 may be configured as a scout seismic drone 205a or master seismic drone 205b. For example, the scout seismic drone 205a may be configured to perform reconnaissance of the ground surface 140 above the subterranean region of interest 105 prior to deploying a fleet of seismic drones 205 onto the ground surface 140. Further, the master seismic drone 205b may be configured to perform tasks other seismic drones 205 are not configured to perform. In some embodiments, the master seismic drone 205b may be the scout seismic drone 205a or vice versa. Tasks may include scouting, receiving and / or storing data sent from other seismic drones 205, data processing, and surveillance. Additional tasks are described below.

[0046] During reconnaissance, the scout seismic drone 205a may acquire topographical information about the ground surface 140 in the form of images among other data. Following reconnaissance, a mission e.g., seismic survey plan) may be generated based, in part, on the topographical information and other seismic survey design considerations, such as the spacing between seismic drones 205 and / or seismic receivers 135. The mission may include the location 215 where each seismic drone 205 is targeted to be disposed at.The mission may further include where each seismic receiver 135 is targeted to be disposed at. The mission may further include details about how the seismic drone survey 200 will be performed. The mission may still further include alternative plans in case of seismic drone 205 and / or seismic receiver 135 malfunction.

[0047] Once the mission is determined, the mission may be transmitted to the fleet of seismic drones 205, each waiting at an initial position 220, in the form of seismic drone commands (hereinafter “commands”). Each command may instruct a seismic drone 205 to perform a task consistent with what is needed to deploy the seismic drones 205 and conduct the seismic drone survey 200. Types of tasks are further described in detail relative to FIG. 12. During or following a seismic drone survey 200, the base station 210 may receive, process, and / or display data, such as the location 215 of each seismic drone 205, seismic data, and sensor data.

[0048] FIG. 3 illustrates a seismic drone 205 in accordance with one or more embodiments.For illustration purposes only, the seismic drone 205 is shown in a stationary configuration and disposed on an even ground surface 140. The seismic drone 205 may include a body 300 and seismic receiver alignment mechanism 302 fixed to the body 300. In practice, the body 300 may be, or include, a frame.

[0049] The seismic receiver alignment mechanism 302 may include adaptable landing gear 304 and a seismic receiver deployment system 306. The adaptable landing gear 304 may include an alignment sensor, leg 308, and adaptable mechanism. The alignment sensor may be, without limitation, an encoder, gyroscope, and other micro-electromechanical system (MEM). In some embodiments, the alignment sensor may be disposed on or fixed to or within the body 300 of the seismic drone 205. For clarity, FIG. 3 does not immediately illustrate the adaptable mechanism as the adaptable mechanism may be disposed or fixed, in part, within a leg 308.

[0050] The seismic receiver deployment system 306 may include a seismic receiver 135 and deployment and retrieval or retraction mechanism 310. In some embodiments, the seismic receiver deployment system 306 may be fixed inferior or distal to the body 300 as illustrated in FIG. 3. The seismic receiver 135 may be, without limitation, a geophone or accelerometer, each of which may sense motion along one, two, or three mutually- orthogonal axes. Further, the seismic receiver 135 may contain either a geophone or an accelerometer, or both together in combination. A seismic receiver cover may be disposed over the seismic receiver 135 and configured to protect the seismic receiver 135 frominclement weather and / or during disposition of the seismic receiver 135 into / onto the ground surface 140.

[0051] In some embodiments, other parts and / or systems may be disposed on, or fixed to, the body 300 of the seismic drone 205, at least in part. Other parts may include, without limitation, a cover 312, motor board 314, holders 316, battery 318, communication board 320, power board 322, gasket 324, flexible part 326, tip 328, and pad 330. The communication board 320 may form a component of the communication system, such as the communication system 1320 described below. The power board 322 may form a component of the power supply system, such as the power supply system 1330 described below. Other systems may include, without limitation, a seismic data recording system 332, navigation system 334, propulsion system 336, cooling system 338, autopilot system 340, speed controller system 342, and microcomputer 344. A person of ordinary skill in the art will appreciate that each part may be any shape and made of any material. For example, the body 300, cover 312, and holder 316 may be made of, at least in part, woven carbon, plastic, and combinations thereof. Specifically, in some embodiments, the cover 312 may be made of Nylon PA- 12 material manufactured using additive technology. Further, for example, the flexible part 326 may be a corrugated shape.

[0052] In some embodiments, the holder 316 may be configured to dispose or fix various systems to the body 300 of the seismic drone 205. For example, a holder 316 may fix each of the propulsion system 336, adaptable landing gear 304, seismic receiver deployment system 306, and / or seismic receiver 135 (or portion(s) thereof) to the body 300 of the seismic drone 205. The holder 316 may be manually and / or automatically foldable. Further, the holder 316 may be tiltable or rotatable such that any system disposed or fixed to the holder 316, such as the propulsion system 336, may also be tiltable or rotatable. However, each part and / or system may be disposed or fixed to any other part or system of the seismic drone 205. Further, the cover 312 may be disposed on or fix to an external surface of the body 300 and configured to protect parts and / or systems disposed on or fixed to the body 300 of the seismic drone 205 from inclement weather. The cover 312 may include one or more joints. Accordingly, a gasket 324 may be disposed on each joint to protect parts and / or systems disposed on or fixed to the body 300 of the seismic drone 205, such as electronics, from inclement weather. The cover 312 may be designed such that the cooling system 338 may adequately cool the electronics of the seismic drone 205 to mitigate overheating of the electronics. For example, the cover 312 may include holes configured to allow air in and / or dispel air out of the body 300 of the seismic drone 205.The cooling system 338 may be a passive and / or active cooling system. In some embodiments, a fan (z.e., active cooling system) fixed to the body 300 may draw cool air into the body 300 through the holes. In other embodiments, a heatsink (i.e., passive cooling system) fixed to the body 300 may absorb heat dissipated from the electronics. Further still, the flexible part 326 may be configured to protect the deployment mechanism 310 from a loose ground surface 140 and / or water.

[0053] FIGs. 4-7 illustrate embodiments of the adaptable mechanism and leg 308 of the adaptable landing gear 304. A person of ordinary skill in the art will appreciate that any element (i.e., feature) described relative to any one of FIGs. 4-7 may be included in any other of FIGs. 4-7. Each of the adaptable mechanisms illustrated in and described relative to FIGs. 4-7 may be well suited for landing the seismic drone 205 in a vertical or upright position onto one or more types and / or orientations of ground surfaces 140.

[0054] FIG. 4 illustrates the adaptable mechanism of the adaptable landing gear 304 as a gear-and-leadscrew mechanism 400 in accordance with one or more embodiments. For reference and clarity, the leg 308 illustrated in FIG. 4 is oriented such that the distal direction 405 is to the left and the proximal direction 410 is to the right. Accordingly, a distal end of the leg 308 may contact the ground surface 140 when the seismic drone 205 is disposed on the ground surface 140 in the stationary configuration.

[0055] In these embodiments, the leg 308 of the adaptable landing gear 304 may be or include a telescoping leg 308a that includes an inner leg 308b and outer leg 308c. In some embodiments, the inner leg 308b and outer leg 308c may be cylindrical in shape where the cross-sectional outer diameter of the inner leg 308b is smaller than the cross-sectional inner diameter of the outer leg 308c. Accordingly, the inner leg 308b may telescope, glide, slide, and / or rotate into and / or out of the outer leg 308c. In some embodiments, a proximal end of the telescoping leg 308a fixes to the body 300 of the seismic drone 205. In other embodiments, a proximal end of the gear-and-leadscrew mechanism 400 fixes to the body 300 of the seismic drone 205.

[0056] In these embodiments, the adaptable mechanism in the form of the gear-and- leadscrew mechanism 400 or portion thereof may be disposed or fixed within the telescoping leg 308a. The gear-and-leadscrew mechanism 400 may be configured to adapt the length 415 of the telescoping leg 308a along a first axis 420 by telescoping, gliding, and / or sliding the inner leg 308b into and / or out of the outer leg 308c. Accordingly, the gear-and-leadscrew mechanism 400 may extend and / or retract the leg 308. Hereinafter, the term “adapt” in the context of the “adaptable mechanism” may include extendingand / or retracting of the inner leg 308b relative to the outer leg 308c to adapt the length 415 of the telescoping leg 308a.

[0057] The gear-and-leadscrew mechanism 400 may include a leadscrew 425, lead nut 430, first gear 435a, motor 440, and guide (not shown in FIG. 4). In some embodiments, the leadscrew 425 may be positioned, in part, within the inner leg 308b and outer leg 308c. The lead nut 430 may be positioned around the leadscrew 425 and fixed to a proximal end of the inner leg 308b. The first gear 435a may be fixed around a proximal end of the leadscrew 425 and to the motor 440.

[0058] The motor 440 may be configured to rotate the first gear 435a about the first axis 420, the rotating first gear 435a may rotate the leadscrew 425, and the rotating leadscrew 425 may translate the lead nut 430 along the guide to telescope, glide, and / or slide the inner leg 308b into and / or out of the outer leg 308c.

[0059] In some embodiments, the gear-and-leadscrew mechanism 400 may further include a reverse mechanism 445. The reverse mechanism 445 may be fixed to the motor 440 and / or the first gear 435a. The reverse mechanism 445 may be configured to change the direction of rotation of the leadscrew 425 to retract the inner leg 308b rather than extend or extend the inner leg 308b rather than retract. In other embodiments, the motor 440 may be configured to rotate in both a forward and a reverse, or clockwise and anti-clockwise, direction as required.

[0060] In some embodiments, the gear-and-leadscrew mechanism 400 may further include a second gear 435b. In some embodiments, the second gear 435b may be fixed to the motor 440 and the first gear 435a disposed adjacent to the second gear 435b as illustrated in FIG.4. The motor 440 may be configured to rotate the second gear 435b, and the rotating second gear 435b may rotate the first gear 435a. Such a configuration may change the direction of rotation of the leadscrew 425.

[0061] In some embodiments, the gear-and-leadscrew mechanism 400 may further include a stopper 455. In some embodiments, the stopper 455 may be fixed to a distal end of the outer leg 308c as illustrated in FIG. 4. Accordingly, the inner leg 308b may only extend a pre-defined length out of the outer leg 308c until a proximal end of the inner leg 308b and / or lead nut 430 contacts the stopper 455. In other embodiments, the gear-and- leadscrew mechanism 400 may include a stopper (not shown in FIG. 4) at a proximal end of the outer leg 308c. Accordingly, the inner leg 308b may only retract a pre-defined length into the outer leg 308c until a proximal end of the inner leg 308b and / or lead nut 430contacts the stopper. In still other embodiment, a sensor (not shown) may monitor the motion of the inner leg and act to prevent over extension.

[0062] In some embodiments, a pad 330 may be fixed to a distal end of the leg 308, such as the inner leg 308b of the telescoping leg 308a as illustrated in FIG. 4. The pad 330 may be or include one or more links (e.g., springs and / or actuators), which may be connected. Accordingly, the pad 330 may be at least one of rotatable and translatable relative to the leg 308. In other words, the pad 330 may have one or more degrees-of-freedom relative to the leg 308. In some embodiments, the pad 330 may be or include a shock absorber. For example, the pad 330 may be made of a thermoplastic elastomer (TPE) to soften the landing of the seismic drone 205 onto the ground surface 140 and / or dampen noise. In some embodiments, the pad 330 may be configured to mitigate the negative impact of sharp obstacles on the ground surface 140. In some embodiments, the pad 330 may be configured to support a landing of the seismic drone 205 onto the ground surface 140 no matter the shape of the ground surface 140. To do so, the pad 330 may self-adjust to increase the surface area of the leg 308 that contacts the ground surface 140 and / or adapt to the shape of the ground surface 140 during and / or following landing of the seismic drone 205.

[0063] FIG. 5 illustrates the adaptable mechanism of the adaptable landing gear 304 as a cable mechanism 500 in accordance with one or more embodiments. In these embodiments, the leg 308 of the adaptable landing gear 304 may be or include a telescoping leg 308a that includes an inner leg 308b and outer leg 308c. In some embodiments, the inner leg 308b and outer leg 308c may be cylindrical in shape where the cross-sectional outer diameter of the inner leg 308b is smaller than the cross-sectional inner diameter of the outer leg 308c. Accordingly, the inner leg 308b may telescope, glide, slide, and / or rotate into and / or out of the outer leg 308c. Inner leg 308b is positioned in outer leg 308c using stopper 455 and spring fixer 520. In some embodiments, the stopper 455 and spring fixer 520 may be made from a material that provides the best glide (e.g., a fluoropolymer). In some embodiments, a proximal end of the telescoping leg 308a fixes to the body 300 of the seismic drone 205. In other embodiments, a proximal end of the cable mechanism 500 fixes to the body 300 of the seismic drone 205.

[0064] In these embodiments, the adaptable mechanism in the form of the cable mechanism 500 or portion thereof may be positioned within the telescoping leg 308a. The cable mechanism 500 may be configured to adapt the length 415 of the telescoping leg 308a along a first axis 420 by telescoping, gliding, sliding, and / or rotating the inner leg308b into and / or out of the outer leg 308c. Accordingly, the cable mechanism 500 may extend and / or retract the leg 308.

[0065] The cable mechanism 500 may include a cable fixer 510, cable 515, spring fixer 520, spring 525, motor 440, and tension mechanism 530. In some embodiments, the cable 515 may have little-to-no stretch. In some embodiments, a distal end of the spring 525 fixes to the spring fixer 520 and a proximal end of the spring 525 fixes to a proximal end of the outer leg 308c. In some embodiments, a distal end of the cable 515 fixes to the cable fixer 510, a proximal end of the cable 515 fixes to the tension mechanism 530, and the tension mechanism 530 fixes to a distal end of the outer leg 308c and the motor 440.

[0066] To extend the inner leg 308b along the first axis 420 in the distal direction 405, the tension mechanism 530 via the motor 440 may unwind or extend the cable 515 such that there is slack in the cable 515. Accordingly, the compressed spring 525 may extend along the first axis 420 in the distal direction 405 thereby pushing the inner leg 308b in the distal direction 405. To retract the inner leg 308b along the first axis 420 in the proximal direction 410, the tension mechanism 530 via the motor 440 may wind or retract the cable 515. Accordingly, the spring 525 may compress along the first axis 420 in the proximal direction 410 while the cable 515 pulls the inner leg 308b in the proximal direction 410. The cable mechanism 500 may be configured as a shock-absorbing mechanism. For example, the length 415 of the leg 308 may self-adjust based, in part, on an impact of the landing when the leg disposes onto a ground surface 140.

[0067] The cable mechanism 500 includes a stopper 455. In some embodiments, a stopper 455 may be fixed to a distal end of the outer leg 308c as illustrated in FIG. 5. Accordingly, the inner leg 308b may only extend a pre-defined length out of the outer leg 308c until a proximal end of the inner leg 308b contacts the stopper 455.

[0068] In some embodiments, as described relative to FIG. 4, a pad 330 may be fixed to a distal end of the telescoping leg 308a.

[0069] FIG. 6 illustrates the adaptable mechanism of the adaptable landing gear 304 as a worm gear mechanism 600 in accordance with one or more embodiments. In some embodiments, the worm gear mechanism 600 is configured to simultaneously adapt a length 415 of each of two legs 308 in opposing directions. In other words, while one leg 308 retracts along its first axis 420a, the other leg 308 extends along its first axis 420b. Accordingly, the pair of legs 308 are coupled. Such a configuration may be useful for disposing (i.e., landing) a seismic drone 205 on a ground surface 140 with a substantiallyPCI7RU2025 / 000023constant or uniform slope 610. FIG. 6 illustrates a substantially constant or uniform slope 610 that increases vertically from left to right based on an inclination angle 615. In other embodiments, the adaptable landing gear may be composed or two pairs of legs, with each pair being operated and adjusted as a unit.

[0070] In these embodiments, each leg 308 of the adaptable landing gear 304 may be or include a telescoping leg 308a that includes an inner leg 308b and outer leg 308c. In some embodiments, the inner leg 308b and outer leg 308c may be cylindrical in shape where the cross-sectional outer diameter of the inner leg 308b is smaller than the cross-sectional inner diameter of the outer leg 308c. Accordingly, the inner leg 308b may telescope, glide, and / or slide into and / or out of the outer leg 308c. In some embodiments, a proximal end of the outer leg 308c of the telescoping leg 308a fixes to the body 300 of the seismic drone 205. In other embodiments, a proximal end of the worm gear mechanism 600 fixes to the body 300 of the seismic drone 205.

[0071] In some embodiments, the worm gear mechanism 600 may include a motor 440, belt 620, two worm gears 625, two leadscrews 425, and the inner legs 308b serve as threaded nuts. One worm gear 625 and one leadscrew 425 are associated with each telescoping leg 308a. Each worm gear 625 includes a worm 630 and worm wheel 635. The worm gear mechanism 600 or portion thereof may be disposed or fixed within and / or on the body 300, a chamber of the body 300, and / or each telescoping leg 308a. For example, FIG. 6 illustrates a portion of the worm gear mechanism 600 disposed in and / or on the body 300 and each telescoping leg 308a. Specifically, the motor 440, belt 620, and worm gears 625 are disposed within the body 300 while the leadscrews 425 are disposed in the telescoping legs 308a.

[0072] As illustrated in FIG. 6, in some embodiments, the belt 620 is disposed around the motor 440 and both worms 630. A worm wheel 635 is disposed adjacent to each worm 630 and fixed around a proximal end of each leadscrew 425. A leadscrew 425 is disposed in each inner leg 308b with internal thread screwed onto a distal end of the corresponding leadscrew 425.

[0073] In some embodiments, the motor 440 may rotate the belt 620 in a belt direction 640. Rotation of the belt 620 in one direction may extend one leg 308 while retracting the other leg 308 and vice versa when the belt 620 rotates in the opposite direction. The rotating belt 620 may rotate both worms 630 in opposing directions 645 relative to one another, where the worms 630 are additionally acting as pulleys. Each rotating worm 630 may rotate each worm wheel 635 in opposing directions relative to one another andperpendicular to the rotating worms 630. Each rotating worm wheel 635 may rotate each leadscrew 425 in opposing directions relative to one another. Accordingly, one rotating leadscrew 425 may unscrew the inner leg 308b relative to the leadscrew 425 to rotate and translate out of the outer leg 308c to extend the telescoping leg 308a. The other rotating leadscrew 425 may screw in the inner leg 308b relative to the leadscrew 425 to rotate and translate into the outer leg 308c to retract the telescoping leg 308a. If the belt 620 rotates in the opposite direction, the telescoping leg 308a that previously extended now retracts and the telescoping leg 308a that previously retracted now extends. Accordingly, the belt direction 640 dictates which telescoping leg 308a extends and which telescoping leg 308a retracts. In some embodiments, the belt 620 can be removed and motors 440 installed on each worm 630, making the telescoping legs 308a independent.

[0074] FIG. 7 illustrates the adaptable mechanism of the adaptable landing gear 304 as a passive link mechanism 700 in accordance with one or more embodiments. In these embodiments, the passive link mechanism 700 is configured to simultaneously adapt an angle 705 of each of two legs 308 using the weight of the seismic drone 205 to align the body 300 of the seismic drone 205 with respect to the horizon. The lead nut 430 may be installed in bearing, which may be installed in the leadscrew housing 747. The lead nut 430 rotates together with the inner ring of the bearing. To prevent the leadscrew 425 from jamming, roller bearings 780 are installed on the sides, allowing the leadscrew 425 to slide freely in the inner ring of roller bearings 780. In some embodiments, each of the two legs 308 may adapt in opposing directions. In other words, while one leg 308 rotates clockwise 710, the other leg may rotate counterclockwise 715. Accordingly, the pair of legs 308 are coupled.

[0075] In some embodiments, each leg 308 illustrated in FIG. 7 may adapt in angle 705 as shown by the first bidirectional arrow 720 using a passive six-link mechanism. The passive six links may include a crank 725, rocker arm 730, leadscrew 425, lead nut 430, and linear bearing 740. The leg 308 is the sixth link. However, any number of links may be used without departing from the scope of the disclosure. In some embodiments, the pair of legs 308 may share the leadscrew 425 and lead nut 430 as illustrated in FIG. 7. In some embodiments, a leadscrew housing 747 fixes to the body 300 of the seismic drone 205.

[0076] Hereinafter, the term “adapt” in the context of the “adaptable mechanism” may further include rotating each leg 308 clockwise 710 and / or counterclockwise 715 to adapt the angle 705 of each leg 308.

[0077] In some embodiments, a linear bearing 740 may be positioned around each leg 308 and translatable along an axis or length of the leg 308 as shown by the second bidirectional arrow 750. In some embodiments, a distal end of the rocker arm 730 may be connected to a lateral portion of the linear bearing 740 and rotatable relative to the linear bearing 740 as shown by the third bidirectional arrow 755. Accordingly, the angular position of the rocker arm 730 may affect the linear position of the linear bearing 740 and the angular position of each leg 308. In some embodiments, a distal end of the crank 725 may be connected to a central portion of the rocker arm 730 and rotatable relative to the rocker arm 730 as shown by the fourth bidirectional arrow 760. In other embodiments, the mounting position may not be in the center of the rocker arm 730, but rather shifted some distance to the proximal or distal edge.) of the rocker arm 730Further, a proximal end of the crank 725 may be installed on a proximal end of the leg 308 and rotatable relative to the leg 308 as shown by the fifth bidirectional arrow 765. In some embodiments, a lateral end of the leadscrew 425 may be connected to a proximal end of the rocker arm 730. The rocker arm 730 is rotatable relative to the leadscrew 425 as shown by the six bidirectional arrow 770. Further, the leadscrew 425 is translatable relative to the leadscrew housing 747 and lead nut 430 as shown by the seventh bidirectional arrow 775. In some embodiments, the lead nut 430 is positioned around the leadscrew 425 and fixed to the leadscrew housing 747 through roller bearings 780. The lead nut 430 rotates together with the inner ring of this bearing.

[0078] In some embodiments, as described relative to FIG. 4, a pad 330 may be fixed to one or both legs 308.

[0079] In some embodiments, the passive link mechanism 700 may include a motor and gear (neither of which are shown in FIG. 7) such that the passive link mechanism 700 is now an active link mechanism. In these embodiments, the motor may be disposed above the leadscrew housing 747, a gear fixed to the motor, and the lead nut 430, now with teeth, disposed adjacent to the gear and still installed in the leadscrew housing 747. Accordingly, the motor may rotate the gear, the rotating gear may rotate the lead nut 430, and the rotating lead nut 430 may translate the leadscrew 425. Accordingly, the weight of the seismic drone 205 may only be partially relied on or not relied on to align the body 300 of the seismic drone 205 in a vertical or upright position using the active link mechanism. Like the passive link mechanism, the active link mechanism may include any number of links without departing from the scope of the disclosure.

[0080] Though FIGs. 4-7 each illustrate separate adaptable mechanisms, a person of ordinary skill in the art will appreciate that two or more adaptable mechanisms or portionsPCI7RU2025 / 000023thereof may be combined. Accordingly, in some embodiments, the adaptable mechanism may be configured to adapt a length 415 and angle 705 of a leg 308 in series or parallel.

[0081] Following the landing of the seismic drone 205 in a vertical or upright position onto a ground surface 140 using, in part, the adaptable landing gear 304, the seismic drone 205 may now be in the stationary configuration. Accordingly, one or more of the legs 308 of the seismic drone 205 may have adapted during and / or following landing such that the seismic drone 205 is vertical or upright no matter the orientation of the ground surface 140. Following landing, the seismic drone 205 may deploy, using the deployment mechanism 310, a seismic receiver 135 into / onto the ground surface 140. FIGs. 8-11 illustrate embodiments of the deployment mechanism 310 in accordance with one or more embodiments. A person of ordinary skill in the art will appreciate that any element ( .e., feature) described relative to any one of FIGs. 8-11 may be included in any other of FIGs.8-11. For example, though FIG. 9 illustrates a tip while FIG. 8 does not illustrate a tip, a tip may be included with the translational reciprocating-rotational mechanism described in FIG. 8.

[0082] Each of the deployment mechanisms 310 illustrated in and described relative to FIGs. 8-11 may be well suited for adequate mechanical and acoustic / seismic coupling of the seismic receiver 135 to the ground surface 140 for one or more types of ground surfaces 140.

[0083] FIG. 8 illustrates the deployment and retrieval or traction mechanism 310 of the seismic receiver deployment system 306 as a translational reciprocating-rotational mechanism 800 in accordance with one or more embodiments. In some embodiments, the translational reciprocating-rotational mechanism 800 may be configured to vertically deploy the seismic receiver 135 into a ground surface 140 immediately below the body 300 of the seismic drone 205 and between the legs 308 of the seismic drone 205 along a second axis 805. To do so, the translational reciprocating-rotational mechanism 800 may be fixed to a bottom part of the body 300 of the seismic drone 205 as illustrated in FIG. 8.

[0084] In some embodiments, the translational reciprocating-rotational mechanism 800 may include a first motor 440a, two gears 435a, b, guide screw 810, and rod 815. In some embodiments, a first gear 435a may be fixed to the first motor 440a, a second gear 435b positioned adjacent to the first gear 435a, a proximal end of the guide screw 810 affixed to the second gear 435b, a crosshead 820 affixed on a distal end of the guide screw 810, a proximal end of the connecting rod 830 affixed to the crosshead 820 by means of a lead nut and a bearing (not shown in FIG. 8), and a distal end of the connecting rod 830 fixedto a proximal end of seismic receiver 135 through the bottom plate of flexible part 326 as illustrated in FIG. 8. The connecting rod 830 fixed with seismic receiver 135 can freely rotate relative to bottom plate of flexible part 326. The rod 815 is used to control the translational movement required for deploying the seismic receiver 135 onto or into a ground surface 140 and retrieving the seismic receiver 135 from the ground surface.

[0085] The first motor 440a may be configured to rotate the first gear 435a, the rotating first gear 435a may rotate the second gear 435b, the rotating second gear 435b may rotate the guide screw 810, the rotating guide screw 810 may translate the crosshead 820 by threading or unthreading the crosshead 820, and the translating crosshead 820 may translate the seismic receiver 135 up or down. In some embodiments, the first motor 440a may alternate the direction of rotation of the first gear 435a back and forth as shown by the bidirectional arrow 825 such that the seismic receiver 135 translates up and down in a periodic and reciprocating manner. Further, in some embodiments, the first motor 440a may rotate the first gear 435a in one direction for a longer amount of time than the first motor 440a rotates the first gear 435a in the opposing direction. Accordingly, a distal end of the seismic receiver 135 may translate lower and lower towards and into / onto the ground surface 140 in a periodic and reciprocating manner until the seismic receiver 135 or portion thereof is adequately deployed into / onto the ground surface 140.

[0086] In some embodiments, the translational reciprocating-rotational mechanism 800 may further include a second motor 440b, crank 725, rocker arm 730, and connecting rod 830 as illustrated in FIG. 8. In some embodiments, a first end of the crank 725 may be fixed to the second motor 440b, a first end of the rocker arm 730 fixed to a second end of the crank 725, a proximal end of the connecting rod 830 fixed to a second end of the rocker arm 730, and a proximal end of the seismic receiver 135 fixed to the connecting rod 830 as illustrated in FIG. 8.

[0087] The second motor 440b may rotate the crank 725, the rotating crank 725 may rotate the rocker arm 730, the rotating rocker arm 730 may rotate the connecting rod 830, and the rotating connecting rod 830 may rotate seismic receiver 135. Accordingly, the translational reciprocating-rotational mechanism 800 may rotate the seismic receiver 135 simultaneously while the seismic receiver 135 is translating up and down in a periodic and reciprocating manner as previously described to deploy the seismic receiver 135 or portion thereof into / onto the ground surface 140. The translational reciprocating-rotational mechanism 800 may be well suited for deploying a seismic receiver 135 into a loose ground surface 140, such as sand.

[0088] In some embodiments, a damper 835 may be connected between the seismic receiver 135 and flexible part 326. The damper 835 may be configured to reduce noise. The noise may be vibrations caused by the body 300 of the seismic drone 205 and / or parts and / or systems mounted on, or fixed to, the body 300 of the seismic drone 205. The damper 835 may be any shape and made of any material. Damper materials may include, without limitation, silicone rubber, rubber, and composite materials.

[0089] In some embodiments, the translational reciprocating-rotational mechanism 800 may include a switcher 840. The switcher 840 may be configured to automatically control the translational reciprocating-rotational mechanism 800. When seismic receiver 135 is raised, the crosshead 820 pushes switcher 840 into its final upper position and the translational reciprocating-rotational mechanism 800 ceases motion. A similar switcher can be located at the distal end of rod 815 to contact the underside of plate of the flexible part 326. In other embodiments, the translational reciprocating-rotational mechanism 800 during the deploying procedure may be terminated using an inertial measuring unit sensor of the autopilot system 340.

[0090] FIG. 9 illustrates the deployment mechanism 310 of the seismic receiver deployment system 306 as a translational mechanism 900 in accordance with one or more embodiments. In some embodiments, the translational mechanism 900 may be configured to vertically deploy the seismic receiver 135 into a ground surface 140 immediately below the body 300 of the seismic drone 205 and between the legs 308 of the seismic drone 205. To do so, the translational mechanism 900 may be fixed to an underside portion of the body 300 of the seismic drone 205 as illustrated in FIG. 9.

[0091] In some embodiments, the translational mechanism 900 may include a motor 440, two gears 435a, b, a guide screw 810, and a rod 815. In some embodiments, a first gear 435a may be fixed to the motor 440, a second gear 435b disposed adjacent to the first gear 435a, a proximal end of the guide screw 810 fixed to the second gear 435b, and a proximal end of the seismic receiver 135 disposed on a distal end of the guide screw 810 and fixed to the rod 815 as illustrated in FIG. 9.

[0092] The motor 440 may be configured to rotate the first gear 435a, the rotating first gear 435a may rotate the second gear 435b, the rotating second gear 435b may rotate the guide screw 810, the rotating guide screw 810 may translate the seismic receiver 135 in the distal direction by unthreading the seismic receiver 135 relative to the guide screw 810. Accordingly, a distal end of the seismic receiver 135 may translate towards and into / onto the ground surface 140 until the seismic receiver 135 or portion thereof is adequatelydeployed into / onto the ground surface 140. In some embodiments, the rod 815 may be configured to support the seismic receiver 135. The translational mechanism 900 may be well suited for deploying a seismic receiver 135 into a viscous ground surface 140, such as soil.

[0093] In some embodiments, the translational mechanism 900 may include a damper 835 and switcher 840 as previously described relative to FIG. 8.

[0094] In some embodiments, the deployment mechanism 310 may further include a tip 328. The tip 328 may be fixed to a distal end of the seismic receiver 135 or cover surrounding the seismic receiver 135 as illustrated in FIG. 9. The tip 328 may be configured to aid the other parts of the deployment mechanism 310 in deploying the seismic receiver 135 or portion thereof into a ground surface 140 by loosening or breaking up the ground surface 140. The tip 328 may be or include, without limitation, a metallic spike (or several spikes), round, or triangular plate, or a combination of them. The metallic spike may be well suited for aiding in disposing the seismic receiver 135 into soil. The round may be well suited for aiding in disposing the seismic receiver 135 into a hard ground surface 140. The triangular plate may be well suited for aiding in disposing the seismic receiver 135 into sand.

[0095] FIG. 10 illustrates the deployment mechanism 310 of the seismic receiver deployment system 306 as a spring mechanism 1000 in accordance with one or more embodiments. In some embodiments, the spring mechanism 1000 may be fixed to an underside portion of the body 300 of the seismic drone 205.

[0096] In some embodiments, the spring mechanism 1000 may include a motor 440, pinion 1005, rack 1010, rack case 1015, spring 525, and rod 815. In some embodiments, the pinion 1005 is fixed to the motor 440, the rack 1010 is located adjacent to the pinion 1005, the rack 1010 is fixed to the rack case 1015, a distal end of the spring 525 is fixed to the rack case 1015, and a proximal end of the seismic receiver 135 is fixed to a distal end of the rack case 1015. In some embodiments, the rack case 1015 is disposed on one or more rods 815.

[0097] The motor 440 may be configured to rotate the pinion 1005 clockwise 710 so that the rack 1010 with rack case 1015 translate to compress the spring 525. Once the spring 525 is compressed, the motor 440 may be switch off allowing the spring 525 to extend thereby deploying the seismic receiver 135 into / onto the ground surface 140. In some embodiments, the rod 815 is configured to support the rack case 1015, seismic receiver135, and / or tip 328. The spring mechanism 1000 may be well suited for deploying a seismic receiver 135 into a viscous and / or dense ground surface 140, such as wet soil, frozen soil, and humus.

[0098] FIG. 11 illustrates the deployment mechanism 310 of the seismic receiver deployment system 306 as a burying mechanism 1100 in accordance with one or more embodiments. The burying mechanism 1100 may be configured to drill a ground surface 140, such as soil, until the seismic receiver 135 is deployed on or into / onto the ground surface 140.

[0099] In some embodiments, the burying mechanism 1100 includes a motor 440, gears 435a, b, leadscrew 425, lead nut 430, and auger 1105. In some embodiments, the first gear 435a may be fixed to the motor 440, the second gear 435b placed adjacent to the first gear 435a, a proximal end of the leadscrew 425 fixed to the second gear 435b, the lead nut 430 disposed around the leadscrew 425 and fixed on proximal end of auger 1105, the seismic receiver 135 installed on a proximal end of the auger 1105 fixed to a distal end of the seismic receiver 135.

[0100] The motor 440 may be configured to rotate the first gear 435a, the rotating first gear 435a rotates the second gear 435b, the rotating second gear 435b rotates the leadscrew 425, the rotating leadscrew 425 unthreads the lead nut 430 to translate the lead nut 430 distally, the rotating leadscrew 425 rotates the seismic receiver 135 and auger 1105, and the translating lead nut 430 translates the seismic receiver 135 and auger 1105 distally.

[0101] FIG. 12 displays a seismic drone 205 equipped with landing gear with a seismic receiver 135 on each leg 308 in accordance with one or more embodiments. In some embodiments, a motor 440 is configured to adapt each leg 308 to the required angle to align the body 300 in a desired position. The seismic receiver 135 is installed on each leg 308 through controllable joint 1201 that may be used to provide vertical alignment during data recording. A sharp tip 328 of the seismic receiver 135 ensures reliable coupling to the ground surface. Such a configuration represents a combination of landing gear with seismic deployment system and may be useful for disposing (i.e., landing) a seismic drone 205 on a ground surface 140 with a substantially constant or uniform slope 610.

[0102] In these embodiments, each leg 308 may be or include more than one motor 440, providing rotation around more than one axis, on a proximal end to provide more flexible adaptation to the ground surface 140. With several motors, seismic drone 205 will be able to adjust the position of its legs after landing by alternately raising its legs and at the sametime leaning the general center of mass of the body 300 using the legs remaining on the ground. In some embodiments leg 308 may also include multiple links.

[0103] The housing of seismic receiver 135 may be configured with a spherical joint within the controllable joint 1201 connecting the seismic receiver 135 to the leg 308. The controllable joint 1201 may contain a gearbox to control the orientation of seismic receiver 135.

[0104] FIG. 13 displays a seismic drone control system 1300 in accordance with one or more embodiments. In some embodiments, the seismic drone control system 1300 may include sub-systems or modules such as a microcomputer 1305, flight controller 1310, navigation system 334, propulsion system 336, memory module 1315, communication system 1320, onboard sensors 1325 (i.e., an auxiliary peripheral system), seismic data recording system 332, and seismic receiver alignment mechanism 302. Each module may be associated with software and / or hardware. For example, the seismic receiver alignment mechanism 302 may include the adaptable landing gear 304 and / or seismic receiver deployment system 306 as well as software to control the adaptable landing gear 304 and / or seismic receiver deployment system 306. In some embodiments, the seismic receiver deployment system 306 may include a surveillance system that includes one or more sensors that determine characteristics of the parts and / or systems of the seismic drone 205. For example, the one or more sensors may include a temperature sensor to monitor and control the cooling system 338. However, a person of ordinary skill in the art will appreciate that one or more modules or portions thereof may be combined with one or more other modules or portions thereof without departing from the scope of the disclosure. For example, the communication board 320 of the communication system 1320 may be within the microcomputer 1305.

[0105] The microcomputer 1305 may be communicably coupled to any module of the seismic drone control system 1300. However, in some embodiments, the microcomputer 1305 may be communicably coupled to the flight controller 1310, memory module 1315, communication system 1320, onboard sensors 1325, seismic data recording system 332, and seismic receiver alignment mechanism 302 as shown by the bidirectional arrows in FIG. 13. Further, in some embodiments, the flight controller 1310 may be communicably coupled to the navigation system 334 and propulsion system 336 as shown by the bidirectional arrows in FIG. 13. Further still, in some embodiments, the seismic receiver alignment mechanism 302 may be communicably coupled to the propulsion system 336 as shown by the bidirectional arrows in FIG. 13.

[0106] In some embodiments, the microcomputer 1305 may control, in part, the seismic receiver alignment mechanism 302, communication system 1320, seismic data recording system 332, and / or flight controller 1310 (or portion(s) thereof). In some embodiments, the microcomputer 1305 may control, in part, the seismic receiver deployment system 306 of the seismic receiver alignment mechanism 302 via the motor board 314. Further, in some embodiments, the microcomputer 1305 may receive sensor data collected from the onboard sensors 1325. The onboard sensors 1325 may include, without limitation, optical sensors, ultrasonic sensors, and inertial sensors. In some embodiments, one or more of the onboard sensors 1325 may be the alignment sensor of the adaptable landing gear 304. In some embodiments, the sensor data may be stored in the memory module 1315.

[0107] In some embodiments, the flight controller 1310 may be communicably coupled and / or control the propulsion system 336 and / or navigation system 334 (or portion(s) thereof). Further, in some embodiments, the flight controller 1310 may include the autopilot system 340 and the propulsion system 336 may include the speed controller system 342. Accordingly, the flight controller 1310 or portion thereof may control a flight path and features of the flight path, such as speed, of the seismic drone 205. Further still, in some embodiments, the flight controller 1310 may receive data from the navigation system 334, such as global coordinates of the current position of the seismic drone 205 (i.e., the geo-location of the seismic drone 205). Each of the autopilot system 340, seismic data recording system 332, and navigation system 334 may be or include a global navigation satellite system (GNSS) (e.g., global positioning system (GPS), Russia's Global Navigation Satellite System (GLONASS), China's BeiDou Navigation Satellite System (BDS), the European Union's Galileo, etc.), and / or real-time kinematic positioning (RTK). Accordingly, duplicates of the GNSS, and / or RTK may reduce detection, recording, and / or processing delays.

[0108] In some embodiments, a power supply system 1330 may be configured to supply or provide power to at least one of the microcomputers 1305, flight controller 1310, propulsion system 336, and seismic receiver alignment mechanism 302 as shown by the bidirectional arrows in FIG. 13. In some embodiments, the power supply system 1330 may be or include the battery 318 as illustrated in FIG. 3.

[0109] In some embodiments, the communication system 1320 may be communicably coupled to a base station (not shown in FIG. 13). Communicable coupling may include the use radio signals, Wi-Fi, or satellite link. Accordingly, the communication system 1320 and base station may be configured to exchange data and / or provide commands toone another. For example, a mission (in the form of a series of commands) for the seismic drone 205 to the complete may be sent from the base station 210 to the communication system 1320. The commands received from the communication system 1320 may be transferred to the microcomputer 1305 and stored in the memory module 1315. The microcomputer 1305 may then send each command to the appropriate module within the seismic drone control system 1300. For example, the microcomputer 1305 may send a command to the flight controller 1310 to cause the seismic drone 205 to perform a task. Tasks may include navigating to a set of coordinates in space, taking off (i.e., adapting from a stationary configuration to a flying configuration), and / or landing (z'.e., adapting from a flying configuration to a stationary configuration) using, in part, the navigation system 334 and / or propulsion system 336. Tasks may further include aligning the seismic drone 205 and / or deploying a seismic receiver 135 into a ground surface (z.e., adapting from a stationary configuration to a seismic receiver deployment configuration) using, in part, the seismic receiver alignment mechanism 302. Tasks may still further include detecting and recording seismic data (i.e., adapting from a seismic receiver deployment configuration to a seismic receiver recording configuration) using, in part, the seismic data recording system 332. However, a person of ordinary skill in the art will appreciate that the above is not an exhaustive list of the tasks a seismic drone 205 may perform.

[0110] Prior to performing a task, the navigation system 334 may be configured to determine the position and / or orientation of the seismic drone 205 in space and / or on a ground surface 140 using, in part, the sensor data collected from the onboard sensors 1325. The navigation system 334 may be further configured to monitor and control a movement of the seismic drone 205. The navigation system 334 may be still further configured to use the position and / or orientation of the seismic drone 205 to determine if a proposed task can be performed. If the proposed task can be performed, the navigation system 334 may send a command directed to performing the proposed task to the flight controller 1310, propulsion system 336, and / or microcomputer 1305. If applicable, the microcomputer 1305 may send the command to the appropriate module of the seismic drone control system 1300, such as the seismic receiver alignment mechanism 302, such that that module performs the performs task.

[0111] In some embodiments, a memory of the microcomputer 1305 or memory module 1315 (both forms of non- transitory computer-readable memory) may store instructions for how to perform a task executable by one or more modules of the seismic drone control system 1300 that includes a computer processor. For example, the memory of themicrocomputer 1305 or memory module 1315 may store instructions for how to land the seismic drone 205 in an aligned or upright position based on the current position and / or orientation of the seismic drone 205 and the type and / or orientation of the ground surface 140. If the microcomputer 1305 receives a command to land the seismic drone 205, the command and the instructions may be sent to the seismic receiver alignment mechanism 302 to control how the seismic drone 205 lands.

[0112] During a seismic survey and while one or more seismic drones 205 are in the seismic receiver recording configuration, the seismic data recording system 332 may be configured to send seismic data detected and recorded by the seismic receiver 135 of the seismic drone 205 to the microcomputer 1305 such that the seismic data may be stored in the memory module 1315. In other embodiments, the seismic data recording system 332 may be configured to record the seismic data detected by a deployed seismic receiver 135. In some embodiments, the seismic data recording system 332 may include a separate memory that stores the seismic data or a duplicate copy of the seismic data. In some embodiments, the seismic data recording system 332 may include a navigation system or be communicably coupled to the navigation system 334. Accordingly, the seismic data recording system 332 may be configured to synchronize the seismic data with a global clock. In some embodiments, the seismic data recording system 332 may be or include an onboard data acquisition module (ODAM).

[0113] FIG. 14 describes a method in accordance with one or more embodiments. Each of the steps described below may be performed autonomously.

[0114] In step 1400, a seismic drone 205 deploys in space. Accordingly, the seismic drone 205 is in the flying configuration. In some embodiments, the seismic drone 205 may receive a command to deploy in space. In some embodiments, the seismic drone 205 may already be hovering, translating, and / or rotating i.e., flying) in space. In other embodiments, the seismic drone 205 may have adapted from a stationary configuration to a flying configuration. In some embodiments, the seismic drone is deployed in space to perform a mission. In some embodiments, the mission may be to aid in performing a seismic survey 100.

[0115] In step 1405, the seismic drone 205 navigates to above a location 215 on a ground surface 140. In some embodiments, the ground surface 140 may be above a subterranean region of interest 105 where a seismic drone survey 200 will be conducted. In some embodiments, prior to navigating, the seismic drone 205 may have received the seismic survey plan, or portion thereof, from the base station 210, where the seismic survey planPCI7RU2025 / 000023includes the target location of the seismic drone 205. Accordingly, in some embodiments, the GPS of the navigation system 334 of the seismic drone 205 may be used to navigate (z.e., fly) the seismic drone 205 in space to above the location 215.

[0116] In step 1410, the seismic drone 205 lands in a position at the location 215 on the ground surface 140. Accordingly, the seismic drone 205 adapts from the flying configuration to a stationary configuration. To land, the seismic drone 205 may use the alignment sensor of the adaptable landing gear 304 to determine an alignment of the seismic drone 205. Accordingly, the adaptable mechanism of the adaptable landing gear 304 may adapt at least one of length and angle of a leg 308 of the seismic drone 205 based, in part, on the alignment of the seismic drone 205 and, in some embodiments, the type and / or orientation of the ground surface 140. In one or more embodiments, landing the seismic drone 205 includes disposing the leg 308 onto the ground surface 140. Accordingly, the seismic drone 205 may be disposed onto the ground surface 140 in an aligned or upright position.

[0117] The at least one of length and angle of the leg 308 may adapt while the seismic drone 205 is in the flying configuration, stationary configuration, or adapting from the flying configuration to the stationary configuration.

[0118] In step 1415, the seismic receiver 135 of the seismic drone 205 disposes into / onto the ground surface along a second axis 805. Accordingly, the seismic drone 205 converts from the stationary configuration to a seismic receiver deployment configuration. To dispose the seismic receiver 135 into / onto the ground surface 140, the seismic drone 205 uses the deployment mechanism 310 of the seismic receiver deployment system 306. Accordingly, in some embodiments, the seismic receiver 135 may be disposed into / onto the ground surface 140 in an aligned or upright position.

[0119] In step 1420, the seismic receiver 135 of the seismic drone 205 detects seismic data generated by seismic waves propagating through the ground surface 140 and into a subterranean region of interest 105. In other words, a seismic survey 100 is performed where the seismic receiver 135 of the seismic drone 205 is used as a part of the seismic acquisition system 125 as described relative to FIGs. 1 and 2.

[0120] FIG. 15 illustrates a computer system 1500 in accordance with one or more embodiments. In the context of this disclosure, the microcomputer 1305 of the seismic drone control system 1300 may be or include a computer system 1500. Further, in some embodiments, each module of the seismic drone control system 1300 may include aPCI7RU2025 / 000023computer system 1500 or portion thereof. For example, the memory module 1315 include memory as is described below.

[0121] The computer system 1500 is intended to depict any computing device such as a server, desktop computer, laptop / notebook computer, wireless data port, smart phone, personal data assistant (PDA), tablet computing device, one or more processors within these devices, or any other suitable processing device, including both physical or virtual instances (or both) of the computing device. Additionally, the computer system 1500 may include an input device, such as a keypad, keyboard, touch screen, or other device that can accept user information, and an output device that displays information, including digital data, visual or audio information (or a combination of both), or a graphical user interface (GUI).

[0122] The computer system 1500 can serve in a role as a client, network component, server, database, or any other component (or a combination of roles) of a computer system 1500 as required. The illustrated computer system 1500 is communicably coupled with a network 1505. In some implementations, one or more components of each computer system 1500 may be configured to operate within environments, including cloudcomputing-based, local, global, or other environment (or a combination of environments).

[0123] At a high level, the computer system 1500 is an electronic computing device operable to receive, transmit, process, store, and / or manage data and information associated with the disclosed seismic drone 205 and methods. According to some implementations, the computer system 1500 may also include or be communicably coupled with an application server, e-mail server, web server, caching server, streaming data server, business intelligence (BI) server, or other server (or a combination of servers).

[0124] The computer system 1500 can receive requests over the network 1505 from other computer systems 1500 or another client application and respond to the received requests by processing the requests appropriately. In addition, requests may also be sent to the computer system 1500 from internal users (for example, from a command console or by other appropriate access method), external or third-parties, other automated applications, as well as any other appropriate entities, individuals, systems, or computer systems 1500.

[0125] Each of the components of the computer system 1500 can communicate using a system bus 1510. In some implementations, any or all of the components of each computer system 1500, both hardware or software (or a combination of hardware and software), may interface with each other or the interface 1515 (or a combination of both) over the systembus 1510 using an application programming interface (API) 1520 or a service layer 1525 (or a combination of the API 1520 and service layer 1525. The API 1520 may include specifications for routines, data structures, and object classes. The API 1520 may be either computer-language independent or dependent and refer to a complete interface, a single function, or even a set of APIs. The service layer 1525 provides software services to each computer system 1500 or other components (whether or not illustrated) that are communicab ly coupled to each computer system 1500. The functionality of each computer system 1500 may be accessible for all service consumers using this service layer 1525. Software services, such as those provided by the service layer 1525, provide reusable, defined business functionalities through a defined interface. For example, the interface may be software written in JAVA, C++, or other suitable language providing data in extensible markup language (XML) format or another suitable format. While illustrated as an integrated component of each computer system 1500, alternative implementations may illustrate the API 1520 or the service layer 1525 as stand-alone components in relation to other components of each computer system 1500 or other components (whether or not illustrated) that are communicably coupled to each computer system 1500. Moreover, any or all parts of the API 1520 or the service layer 1525 may be implemented as child or submodules of another software module, enterprise application, or hardware module without departing from the scope of this disclosure.

[0126] The computer system 1500 includes an interface 1515. Although illustrated as a single interface 1515 in FIG. 15, two or more interfaces 1515 may be used according to particular needs, desires, or particular implementations of each computer system 1500. The interface 1515 is used by each computer system 1500 for communicating with other systems in a distributed environment that are connected to the network 1505. Generally, the interface 1515 includes logic encoded in software or hardware (or a combination of software and hardware) and operable to communicate with the network 1505. More specifically, the interface 1515 may include software supporting one or more communication protocols associated with communications such that the network 1505 or interface’s hardware is operable to communicate physical signals within and outside of the illustrated computer system 1500.

[0127] The computer system 1500 includes at least one processor 1530. Generally, a processor 1530 executes any instructions, algorithms, methods, functions, processes, flows, and procedures as described above. A processor 1530 may be a central processing unit (CPU) and / or a graphics processing unit (GPU).

[0128] The computer system 1500 also includes a memory 1535 that stores data and software for the computer system 1500 or other components (or a combination of both) that can be connected to the network 1505. Although illustrated as a single memory 1535 in FIG. 15, two or more memories 1535 may be used according to particular needs, desires, or particular implementations of the computer system 1500 and the described functionality. While memory 1535 is illustrated as an integral component of each computer system 1500, in alternative implementations, memory 1535 can be external to the computer system 1500.

[0129] The application 1540 is an algorithmic software engine providing functionality according to particular needs, desires, or particular implementations of the computer system 1500, particularly with respect to functionality described in this disclosure. For example, application 1540 can serve as one or more components, modules, applications, etc. Further, although illustrated as a single application 1540, the application 1540 may be implemented as multiple applications 1540 on each computer system 1500. In addition, although illustrated as integral to each computer system 1500, in alternative implementations, the application 1540 can be external to each computer system 1500.

[0130] There may be any number of computer systems 1500, such as computer clusters, associated with, or external to, the computer system 1500, where each computer system 1500 communicates over network 1505. Further, the term “client,” “user,” and other appropriate terminology may be used interchangeably as appropriate without departing from the scope of this disclosure. Moreover, this disclosure contemplates that many users may use the computer system 1500, or that one user may use multiple computer systems 1500.

[0131] Although only a few example embodiments have been described in detail above, those skilled in the art will readily appreciate that many modifications are possible in the example embodiments without materially departing from this invention. Accordingly, all such modifications are intended to be included within the scope of this disclosure as defined in the following claims.

Claims

CLAIMSWhat is claimed is:

1. A seismic drone comprising:a body;a seismic receiver alignment mechanism fixed to the body,wherein the seismic receiver alignment mechanism comprises:adaptable landing gear comprising an alignment sensor, a leg, and an adaptable mechanism,wherein the alignment sensor is configured to determine an alignment of the seismic drone,wherein the leg is adaptable in at least one of length and angle, using the adaptable mechanism, based, at least in part, on the alignment of the seismic drone, andwherein the leg is disposable onto a ground surface; and a seismic receiver deployment system comprising a seismic receiver and a deployment mechanism,wherein the seismic receiver is disposable, using the deployment mechanism, into / onto the ground surface along an axis.

2. The seismic drone of claim 1, further comprising a seismic data recording system fixed to the body,wherein the seismic data recording system is configured to record seismic data detected by the deployed seismic receiver.

3. The seismic drone of claim 1, further comprising a navigation system fixed to the body, wherein the navigation system is configured to monitor and control a movement of the seismic drone.

4. The seismic drone of claim 1, wherein the at least one of length and angle of the leg vertically aligns the seismic drone.

5. The seismic drone of claim 4, wherein the seismic receiver is vertically deployable into / onto the ground surface.

6. The seismic drone of claim 1, wherein the adaptable mechanism comprises a gear-and- leadscrew mechanism.

7. The seismic drone of claim 1, wherein the adaptable mechanism comprises a cable mechanism.

8. The seismic drone of claim 1, wherein the adaptable mechanism comprises a worm gear mechanism.

9. The seismic drone of claim 1, wherein the seismic receiver is disposed on the leg.

10. The seismic drone of claim 1, wherein the adaptable mechanism comprises a passive link mechanism.

11. The seismic drone of claim 1, wherein the adaptable mechanism comprises an active link mechanism.

12. The seismic drone of claim 1, wherein the adaptable landing gear further comprises a pad fixed to a distal end of the leg,wherein the pad is at least one of rotatable and translatable relative to the leg, wherein the pad is disposable onto the ground surface,wherein the pad is configured to support a landing of the seismic drone onto the ground surface, andwherein the pad comprises a shock absorber.

13. The seismic drone of claim 1, wherein the deployment mechanism comprises a translational reciprocating-rotational mechanism.

14. The seismic drone of claim 1, wherein the deployment mechanism comprises a translational mechanism.

15. The seismic drone of claim 1, wherein the deployment mechanism comprises a spring mechanism.

16. The seismic drone of claim 1, wherein the deployment mechanism comprises a burying mechanism.

17. The seismic drone of claim 1, wherein the deployment mechanism further comprises a tip fixed to a distal end of the seismic receiver, andwherein the tip is disposable into / onto the ground surface.

18. A method comprising:deploying a seismic drone in space;navigating the seismic drone above a location on a ground surface;landing the seismic drone in a position at the location on the ground surface using adaptable landing gear of the seismic drone,wherein the adaptable landing gear comprises an alignment sensor, a leg, and an adaptable mechanism,wherein the alignment sensor is configured to determine an alignment of the seismic drone,wherein the adaptable mechanism is configured to adapt at least one of length and angle of the leg based, at least in part, on the alignment of the seismic drone, and wherein landing the seismic drone comprises disposing the leg onto the ground surface; anddeploying, using a deployment mechanism of the seismic drone, a seismic receiver of the seismic drone into / onto the ground surface along an axis.

19. The method of claim 18, further comprising detecting, using the seismic receiver, seismic data generated by seismic waves propagating through the ground surface and into a subterranean region of interest.

20. The method of claim 19, further comprising transmitting the seismic data to a base station.

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