Lightweight interchangeable UAV payload for geophysical data measurement

Abstract

A geophysical acquisition device that includes a drone and one or more payloads. The drone is capable of flying to an acquisition location and includes one or more extensions, each extension forming one of a leg providing support for landing the drone, and an arm supporting a motor of the drone. Each payload includes one or more geophysical sensors configured to capture a geophysical signal from the acquisition location, a preprocessing system configured to produce geophysical data based on the geophysical signal, a transmitter configured to transmit the geophysical data externally from the payload, and a container containing the one or more geophysical sensors, preprocessing system and, at least in part, the transmitter. Each payload is attached to a distal end of a distinct extension so that the drone transports the one or more payloads when flying to the acquisition location.

Description

LIGHTWEIGHT INTERCHANGEABLE UAV PAYLOAD FOR GEOPHYSICAL DATA MEASUREMENT BACKGROUND

[0001] Geophysical acquisition is commonly a resource intensive process that poses several challenges. In the context of land seismic acquisition, geophones are typically inserted manually into the ground and moved multiple times within large areas. The process of repeatedly moving the geophones can be labor intensive and often requires mobilizing large crews. In areas with rugose terrain or obstacles, conducting a land seismic acquisition may be severely restricted or unfeasible using current technologies.

[0002] In the context of towed-streamer marine seismic acquisition, hydrophones are transported inside cables, towed by a seismic vessel. While the hydrophones are relatively lightweight and compact, the cables carrying the hydrophones can be extremely long (e.g. , 10 km to 12 km) and heavy. As a result, towing the cables usually requires significant fuel consumption and renders the navigation difficult, especially during turns. Additionally, a variety of issues may arise, including cable entanglement and barnacle accumulation, which increases drag and noise.

[0003] In the context of aerial gravimetric or magnetic geophysical acquisition, a gravity sensor or magnetic sensor may be transported to different locations by an airplane. Maneuvering the airplane can be particularly complex and demand a large amount of energy. For economic and logistical reasons, gravimetric or magnetic geophysical acquisition systems functioning in such configurations are often limited to a single sensor, avoiding the complexities of operating multiple airplanes in the same area.

[0004] In view of the above examples, the resources needed for the sole positioning of relatively compact geophysical sensors are often substantial, indicating inefficiencies of conventional geophysical acquisition systems. Therefore, there is a need formore efficient, flexible, less resource intensive geophysical acquisition systems that can easily adapt to challenging acquisition environments.SUMMARY

[0005] 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 keyor 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.

[0006] In one aspect, embodiments disclosed herein relate to a payload for a drone. The payload includes one or more geophysical sensors configured to capture a geophysical signal, a preprocessing system configured to produce geophysical data based on the geophysical signal, a transmitter configured to transmit the geophysical data externally from the payload and a container containing the one or more geophysical sensors, preprocessing system and, at least in part, the transmitter. The payload is configured to be attached to a distal end of an extension of a drone, the extension forming one of a leg providing support for landing the drone, and an arm supporting a motor of the drone.

[0007] In one aspect, embodiments disclosed herein relate to a geophysical acquisition device that includes a drone and one or more payloads. The drone is capable of flying to an acquisition location and includes one or more extensions, each extension forming one of a leg providing support for landing the drone, and an arm supporting a motor of the drone. Each payload includes one or more geophysical sensors configured to capture a geophysical signal from the acquisition location, a preprocessing system configured to produce geophysical data based on the geophysical signal, a transmitter configured to transmit the geophysical data externally from the payload, and a container containing the one or more geophysical sensors, preprocessing system and, at least in part, the transmitter. Each payload is attached to a distal end of a distinct extension so that the drone transports the one or more payloads when flying to the acquisition location.

[0008] In one aspect, embodiments disclosed herein relate to a geophysical acquisition method. The geophysical acquisition method includes flying a geophysical acquisition device to an acquisition location. The geophysical acquisition device includes a drone capable of flying to the acquisition location and one or more payloads. The drone includes one or more extensions, each extension forming one of a leg providing support for landing the drone, and an arm supporting a motor of the drone. Each payload includes one or more geophysical sensors, a preprocessing system, a transmitter, and a container containing the one or more geophysical sensors, preprocessing system and, at least in part, the transmitter. Each payload is attached to a distal end of a distinct extension so that the drone transports the one or more payloads when flying to the acquisition location. The geophysical acquisition method further includes performing a geophysical data acquisition procedure for each payload. For each payload, the geophysical data acquisition procedure includes capturing a geophysical signal from the acquisition location using the one or moregeophysical sensors of the payload, producing geophysical data based on the geophysical signal using the preprocessing system of the payload, and transmitting the geophysical data externally from the payload using the transmitter of the payload.

[0009] Other aspects and advantages of the claimed subject matter will be apparent from the following description and the appended claims.BRIEF DESCRIPTION OF DRAWINGS

[0010] 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.

[0011] FIG. 1 depicts a block diagram of a geophysical acquisition system in accordance with one or more embodiments disclosed herein.

[0012] FIG. 2 depicts a drone in accordance with one or more embodiments disclosed herein.

[0013] FIG. 3 depicts a drone in accordance with one or more embodiments disclosed herein.

[0014] FIG. 4A depicts a front view of a payload for a drone in accordance with one or more embodiments disclosed herein.

[0015] FIG. 4B depicts a top view of a payload for a drone in accordance with one or more embodiments disclosed herein.

[0016] FIG. 4C depicts a bottom view of a payload for a drone in accordance with one or more embodiments disclosed herein.

[0017] FIG. 5A depicts a front view of a payload for a drone in accordance with one or more embodiments disclosed herein.

[0018] FIG. 5B depicts a top view of a payload for a drone in accordance with one or more embodiments disclosed herein.

[0019] FIG. 5C depicts a bottom view of a payload for a drone in accordance with one or more embodiments disclosed herein.

[0020] FIG. 6A depicts a front view of a payload for a drone in accordance with one or more embodiments disclosed herein.

[0021] FIG. 6B depicts a top view of a payload for a drone in accordance with one or more embodiments disclosed herein.

[0022] FIG. 6C depicts a bottom view of a payload for a drone in accordance with one or more embodiments disclosed herein.

[0023] FIG. 7 depicts a geophysical acquisition device in accordance with one or more embodiments disclosed herein.

[0024] FIG. 8 depicts a geophysical acquisition device in accordance with one or more embodiments disclosed herein.

[0025] FIG. 9 depicts a geophysical acquisition device in accordance with one or more embodiments disclosed herein.

[0026] FIG. 10 depicts an integrated electromechanical system of a geophysical acquisition device in accordance with one or more embodiments disclosed herein.

[0027] FIG. 11 depicts a geophysical surveying system in accordance with one or more embodiments disclosed herein.

[0028] FIG. 12 A depicts an example deployment of multiple geophysical acquisition devices in accordance with one or more embodiments disclosed herein.

[0029] FIG. 12B depicts an example deployment of multiple geophysical acquisition devices in accordance with one or more embodiments disclosed herein.

[0030] FIG. 12C depicts an example deployment of multiple geophysical acquisition devices in accordance with one or more embodiments disclosed herein.

[0031] FIG. 13 depicts a flow chart of a geophysical acquisition method in accordance with one or more embodiments disclosed herein.

[0032] FIG. 14 depicts an example diagram of a computer in accordance with one or more embodiments disclosed herein.DETAILED DESCRIPTION

[0033] 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.

[0034] 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.

[0035] It is to be understood that the singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise. For example, a computer may reference two or more such computers.

[0036] As used here and in the appended claims, the words “comprise,” “has,” and “include” and all grammatical variations thereof are each intended to have an open, nonlimiting meaning that does not exclude additional elements or steps.

[0037] “Optionally” means that the subsequently described event or circumstances may or may not occur. The description includes instances where the event or circumstance occurs and instances where it does not occur.

[0038] Terms such as “approximately,” “about,” “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. For example, these terms may mean that there can be a variance in value of up to ±10%, of up to 5%, of up to 2%, of up to 1%, of up to 0.5%, of up to 0.1%, or up to 0.01%.

[0039] Ranges may be expressed as from about one particular value to about another particular value, inclusive. When such a range is expressed, it is to be understood that another embodiment is from the one particular value to the other particular value, along with all particular values and combinations thereof within the range.

[0040] It is to be understood that one or more of the steps shown in a flowchart 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 flowchart.

[0041] 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.

[0042] In the following description of FIGs. 1-14, any component described with regard to a figure, in various embodiments disclosed herein, may be equivalent to one or more like-named components described with regard to any other figure. For brevity, descriptions of these components will not be repeated with regard to 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 with regard to a corresponding like-named component in any other figure.

[0043] Methods and systems disclosed herein relate to a payload for a drone. The payload is configured to acquire geophysical data, among other uses. Methods and systems disclosed herein further relate to a geophysical acquisition device that includes a drone and one or more payloads attached to the drone. The one or more payloads are transported by the drone to a desired acquisition location. The desired acquisition location may be located, for example, on the surface of the Earth, a surface of a water formation, or airborne. The drone may be configured to receive, store and process the geophysical data received from each payload. Methods and systems disclosed herein further relate to performing geophysical data acquisition using the disclosed geophysical acquisition device.

[0044] The payload described in this disclosure presents, at least, the following advantages. The configuration of the payload is flexible. The payload includes one or more geophysical sensors that may be of various types, such as, for example, geophones, hydrophones, accelerometers, gravity sensors, magnetic sensors and gamma-ray sensors. The payload may include a single geophysical sensor or multiple geophysical sensors. Multiple geophysical sensors may be of a same type (e.g., only include geophones), or different types (e.g., include a hydrophone and a geophone). Components of the payload may be protected by a container made of durable materials. The payload may be standardized and adaptable to a variety of drones without the need to redesign or reconfigure the payload. The payload may be interchangeable between multiple drones. The payload may easily be removed, modified or replaced.

[0045] The geophysical acquisition device described in this disclosure presents, at least, the following advantages. The geophysical acquisition device maybe highly maneuverable and versatile compared to conventional geophysical acquisition systems. The geophysical acquisition device may be flown to various acquisition locations on surface of the Earth, a surface of a water formation, or airborne. The geophysical acquisition device may be used to acquire geophysical data on land with rugose terrain. The drone may include an onboard computer, configured to receive and process geophysical data received from the payload, thereby reducing the need to process the geophysical data externally. T e geophysical acquisition device may be used to acquire and process the geophysical data in real time. Finally, multiple geophysical acquisition devices may be used to form a geophysical surveying system to acquire geophysical data in regions of interest.

[0046] In this disclosure, a geophysical signal represents a geophysical response from an environment. Generally, geophysical signals may be captured by various types of geophysical sensors, such as, for example, geophones, hydrophones, accelerometers, gravity sensors and magnetic sensors. Accordingly, geophysical signals may be of various types such as, for example, seismic signals, gravimetric signals and magnetic signals. Geophysical data may be produced and recorded from geophysical signals. Accordingly, geophysical data can be of various types such as, for example, seismic data, gravimetric data and magnetic data. The present disclosure should not be considered as limiting to a specific type of geophysical signal, geophysical sensor or geophysical data.

[0047] Geophysical data may serve various purposes, such as, for example, imaging the Earth’s subsurface, determining subsurface properties, locating potential hydrocarbon reservoirs and conducting planetology of the Earth. Geophysical data produced or recorded from geophysical signals are said to be “acquired.” Using current technologies, the deployment of complex and inflexible geophysical acquisition systems for acquiring geophysical data may require a substantial amount of resources. A purpose of the present disclosure is to offer solutions to some challenges of geophysical data acquisition by introducing more flexible and resource efficient geophysical acquisition systems and methods. Yet, the systems and methods presented in this disclosure may also serve other purposes.

[0048] FIG. 1 depicts a geophysical acquisition system that includes a geophysical acquisition device (100). The geophysical acquisition device (100) includes a drone (HO) and one or more payloads (150), attached to the drone (110). In this disclosure, the term “drone” stands for any unmanned aerial vehicle. The drone (110) is capable of flying tovarious locations, such as an acquisition location where geophysical data are to be acquired. The geophysical acquisition device (100) is used to acquire geophysical data. Specifically, each payload (150) includes one or more geophysical sensors (155) configured to capture a geophysical signal. Geophysical data is obtained from the geophysical signal obtained from each payload (150). When the drone (110) flies, the drone (110) transports the one or more payloads (150). When the drone (110) flies to an acquisition location, the drone (110) transports the one or more payloads (150) to the acquisition location. Thus, when the drone (110) flies to an acquisition location, the drone (110) transports the one or more geophysical sensors (155) of each payload (150) to the acquisition location. At the acquisition location, the one or more geophysical sensors (155) of each payload (150) capture a geophysical signal from the acquisition location.

[0049] The drone (110) may be defined in many ways. The drone (110) includes, at least, a drone body (113), a propulsion system (117), an energy source (129), a flight control system (119) and one or more extensions (115) extending from the drone body (113). The drone body (113) may carry, contain and protect various components of the drone (110), described later in this disclosure. The propulsion system (117) provides lift and thrust to the drone (110). The energy source (129) provides energy for powering the propulsion system (117) and may include, for example, a battery (131). The energy source (129) may further be used to power other components of the drone (110). The flight control system (119) is configured to guide the drone (110) and thus, the geophysical acquisition device (100), to any acquisition location. As defined below, each of the one or more extensions (115) may form an arm or a leg of the drone (110). The arm or leg may have direct contact with the surface upon which the drone lands. While a full description of every type of drone (110) would extend beyond the scope of this disclosure, two embodiments of the drone (110) are described in FIGs. 2 and 3 for illustrative purposes. The two embodiments described in FIGs. 2 and 3 are not intended to be limiting with respect to any particular configuration of the drone (110).

[0050] FIG. 2 depicts a first embodiment of the drone (110). In this first embodiment, the propulsion system (117) includes four motors (205a-d) providing lift and thrust to the drone (110). Those skilled in the art will readily appreciate that the propulsion system (117) may include any numbers of motors or other mechanisms for producing lift and thrust. In this specific embodiment, the drone (110) includes eight extensions (115) extending from the drone body (113), defined as: four arms (207a-d) and four legs (209a- d). The arms (207a-d) provide support for the motors (205a-d). The legs (209a-d) providesupport for landing the drone (110). The drone (110) further includes landing pads (211a- d), installed at a distal end of the legs (209a-d), respectively. The landing pads (211a-d) may provide protection to the legs (209a-d) and stability for landing the drone (110). The drone (110) further includes a cargo (213) that may serve various purposes. For instance, in some implementations, the cargo (213) includes a camera. The drone (110) further includes the battery (131), not shown, for powering the motors (205a-d). While the battery (131) serves as the energy source (129) for the drone (110) in this specific embodiment, other embodiments of the drone (110) may include a different energy source (129). For instance, in embodiments where the propulsion system (117) includes a combustion engine, the energy source (129) may include fuel, providing chemical energy to the combustion engine.

[0051] FIG. 3 depicts a second embodiment of the drone (110). For concision, a full description of components and / or elements depicted in FIG. 3 is not provided anew for those components and / elements that have been previously described with reference to FIG.2. In FIG. 3, the drone (110) includes the drone body (113) and the four motors (205a-d), supported by the four arms (207a-d). The four arms (207a-d) form four extensions (115) of the drone (110) extending from the drone body (113). However, in this second embodiment, the drone (110) does not include legs. Landing is supported by the landing pads (21 la-d), installed at a distal end of the arms (207a-d), opposite the motors (204a-d), respectively. Furthermore, in this second embodiment, the drone (110) does not include a cargo.

[0052] Returning to FIG. 1, the drone (110) may further include an onboard computer (133), in accordance with one or more embodiments. The onboard computer (133) is to be understood, in a broad sense, as a set of electronic components performing computational tasks, logical tasks, processing tasks, or any combination thereof. The onboard computer (133) may perform other tasks without departing from the scope of this disclosure. The onboard computer (133) may include one or more processors, a central processing unit (CPU), graphical processing unit (GPU), a mother board, a microcomputer core, or any combination thereof. The onboard computer (133) may further include an onboard computer memory configured to store data temporarily or permanently. The onboard computer (133) may be used by and / or overlap with other components of the drone (110), such as, for example, the flight control system (119) and the propulsion system (117). An example computer is described later in this disclosure for illustrative purposes.

[0053] The flight control system (119) is configured to apply flight commands to the drone (110) in order to guide the drone (110) to a desired location, such as an acquisition location. The flight control system (119) may be configured in many ways. The flight control system (119) may include, for example, a mechanical system, such as a cable system or a hydraulic system. The mechanical system may be used, for example, for vectoring thrust produced by the propulsion system (117). The mechanical system may further be used, for example, to control flight surfaces of the drone (110), such as ailerons, rudder, and elevators. The flight control system (119) may further include a fly-by- wire system, configured to receive electrical inputs and trigger mechanical inputs to the mechanical system, based on the electrical inputs. In one or more embodiments, the drone (110) includes a floatation device allowing the flight control system (119) to land the drone (110) on water. In some implementations, one or more tasks executed by the flight control system (119) are performed by the onboard computer (133).

[0054] In some embodiments, the flight control system (119) includes an autonomous navigation system (123). The autonomous navigation system (123) may be configured in many ways and include a variety of devices. The autonomous navigation system (123) may include flight sensors (125), such as pressure sensors, position sensors and movement sensors. The autonomous navigation system (123) may further include a sonar, capable of mapping an environment surrounding the drone (110). The autonomous navigation system (123) may further include one or more of accelerometers measuring an acceleration of the drone (110), a gyroscope controlling a stability of the drone (110), and an altimeter measuring an altitude of the drone (110). In some implementations, one or more tasks executed by the autonomous navigation system (123) are performed by the onboard computer (133).

[0055] The autonomous navigation system (123) includes flight software (127). The flight software (127) may include a flight control algorithm that sends flight inputs to mechanical elements of the drone (110), such as elements of the propulsion system (117) and the mechanical system. Examples of flight inputs sent to the mechanical elements of the drone (110) include increasing or reducing the thrust produced by the propulsion system (117). Examples of flight inputs sent to the mechanical elements of the drone (110) further include changing an orientation of the thrust produced by the propulsion system (117). The flight inputs may have an effect of moving the drone (110) left, right, up or down, or modifying a speed of motion of the drone (110). The flight software (127) may further include an obstacle detection algorithm. The flight software (127) may send flight inputs to themechanical elements of the drone (110) for the drone (110) to avoid an obstacle detected by the obstacle detection algorithm. In one or more embodiments, the drone (110) further includes a global positioning system (137) that may be used by the flight software (127) to navigate the drone (110). In some implementations, the flight software (127) is hosted and run on the onboard computer (133).

[0056] In one or more embodiments, the drone (110) further includes a communication system (135) that allows the drone (110) to communicate with a remote operator. The remote operator may communicate remotely with the communication system (135). The remote operator may include a human, a machine, or both. The remote operator may include a group of one or more humans, one or more machines, or a group of one or more humans and one or more machines. In this disclosure, the term “remotely” may be defined as any location outside a perimeter of the drone (110). The communication system (135) may include a first radio transmitter, a first radio receiver, or both. The remote operator may use a second radio transmitter, a second radio receiver, or both, to communicate with the drone (110) through the communication system (135). The communication system (135) may further include one or more communication antennas.

[0057] Communication may transit in several ways, including, for example, via a satellite, a remote network system or a wireless cellular mesh, such as a long-term evolution network or a 5G network. In some implementations, the communication system (135) includes a broadband link. The drone (110) may receive commands and information from the remote operator using the communication system (135). The drone (110) may send commands and information to the remote operator using the communication system (135). In one or more embodiments, the communication system (135) includes a remote control system (121) that receives remote flight inputs from the remote operator and communicates the remote flight inputs to the flight control system (119). In response, the flight control system (119) executes the remote flight inputs. In such embodiments, the remote operator may act as a pilot who guides the drone ( 110) to an acquisition location. The communication system (135) may further include a led indication system indicating a connection status and communication status between the communication system (135) and the remote operator. In some implementations, one or more tasks executed by the communication system (135) are performed by the onboard computer (133). In some implementations, the remote control system (121) is hosted and run on the onboard computer (133).

[0058] In some implementations, the autonomous navigation system (123) is configured to execute flight commands received by the communication system (135) from the remoteoperator. Upon the autonomous navigation system (123) receiving a flight command, the flight control algorithm sends flight inputs to the mechanical elements of the drone (110) to execute the flight command. As a notable example, the communication system (135) may receive, from the remote operator, an acquisition location where geophysical data are to be acquired, and a flight command instructing the flight control system (119) to fly the drone (110) to the acquisition location. Upon receiving the flight command, the communication system (135) sends the flight command to the autonomous navigation system (123). In response, the flight control algorithm sends flight inputs to the mechanical elements of the drone (110) to fly the drone (110) to the acquisition location.

[0059] The geophysical acquisition system in FIG. 1 may further include a control station (180). The control station (180) may include a central communication system (183) configured to communicate with the drone (110) through the communication system (135). The central communication system (183) may include a central radio transmitter, a central radio receiver, or both. The central communication system (183) may include one or more central antennas. In one or more embodiments, the central communication system (183) includes a Supervisory Control and Data Acquisition (SCADA) system. The remote operator may send the above-described remote flight inputs and flight command to the communication system (135) using the central communication system (183). The control station (180) may include other components, such as a facility, premises, a data center and a computer network, not shown. The control station (180) may be operated by a team of skilled workers. Decisions related to the control station (180) may be made by a stakeholder. Examples of stakeholders include a manager, an operator, a user, a client, a designer and a constructor of the control station (180). Examples of stakeholders further include geophysical interpreters, geologists, a natural resource company and a government entity.

[0060] As stated earlier in this disclosure, the one or more payloads (150) are attached to the drone (110). The payload (150) may be configured in many ways and include various components. The payload (150) includes, at least, the one or more geophysical sensors (155), a preprocessing system (161), a transmitter (159) and a container (153). The one or more geophysical sensors (155) are configured to capture a geophysical signal. In some embodiments, the one or more geophysical sensors (155) are said to form a local sensor array. The preprocessing system (161) is configured to produce geophysical data based on the geophysical signal. The transmitter (159) is configured to transmit the geophysical data externally from the payload (150). The container (153) contains the one or moregeophysical sensors (155), the preprocessing system (161) and, at least in part, the transmitter (159). The pay load (150) may further include other components, such as a ballast (163) and a local battery (165), defined later in this disclosure.

[0061] The one or more geophysical sensors (155) are configured to capture a geophysical signal. Equivalently, the payload (150) is said to capture the geophysical signal. The one or more geophysical sensors (155) may be of various types. For example, each geophysical sensor of the one or more geophysical sensors (155) may be one of a Microelectromechanical Systems sensor (MEMS), a geophone, a hydrophone, an accelerometer, a gravity sensor, a magnetic sensor and a gamma-ray sensor. The geophysical signal includes one or more geophysical signal components. Each geophysical signal component is captured by a distinct geophysical sensor among the one or more geophysical sensors (155). Capturing a geophysical signal component includes detecting a geophysical response from an environment and outputting the geophysical signal component.

[0062] Each geophysical signal component may be of various types, depending on the type of geophysical sensor by which it is captured. Four non-limiting examples of geophysical signal components are provided herein for illustration purposes. In a first example, the geophysical signal component may be a land seismic signal component captured by a geophone. The land seismic signal component may include an electric current output by the geophone upon detecting a velocity of ground motion. In a second example, the geophysical signal component may be a marine seismic signal component captured by a hydrophone. The marine seismic signal component may include an electric current output by the hydrophone upon detecting a fluid pressure fluctuation. In a third example, the geophysical signal component may be a gravitational signal component captured by a gravity sensor. The gravitational signal component may include an electric current output by the gravity sensor upon detecting, for example, one of a gravitational force, a gravitational acceleration and a gravitational anomaly. In a fourth example, the geophysical signal component may be a magnetic signal component captured by a magnetic sensor. The magnetic signal component may include an electric current output by the magnetic sensor upon detecting a magnetic field.

[0063] Each geophysical sensor is configured to capture a distinct geophysical signal component. Thus, the one or more geophysical sensors (155) capture one or more geophysical signal components. The one or more geophysical signal components form the geophysical signal. Regardless of the number of geophysical sensors among the one ormore geophysical sensors (155), the one or more geophysical sensors (155) are said to capture the geophysical signal. Two configurations are possible. In a first configuration, the one or more geophysical sensors (155) include a single geophysical sensor. In this first configuration, the geophysical signal is composed of the single geophysical signal component captured by the single geophysical sensor. In a second configuration, the one or more geophysical sensors (155) include multiple geophysical sensors. In this second configuration, the geophysical signal is composed of multiple geophysical signal components. Each of the multiple geophysical signal components is captured by a distinct geophysical sensor among the multiple geophysical sensors. In this second configuration, the multiple geophysical sensors may be of a same type (e.g., all geophones) and accordingly, the multiple geophysical signal components may be of a same type (e.g. , all land seismic signal components). Alternatively, the multiple geophysical sensors may be of different types (e.g., include a hydrophone and a magnetic sensor) and accordingly, the multiple geophysical signal components may be of different types (e.g., include a marine seismic signal component and a magnetic signal component).

[0064] Generally, each geophysical signal component is a raw output (e.g., an electrical current) from a geophysical sensor. The geophysical signal is not in a recorded form. The geophysical signal cannot be stored, analyzed and interpreted until it is transformed into geophysical data. The preprocessing system (161) is configured to transform the geophysical signal into geophysical data. The preprocessing system (161) is configured to produce geophysical data by processing the geophysical signal. Equivalently, processing the geophysical signal using the preprocessing system (161) results in the geophysical data. Advantageously, the geophysical data are a representation of the geophysical signal that may be stored, analyzed, processed, interpreted and transferred.

[0065] The preprocessing system (161) may be defined in many ways. The preprocessing system (161) includes electronic hardware components configured to process the geophysical signal. Examples of electronic hardware components of the preprocessing system (161) may include, without limitation, a processor, an electronic board, or any combination of one or more processors and one or more electronic boards. Examples of electronic hardware components of the preprocessing system (161) may further include a local computer memory configured to store the geophysical data or any temporary information used in the processing of the geophysical signal. The preprocessing system (161) may further include software components configured to process the geophysical signal. The software components of the preprocessing system (161) are hosted and run onelectronic hardware components of the preprocessing system (161). Generally, the preprocessing system (161) is a form of computer. An example of a computer is described later in this disclosure for illustrative purposes. However, this disclosure should be considered non-limiting with respect to any specific configuration of the preprocessing system (161).

[0066] The preprocessing system (161) may process the geophysical signal by performing one or more geophysical processing tasks. Generally, geophysical processing is a vast area of expertise. While describing the full scope of geophysical processing extends beyond the scope of this disclosure, a few examples of geophysical processing tasks, that may be performed by the preprocessing system ( 161 ) to produce the geophysical data, are provided for illustrative purposes. Geophysical processing tasks may include elementary data processing tasks. Examples of elementary data processing tasks include converting the geophysical signal to a specific format that can be stored as the geophysical data. Examples of elementary data processing tasks further include a digitalization of the geophysical signal. In such scenarios, the geophysical signal may be an analog signal. The preprocessing system (161) may transform the analog signal into a digital signal. Examples of elementary data processing tasks further include transforming the one or more geophysical signal components or a subset thereof into geophysical traces. Each geophysical trace includes a time series of amplitudes. Digital geophysical traces may be produced by performing the digitalization of the geophysical signal and forming geophysical traces after digitalizing the geophysical signal. Accordingly, each digital geophysical trace includes a time series of digital amplitudes representing the geophysical signal at discreet times. The discreet times discretize a time interval. The set of discreet times discretizing the time interval is called a time sampling of the digital geophysical trace. In one or more embodiments, the time sampling is regular and the time elapsed between two discreet times is called a sample rate.

[0067] Examples of elementary data processing tasks further include assigning one or more geophysical attributes to the geophysical signal. Examples of geophysical attributes that may be assigned to the geophysical signal include a location where the geophysical signal is captured, a date at which the geophysical signal is captured, a time at which the geophysical signal is captured, the sample rate of a digital geophysical trace derived from the geophysical signal and a length of the time interval of the digital geophysical trace. Examples of geophysical attributes that may be assigned to the geophysical signal further include environmental conditions at the location, date and time at which the geophysicalsignal is captured, such as an external temperature. The geophysical data may include the one or more attributes assigned to the geophysical signal. In one or more embodiments, the geophysical processing tasks include non-elementary geophysical processing tasks. Examples of non-elementary processing tasks include de-noising, re-sampling, clipping, regularizing, amplifying, re-datuming, frequency filtering, and spectral shaping of the geophysical signal. In one or more embodiments, the processing of the geophysical signal is done in real time.

[0068] The container (153) may be made of different materials or combinations of materials. In some implementations, the container (153) is made of materials considered as suitable to promote flight for the drone (110). For instance, the container (153) may be made of “light materials” in order to limit a mass of the payload (150). A light material may be defined, for example, as a material with a density less than a density threshold. The architecture of the container (153) may also be configured to promote flight for the drone (110). For example, in some embodiments, the container (153) may be “compact” in order to limit the mass of the payload. A “compact container” may be defined, for example, as a container whose volume is less than a pre-defined compacity threshold. In some embodiments, the container (153) provides buoyancy for the payload (150). In some embodiments, the container (153) includes materials qualified as “durable materials.” Examples of durable materials include hard metals such as iron, and composite materials such as fiberglass. In some embodiments, the container (153) may include materials qualified as “acoustically conductive materials.” Acoustically conductive materials are intended to promote transmission of the geophysical response from an environment to the one or more geophysical sensors (155) through the container (153). Examples of acoustically conductive materials include metals such as aluminum, titanium and brass. Examples of acoustically conductive materials further include piezoelectric crystals such as quartz and lead zirconate titanate. In some advantageous implementations, the container (153) is made of materials simultaneously qualified as light, durable and acoustically conductive.

[0069] The payload (150) is configured to be attached to a distal end of the extension (115) of the drone (110). Equivalently, the payload (150) is said to be configured to be attached to the extension (115) of the drone (110). Equivalently, the payload (150) is said to be configured to be attached to the drone (110). To this end, the drone (110) includes a locking mechanism (139), installed at a distal end of the extension (115), configured to attach the payload (150) to the drone (110). In this disclosure, the fact that the payload (150) isattached to a distal end of the extension (115) of the drone (110) implies that: when the drone (110) is flying, the payload (150) is also flying; if the drone (110) flies to a location, the payload (150) is transported to the location; thus, if the drone (110) flies to an acquisition location, the one or more geophysical sensors (155) are transported to the acquisition location. In some embodiments, the locking mechanism (139) is made of light materials, durable materials, or materials qualified as both light and durable.

[0070] The locking mechanism (139) may be defined in many ways. Examples of a locking mechanism (139) include a latch, a clamp, a clip, a pin, a bolt, a nut, a strike, a magnet, an electromagnet and an interlocking joint. In some implementations, the payload (150) includes a lockable device (157) and the locking mechanism (139) is configured to attach to the lockable device (157). Examples of a lockable device (157) include a protrusion extending from the container, onto which the locking mechanism (139) may hold. Examples of a lockable device (157) further include a pre-drilled hole, a pin, a bolt, a nut, a strike, a magnet or an electromagnet. The example locking mechanisms (139) and lockable devices (157) described herein should be considered non-limiting. A person of ordinary skill in the art will readily appreciate that other locking mechanisms (139) and lockable devices (157)may be used without departing from the scope of this disclosure.

[0071] In some advantageous implementations, the locking mechanism (139) is configured to attach directly to the payload (150), without the need for a lockable device. For instance, the locking mechanism (139) may include a clamp configured to attach to the container (153) of the payload (150). Accordingly, in these advantageous implementations, the payload (150) is standardized and adaptable to various drone architectures without the need to redesign or reconfigure the payload (150). In these advantageous implementations, the payload (150) may be interchangeable between multiple drones (110) or drone architectures.

[0072] The transmitter (159) is configured to transmit the geophysical data externally from the payload (150). The geophysical data may be transmitted externally from the payload (150) using a wired connection or a wireless connection. The geophysical data may be transmitted externally from the payload (150) to the onboard computer (133) or the control station (180). In some implementations, the container (153) contains the transmitter (159). In other implementations, the container (153) contains only a first portion of the transmitter (159), while a second portion of the transmitter (159) extends outside the container (153). The transmitter (159) may be defined in many ways.PC17RU2025 / 000074

[0073] In implementations where the geophysical data are transmitted externally from the payload (150) using a wired connection, the transmitter (159) may include an electrical connector, such as an electrical wire, electrodes, or any combination thereof. The electrical connector is configured to electrically connect the preprocessing system (161) to a local outlet location exposed to an exterior of the payload (150). The local outlet location may be located, for example, on the container (153). Alternatively, the electrical connector may extend beyond the container (153) and the local outlet location may located outside of the container (153). At the local outlet location, the electrical connector forms a local data port exposed to an exterior of the payload (150). In some implementations, the local data port includes one of a Universal Serial Bus (USB) port, a DisplayPort and a jack. An external system may be connected to the local data port, forming a wired connection between the external system and the preprocessing system (161). The geophysical data may be transmitted from the preprocessing system (161) to the external system through the wired connection.

[0074] In some implementations, transmitting the geophysical data externally from the payload (150) includes transmitting the geophysical data from the payload (150) to the onboard computer (133) using a wired connection. In such implementations, the drone (110) may include an onboard electrical receptor, such as an electrical wire, electrodes, or any combination thereof. The onboard electrical receptor is configured to extend from the onboard computer (133) to an inside of the extension (115). The onboard electrical receptor is configured electrically connect the onboard computer (133) to an onboard outlet location within the extension (115) or a location exposed to an exterior of the extension (115). At the onboard outlet location, the onboard electrical receptor forms an onboard data port exposed to an exterior of the drone (110). In some implementations, the onboard data port includes one of a USB port, a DisplayPort and a jack. In some implementations, the local data port of the payload (150) and onboard data port of the drone (110) are positioned to connect with each other when the payload ( 150) is attached to the drone ( 110). For instance, the onboard data port may be located inside the extension (115) and the electrical connector of the payload (150) may extend beyond the container (153) to reach the inside of the extension (115) and connect to the onboard data port. In other implementations, the locking mechanism (139) includes an electrical conductor that electrically connects the electrical connector of the pay load (150) to the onboard electrical receptor of the drone (110). The electrical conductor may include, for example, an electrical wire, electrodes, or any combination thereof. In such implementations, the local data port may be connected to aPC17RU2025 / 000074first end of the electrical conductor of the locking mechanism (139) and the onboard data port may be connected to a second end of the electrical conductor of the locking mechanism (139). In such implementations, the locking mechanism (139) provides an electrical connection between the preprocessing system (161) and the onboard computer (133). It is noted that the drone (110) may include multiple onboard data ports configured to connect to local data ports of multiple payloads (150).

[0075] As a specific example, the electrical connector of the payload (150) may include a pay load-side electrical wire, the onboard electrical receptor of the drone (110) may include a drone-side electrical wire and the locking mechanism (139) may include a locking mechanism-side electrical wire forming the electrical conductor. A first end of the payloadside electrical wire may be connected to the preprocessing system (161). The payload-side electrical wire may extend from its first end to a second end located outside of the container (153). A first end of the drone-side electrical wire may be connected to the onboard computer (133). The drone-side electrical wire may extend from its first end to an inside of the extension (115), to terminate at a second end, located outside of the extension (115). The payload-side electrical wire and drone-side electrical wire are configured so that when the payload (150) and the extension (115) are attached to the locking mechanism (139), the second end of the payload-side electrical wire connects to a first end of the locking mechanism-side electrical wire and the second end of the drone-side electrical wire connects to a second end of the locking mechanism-side electrical wire. This way, when the payload (150) and the extension (115) are attached to the locking mechanism (139), the payload-side electrical wire, drone-side electrical wire and locking mechanism-side electrical wire form a wired connection between the preprocessing system (161) and the onboard computer (133). The geophysical data may be transmitted from the preprocessing system (161) to the onboard computer (133) though the wired connection.

[0076] Alternatively, in other implementations, transmitting the geophysical data externally from the payload (150) includes transmitting the geophysical data from the payload (150) to the control station (180) using a wired connection. In such implementations, the control station (180) may include a central electrical receptor, such as an electrical wire, electrodes, or any combination thereof. The central electrical receptor may be connected to the local data port when the drone (110) is in a vicinity of the control station (180) (e.g., when the geophysical acquisition device (100) returns to the control station (180)), forming a wired connection. This way, the geophysical data may be transmitted from the preprocessing system (161) to the control station (180) using thewired connection. In some embodiments, the control station (180) includes a central computer (185), connected to the central electrical receptor and configured to receive the geophysical data. In this disclosure, a vicinity of the control station (180) may be defined as any location within a predefined vicinity radius from the control station (180).

[0077] In implementations where the geophysical data are transmitted externally from the payload (150) using a wireless connection, the transmitter (159) may include a local wireless emitter. The local wireless emitter may receive the geophysical data from the preprocessing system (161) and transmit the geophysical data wirelessly to an external system capable of receiving a wireless signal.

[0078] In some implementations, transmitting the geophysical data externally from the payload (150) includes transmitting the geophysical data wirelessly from the payload (150) to the onboard computer (133). In such implementations, the drone (110) may include an onboard wireless receiver configured to receive the geophysical data from the local wireless emitter. The onboard computer (133) may be connected to the onboard wireless receiver. The onboard wireless receiver may convey the geophysical data to the onboard computer (133). In turn, the geophysical data are transmitted from the payload (150) to the onboard computer (133) using the local wireless emitter and the onboard wireless receiver.

[0079] Alternatively, in other implementations, transmitting the geophysical data externally from the payload (150) includes transmitting the geophysical data wirelessly from the payload (150) to the control station (180). In such implementations, the control station (180) may include a central wireless receiver (187) configured to receive the geophysical data from the local wireless emitter. Wireless transmission of the geophysical data to the control station (180) may be done locally in a vicinity of the control station (180) (e.g., when the geophysical acquisition device (100) returns to the control station (180)). Alternatively, wireless transmission of the geophysical data to the control station (180) may be done remotely, while the geophysical data are being acquired, without the need for the geophysical acquisition device (100) to be in a vicinity of the control station (180). Advantageously, transmitting the geophysical data remotely to the control station (180) eliminates the need to store the geophysical data in the local computer memory of preprocessing system (161). In some embodiments, the central computer (185) is connected to the central wireless receiver (187) and configured to receive the geophysical data.

[0080] In one or more embodiments, the payload (150) includes a ballast (163) configured to customize a mass of the payload (150). The mass of the payload (150) is the sum of themass of the ballast (163) and the masses of all other components of the payload (150). Thus, the ballast (163) can be built, configured or selected so that the payload (150) has a desired, pre-defined mass. As described later in this disclosure, the use of the ballast (163) is particularly advantageous in scenarios where multiple payloads (150) attached to the drone (110) carry different types of geophysical sensors. In some embodiments, the ballast (163) is made of metal or a composite material. In some embodiments, the ballast (163) includes a shell, that can be filled with any desired amount of solid or liquid filler to achieve the desired mass. In some embodiments, the ballast (163) includes a geophysical sensor among the one or more geophysical sensors (155). In particular, in some scenarios, the one or more geophysical sensors (155) include a single geophysical sensor, located inside the ballast (163). In some embodiments, the ballast (163) is itself a geophysical sensor. In other scenarios, the one or more geophysical sensors (155) include a primary geophysical sensor located outside the ballast (163) and a secondary geophysical sensor located inside the ballast (163). In further scenarios, the ballast (163) does not include a geophysical sensor and each of the one or more geophysical sensors (155) is located outside the ballast (163).

[0081] It is noted that some electrical components of the payload (150), such as the preprocessing system (161) and the local wireless emitter, may consume energy. In such scenarios, a power supply is required to power the electrical components of the payload (150). In some embodiments, the payload (150) includes a local battery (165), powering the electrical components of the payload (150). In some embodiments, the payload (150) further includes a solar panel for charging the local battery (165), the solar panel exposed to an exterior of the pay load (150). Yet, in other embodiments, the pay load (150) includes a charging inlet configured to charge the local battery by connecting the local battery (165) to a battery charger. In one or more embodiments, the payload (150) does not include the local battery (165), but includes a power inlet configured to connect to the battery (131) of the drone (110) when the payload (150) is attached to the drone (110). In such embodiments, electrical energy may be received from the battery (131) through the power inlet and distributed to the electrical components of the payload (150). It is noted that the examples of energy and power supply provided herein are given only as examples and should be considered non-limiting. A person of ordinary skill in the art will readily appreciate that other types of energy (i.e.: different from electrical energy) and / or power supply may be used to power electric components of the payload (150) without departing from the scope of this disclosure.

[0082] For illustrative purposes, three embodiments of the payload (150) are described. FIGs. 4A-4C display a first embodiment of the payload (150). Specifically, FIG. 4A depicts a front view of the payload (150); FIG. 4B depicts a top view of the payload (150); FIG. 4C depicts a bottom view of the payload (150). The one or more geophysical sensors (155) include a primary geophysical sensor (405). The one or more geophysical sensors (155) may include other geophysical sensors, not shown. In FIGs. 4A-4C, the payload (150) includes the ballast (163). The ballast (163) is positioned in between the preprocessing system (161) and the primary geophysical sensor (405). However, FIGs.4A-4C should further be interpreted as disclosing the preprocessing system (161), ballast (163) and primary geophysical sensor (405) in other positions. For instance, the preprocessing system (161) may be positioned between the primary geophysical sensor (405) and the ballast (163).

[0083] Continuing with FIGs. 4A-4C, the container (153) contains the one or more geophysical sensors (155), preprocessing system (161) and ballast (163). The container (153) may further contain other components of the payload (150), such as the local battery (165), not shown. While the components of the payload (150) located inside the container (153) would normally not be seen through the container (153), these components are artificially shown in FIGs. 4A-4C by transparency. In FIGs. 4A-4C, the container (153) has a substantially spherical shape, meaning that the shape of the container (153) resembles that of a sphere. However, in other embodiments of the payload (150), the container (153) may have a different shape.

[0084] In some embodiments, the one or more geophysical sensors (155) are maintained stably inside the container (153) using a fixation system such as screws and bolts. In other embodiments, the container (153) is partly filled with a filling material, such as polyurethane foam, and the components of the payload (150) inside the container (153) are maintained stably inside a receptacle carved in the filling material. Alternatively, the filling material may be molded around the components of the payload (150) located inside the container (153).

[0085] In FIGs. 4A-4C, the payload (150) includes a lockable device (157) that protrudes from the container (153). The extension (115), extending from the drone body (113), may be an arm or a leg of the drone (110), such as the arms (207a-d) and the legs (209a-d) in FIG. 2. A first side of the locking mechanism (139) is configured to connect to the extension (115), while a second side of the locking mechanism (139) is configured toconnect to the lockable device (157), thereby attaching the payload (150) to the extension (H5).

[0086] In some implementations, the transmitter (159) includes a payload-side electrical wire (413) that extends from the preprocessing system (161), passes through the lockable device (157), and ends outside the lockable device (157) to form a local data port. The drone (110) may include a drone-side electrical wire, not shown, that extends from the onboard computer (133), passes through the extension (115), and terminates at a distal end of the extension (115), forming an onboard data port. When the pay load (150) is attached to the extension (115) using the locking mechanism (139), the payload-side electrical wire (413) passes through the locking mechanism (139) to connect the local data port to the onboard data port, forming a wired connection between the preprocessing system (161) and the onboard computer (133). As previously described, the geophysical data may be transmitted from the preprocessing system (161) to the onboard computer (133) using the wired connection.

[0087] FIGs. 5A-5C depict a second embodiment of the payload (150). Specifically, FIG.5A depicts a front view of the payload (150); FIG. 5B depicts a top view of the payload (150); FIG. 5C depicts a bottom view of the payload (150). For concision, a full description of components and / or elements depicted in FIG. 3 is not provided anew for those components and / eleriients that have been previously described with reference to FIGs. 4A- 4C. In FIGs. 5A-5C, the container (153) contains the primary geophysical sensor (405), preprocessing system (161) and ballast (163). The container (153) has a substantially spherical shape. While the components of the payload (150) located inside the container (153) would normally not be seen through the container (153), these components are artificially shown in FIGs. 5A-5C by transparency.

[0088] Additionally, the second embodiment of the payload (150) presented in FIGs. 5A- 5C includes a holonomic drive system. The holonomic drive system may be configured in many ways. In this specific embodiment, the holonomic drive system includes a mounting structure (425), six wheels (423a-f) and six (6) wheel holders (427a-f). The wheels (423a- f) are mounted on the mounting structure (425) using the wheel holders (427a-f), respectively. In this specific embodiment, the holonomic drive system further includes six (6) wheel motors (429a-f) supported by the mounting structure (425), each wheel motor (429a-f) powering a distinct wheel (423a-f). In other implementations, not presented, the holonomic system may include a different number of wheels, wheel holders and wheel motors. The holonomic drive system is configured to control the positioning of thecontainer (153) (and therefore, the one or more geophysical sensors (155)) by rotating the wheels (425a- f) until the container (153) is in a desired position. In some embodiments, the holonomic drive system is controlled using a microcontroller that maintains the container (153) in a predefined position. In some embodiments, the microcontroller is electrically connected to and commanded by the onboard computer (133) of the drone (110) when the pay load (150) is attached to the drone (110).

[0089] FIGs. 6A-6C depict a third embodiment of the payload (150). Specifically, FIG.6A depicts a front view of the payload (150); FIG. 6B depicts a top view of the payload (150); FIG. 6C depicts a bottom view of the payload (150). For concision, a full description of components and / or elements depicted in FIG. 3 is not provided anew for those components and / elements that have been previously described with reference to the preceding figures. In this third embodiment of the payload (150), the container (153) has a substantially cylindrical shape, meaning that the shape of the container resembles that of a cylinder. While the components of the payload (150) located inside the container (153) would normally not be seen through the container (153), these components are artificially shown in FIGs. 6A-6C by transparency. The container (153) includes a receptacle (607) that holds the primary geophysical sensor (405) and part of the ballast (163) in a fixed position within the container (153). Similarly to the embodiment presented in FIGs. 4A- 4C and 5A-5C, the transmitter (159) may include the payload-side electrical wire (413) configured to electrically connect the preprocessing system (161) to the onboard computer (133) when the payload (150) is attached to the drone (110).

[0090] In FIGs. 6A-6C, the locking mechanism (139) includes a frame (611). The extension (115) may be inserted into a first recess (613) and attached to the frame (611) using fixation bolts (605a-b). The payload (150) may be inserted into a second recess (615), opposite the first recess (613). The payload (150) may be attached to the frame (611) using pins (617 a-b) located on the second recess (615) . When the extension (115) and the payload (150) are attached to the locking mechanism (139), the payload ( 150) is effectively attached to the extension ( 115). In FIGs. 6A-6C, the locking mechanism ( 139) may include a locking mechanism-side electrical wire, not shown, and the drone (110) may include a drone-side electrical wire, not shown, that extends from the onboard computer (133) into the extension (115). When the payload (150) is attached to the locking mechanism (139), a first end of the locking mechanism-side electrical wire may connect to a portion of the payload-side electrical wire (413) that protrudes from the preprocessing system (161). When the extension (115) is attached to the locking mechanism (139), a second end of the lockingmechanism-side electrical wire may connect to the drone-side electrical wire in the extension (115) through one or the fixation bolts (605a-b). Thus, when the extension (115) and the payload (150) are attached to the locking mechanism (139), the payload-side electrical wire (413) may connect to the drone-side electrical wire through the locking mechanism-side electrical wire, effectively connecting the preprocessing system (161) to the onboard computer (133).

[0091] It is noted that the three embodiments of the payload (150) depicted in FIGs. 4A- 4C, 5A-5C and 6A-6C are given only as examples and should be considered non limiting with respect to a particular configuration of the payload (150). A person of with ordinary skill in the art will recognize that the embodiments presented for the payload (150) may vary while not departing from the scope of this disclosure.

[0092] Returning to FIG. 1, the geophysical acquisition device (100) is formed by attaching one or more pay loads (150) to the drone (110). Each payload (150) is attached to a distinct extension (115) of the drone (110) extending from the drone body (113), such as a distinct arm or a distinct leg of the drone (110). To this end, the drone (110) includes one or more locking mechanisms (139). Each payload is attached to a distinct extension (115) of the drone (110) using a distinct locking mechanism (139). Reciprocally, each locking mechanism (139) is configured to attach a distinct payload (150) to a distinct extension (115). Each locking mechanism (139) is attached to a distinct extension (115) and a distinct payload (150), thereby attaching the distinct payload (150) to the distinct extension (115). In some embodiments, the geophysical sensors of all of the one or more payloads (150) combined (z.e.: all the geophysical sensors included in the geophysical acquisition device (100)) are said to form an integrated sensor array.

[0093] It is noted that flight stability of the geophysical acquisition device (100) may depend on a position of a center of mass of the geophysical acquisition device (100). Besides, properly balancing the mass of the geophysical acquisition device (100) may promote stable flight of the geophysical acquisition device (100). In some configurations, the one or more payloads (150) are symmetrically attached to the drone (110) and carry geophysical sensors of a same type. For example, the one or more payloads (150) may each include one gamma-ray sensor and no other geophysical sensors. In such configurations, the one or more payloads (150) may have identical masses. Accordingly, no mass imbalance of the geophysical acquisition device (100) is induced by the one or more pay loads (150).

[0094] In other configurations, the one or more payloads (150) are symmetrically attached to the drone (110), but not all of the one or more payloads (150) carry the same types of geophysical sensors. For instance, a first payload (150) may include a geophone as a unique geophysical sensor while a second payload (150) may include a magnetic sensor as a unique geophysical sensor, the magnetic sensor and the geophone having different masses. To prevent inducing a mass imbalance of the geophysical acquisition device (100), each payload (150) of the one or more payloads (150) or a subset of the one or more payloads (150) may include a ballast (163), thereby defining one or more ballasts (163).

[0095] Each ballast (163) of the one or more ballasts (163) is carefully built, configured or selected as having a mass such that the one or more payloads (150) have equal masses. In other words, the mass of each ballast (163) is customized such that the one or more payloads (150) have equal masses. This way, no mass imbalance of the geophysical acquisition device (100) is induced by the one or more payloads (150). Generally, the one or more ballasts (163) may be used to customize a position of the center of mass of geophysical acquisition device (100). In some embodiments, the position of the center of mass is configured to promote stable flight, using the one or more ballasts (163). In some embodiments, the one or more ballasts (163) are used to tweak the position of the center of mass toward a front of the geophysical acquisition device (100). In such embodiments, the drone (110) may tilt forward, which may promote forward flight. In some implementations, each payload (150) of the one or more payloads (150) includes a ballast (163). However, in other implementations, each payload (150) of only a subset of the one or more payloads (150) includes a ballast (163). For instance, in order to balance the mass of the geophysical acquisition device (100), a first payload carrying heaviest geophysical sensors may not need to include a ballast (163), as long as the payloads (150) other than the first payload include a ballast (163). The ballasts (163) of the payloads (150) other than the first payload may be carefully built, configured or selected so that each of the one or more payloads (150) have the same mass as the first payload.

[0096] FIG. 7 shows a first embodiment of the geophysical acquisition device (100), in which four payloads (150a-d) are attached to the drone (110). In FIG. 7, the drone (110) is configured as the first embodiment of the drone (110) from FIG. 2. However, a person of ordinary skill in the art will readily appreciate that the drone (110) used in FIG. 7 may be configured with a different architecture from the one presented in FIG. 2 without departing from the scope of this disclosure. Each of the four payloads ( 150a-d) is attached to a distinct leg (209a-d) of the drone (110) using a distinct locking mechanism (139a-d). Specifically,the first payload (150a) is attached to a distal end of the first leg (209a) using a first locking mechanism (139a); the second payload (150b) is attached to a distal end of the second leg (209b) using a second locking mechanism (139b); the third payload (150c) is attached to a distal end of the third leg (209c) using a third locking mechanism (139c); the fourth pay load (150d) is attached to a distal end of the fourth leg (209d) using a fourth locking mechanism (139d). In this specific embodiment, the landing pads (211a-d) of the drone (110) seen in FIG. 2 have been removed. The payloads (150a-d) and locking mechanisms (139a-d) occupy positions where the landing pads (21 la-d) were originally installed (see FIG. 2).

[0097] Continuing with FIG. 7, when the drone (110) flies to an acquisition location, the payloads (150a-d) are transported to the acquisition location. Each payload (150a-d) may capture a distinct geophysical signal using one or more geophysical sensors (155) of the payload (150). In scenarios where the acquisition location is located on a surface of a seismic medium, such as earth or water, the geophysical acquisition device (100) may land onto the acquisition location. When the geophysical acquisition device (100) is landed on the surface, the containers (153a-d) of the payloads (150a-d) are in contact with the surface. Specifically, when the geophysical acquisition device (100) is landed on the surface, the containers (153a-d) of the payloads (150a-d) are located between the legs (209a-d) and the surface. In some embodiments, the containers (153a-d) of the payloads (150a-d) provide buoyancy for the one or more payloads (150), thereby forming a floatation device for the drone (110) to land on water.

[0098] FIG. 8 depicts a second embodiment of the geophysical acquisition device (100), in which the four payloads (150a-d) are attached to the drone (110) using the four locking mechanisms (139a-d). In FIG. 8, the drone (110) is configured as the second embodiment of the drone (110) from FIG. 3. As such, the drone (110) in FIG. 8 includes the four arms (207a-d) supporting the motors (205a-d), but no legs. The landing pads (21 la-d) of the drone (110) seen in FIG. 3 have been removed. Each payload (150a-d) is attached to a distal end of the arm (207a-d), opposite the motor (1105a-d), using the locking mechanism (139a-d). The payloads (150a-d) and locking mechnisms (139a-d) occupy positions where the landing pads (21 la-d) were originally installed (see FIG. 3). In FIG. 8, the landing of the geophysical acquisition device (100) is supported by the payloads (150a-d). Thus, in scenarios where the acquisition location is located on a surface of a seismic medium, such as earth or water, the containers (153a-d) of the payloads (150a-d) are in contact with the surface when the geophysical acquisition device (100) is landed on the surface.Specifically, when the geophysical acquisition device (100) is landed on the surface, the containers (153a-d) of the payloads (150a-d) are located between the legs (209a-d) and the surface.

[0099] In FIGs 7 and 8, each pay load (150a-d) may be replaced and interchanged with another of the payload (150a-d). Additionally, the payloads (150a-d) may be interchanged between multiple geophysical acquisition devices (100). Furthermore, in some embodiments, not necessarily related to FIGs 7 and 8, the one or more geophysical sensors (155) of at least one payload (150) include one or more seismic receivers. Examples of seismic receivers include a geophone and a hydrophone. The one or more seismic receivers are configured to capture a seismic signal from a seismic medium, such as earth or water. An acquisition location includes a surface of the seismic medium. The at least one payload (150), that includes the one or more seismic receivers, is attached to the drone (110) in an advantageous manner so that the container (153) of at least one payload (150) is in contact with the surface when the geophysical acquisition device (100) is landed on the surface. As such, the one or more seismic receivers are advantageously positioned to capture the seismic signal. It is noted that the seismic signal is defined as having one or more seismic signal component, each seismic signal component captured by a distinct seismic receiver among the one or more seismic receivers.

[0100] For illustration, a plurality of example scenarios involving the geophysical acquisition device (100) from FIGs. 7 and 8 are described herein, with different configurations of the payloads (150a-d). In a first scenario, the one or more geophysical sensors (155) of at least one of the payloads (150a-d) include a geophone and the acquisition location is located on a surface of the Earth. When the geophysical acquisition device (100) is landed on the surface, the containers (153a-d) of the pay loads (150a-d) are in contact with the ground. Thus, the geophone is advantageously positioned to capture a land seismic signal component.

[0101] In an alternate scenario, each of the four payloads (150a-d) includes a geophone, and no other geophysical sensors. Thus, the geophysical acquisition device (100) solely includes four geophones. The four geophones have equal masses. None of the four payloads (150a-d) includes a ballast. The acquisition location is located on a surface of the Earth. When the geophysical acquisition device (100) is landed on the surface, the containers (153a-d) of the payloads (150a-d) are in contact with earth. Thus, the four geophones are advantageously positioned to capture a land seismic signal. In some embodiments, each payload (150a-d) includes a distinct land deployment mechanismconfigured to insert their respective geophone into the ground. Example of a deployment mechanism include a spring and spike mechanism. Yet, in other embodiments, none or the payload (150a-d) includes a land deployment mechanism.

[0102] In an alternate scenario, each of the four payloads (150a-d) includes a hydrophone, and no other geophysical sensors. Thus, the geophysical acquisition device (100) solely includes four hydrophones. The four hydrophones have equal masses. None of the four payloads (150a-d) includes a ballast. The acquisition location is located on a surface of a water formation. When the geophysical acquisition device (100) is landed on the surface, the containers (153a-d) of the payloads (150a-d) are in contact with water. Thus, the four hydrophones are advantageously positioned to capture a marine seismic signal. In some embodiments, each payload (150a-d) includes a distinct water deployment mechanism configured to immerse the hydrophone of the payload (150a-d) into the water. Yet, in other embodiments, none or the payload (150a-d) includes a water deployment mechanism.

[0103] In an alternate scenario, the acquisition location is located on a surface of the Earth.The subsurface is referenced using three orthogonal dimensions, namely, an abscissa dimension X, an ordinate dimension Y and a depth dimension Z. The first payload (150a) includes a first geophone that detects a ground velocity in the abscissa dimension X; the second payload (150b) includes a second geophone that detects the ground velocity in the ordinate dimension Y; the third payload (150c) includes a third geophone that detects the ground velocity in the depth dimension Z. The fourth payload (150d) includes an accelerometer that detects ground acceleration in the three dimensions X, Y and Z. The payloads (150a-d) do not include other geophysical sensors. The first, second and third geophones have equal masses. The three payloads (150a-c) have equal masses. Each of the three geophones is heavier than the accelerometer. To balance the mass of the geophysical acquisition device (100), the fourth payload (150d) is equipped with the ballast (163), carefully built, configured or selected so that the mass of the fourth payload ( 150d) equates the mass of each of the three payloads (150a-c). The three payloads (150a-c) do not include a ballast. Accordingly, no imbalance is induced for the geophysical acquisition device (100), despite the four payloads (150a-d) carrying different types of geophysical sensors.

[0104] In an alternate scenario, the first payload (150a) includes a first geophone that detects the ground velocity in the abscissa dimension X; the second payload (150b) includes a second geophone that detects the ground velocity in the ordinate dimension Y; the third pay load (150c) includes a third geophone that detects the ground velocity in the depth dimension Z. The fourth payload (150d) includes a magnetic sensor that detects amagnetic field. The payloads (150a-d) do not include other geophysical sensors. The first, second and third geophones have the equal masses. The three payloads (150a-c) have equal masses. The magnetic sensor is heavier than each of the three geophones. To balance the mass of the geophysical acquisition device (100), the first payload (150a) includes a first ballast (163a); the second payload (150b) includes a second ballast (163b); the third payload (150c) includes a third ballast (163c). The fourth payload (150d) does not include a ballast. Each of the ballasts (163a-c) is carefully built, configured or selected so that the mass of each payload (150a-c) equates the mass of the fourth payload (150d). Accordingly, no imbalance is induced for the geophysical acquisition device (100), despite the four payloads (150a-d) carrying different types of geophysical sensors.

[0105] In an alternate scenario, the first payload (150a) includes a three-dimensional geophone that detects the ground velocity in the three dimensions X, Y and Z; the second payload ( 150b) includes a hydrophone that detects a fluid pressure; the third payload (150c) includes a magnetic sensor that detects a magnetic field; the fourth payload (150d) includes a gravity sensor that detects a gravitational force. The payloads (150a-d) do not include other geophysical sensors. The three-dimensional geophone, hydrophone, magnetic sensor and gravity sensor each have a different mass. To balance the mass of the geophysical acquisition device (100), at least three of the payloads (150a-d) include a ballast (163), carefully built, configured or selected so that the four payloads (150a-d) have equal masses. Accordingly, no imbalance is induced for the geophysical acquisition device (100), despite the four payloads (150a-d) carrying different types of geophysical sensors.

[0106] Continuing with this scenario, the acquisition location may be located on a surface of the Earth, surface of a water formation, or airborne. If the acquisition location is located on a surface of the Earth, the geophysical acquisition device (100) may land onto the acquisition location. The geophone, magnetic sensor and gravity sensor may each capture a relevant geophysical signal component. In contrast, the hydrophone may be disabled or capture an irrelevant geophysical signal component to be discarded at a later stage. If the acquisition location is located on a surface of a water formation, the geophysical acquisition device (100) may land onto the acquisition location. The hydrophone, magnetic sensor and gravity sensor may each capture a relevant geophysical signal component. In contrast, the geophone may be disabled or capture an irrelevant geophysical signal component to be discarded at a later stage. If the acquisition location is airborne, the geophysical acquisition device (100) may be positioned at the acquisition location. The magnetic sensor and gravity sensor may each capture a relevant geophysical signalcomponent. In contrast, the geophone and hydrophone may each be disabled or capture irrelevant geophysical signal components to be discarded at a later stage. Advantageously, in this scenario, the geophysical acquisition device (100) may be used in three different acquisition contexts: land acquisition, marine acquisition and aerial acquisition.

[0107] In an alternate scenario, each of the four payloads ( 150a-d) includes a ballast (163a- d). Each ballast (163a-d) includes a distinct three-dimensional geophone. The payloads (150a-d) do not include other geophysical sensors. The four ballasts (163a-d) have equal masses. The payloads (150a-d) have equal masses. The acquisition location is located on a surface of the Earth. When the geophysical acquisition device (100) is landed on the surface, the containers (153a-d) of the payloads (150a-d) are in contact with the ground. Thus, the four three-dimensional geophones are advantageously positioned to capture a land seismic signal.

[0108] In an alternate scenario, each of the four payloads (150a-d) includes a ballast (163a- d). The ballasts (163a-d) each include a geophysical sensors of a different type: a first ballast (163 a) includes a first geophone that detects the ground velocity in the abscissa dimension X; a second ballast (163b) includes a second geophone that detects the ground velocity in the ordinate dimension Y; a third ballast (163c) includes a third geophone that detects the ground velocity in the depth dimension Z; a fourth ballast (163d) includes a magnetic sensor that detects a magnetic field. The payloads (150a-d) do not include other geophysical sensors. The ballasts (163a-d) are carefully built, configured or selected to have equal masses, despite including different types of geophysical sensors. Accordingly, no imbalance is induced for the geophysical acquisition device (100), despite the four payloads (150a-d) carrying different types of geophysical sensors.

[0109] In an alternate scenario, each of the payloads (150a-d) includes a ballast (163a-d).Each of the payloads (150a-d) includes a primary geophysical sensor (405a-d) outside the ballast (163a-d). Each of the ballasts (163a-d) includes a secondary geophysical sensor for the payload (150a-d). Thus, each of the payloads (150a-d) includes a primary geophysical sensor (405a-d) and a secondary geophysical sensor. The payloads (150a-d) do not include other geophysical sensors. Thus, the geophysical acquisition device (100) includes a total of eight geophysical sensors: four primary geophysical sensors (405a-d) and four secondary geophysical sensors. The primary geophysical sensors (405a-d) of the four payloads (150a-d) may be of the same type or different types. The secondary sensors of the four payloads (150a-d) may be of the same type or different types. Furthermore, foreach payload (150a-d), the primary geophysical sensor (405a-d) and secondary geophysical sensor may be of the same type, or different types.

[0110] Two specific examples of this scenario are provided for illustrative purposes. As a first specific example, the primary geophysical sensor (405a-d) of each payload (150a-d) may be a hydrophone and the secondary sensor of each payloads (150a-d) may be a three- dimensional geophone. As a second specific example, the first payload (150a) may include, as a first primary geophysical sensor (405a), a first geophone that detects the ground velocity in the abscissa dimension X; the second payload (150b) may include, as a second primary geophysical sensor (405b), a second geophone that detects the ground velocity in the ordinate dimension Y; the third payload (150c) may include, as a third primary geophysical sensor (405c), a third geophone that detects the ground velocity in the depth dimension Z. The fourth payload (150d) may include, as a fourth primary geophysical sensor (405d), an accelerometer that detects ground acceleration in the three dimensions X, Y and Z. The first and second ballasts (163a-b) may include, as a first and second secondary geophysical sensors, a first magnetic sensor and a second magnetic sensor, respectively. The third and fourth ballasts (163c-d) may include, as a third and fourth secondary geophysical sensors, a first gravity sensor and a second gravity sensor, respectively. The four ballasts (163a-d) are carefully built, configured or selected so that the four payloads (450a-d) have equal masses. Accordingly, no imbalance is induced for the geophysical acquisition device (100) in the two presented specific examples.

[0111] In an alternate scenario, each of the payloads (150a-d) includes a ballast (163a-d).Each of the payloads (150a-d) includes a primary geophysical sensor (405a-d) outside the ballast (163a-d). The first ballast (163a) includes a first secondary geophysical sensor for the first payload (150a). The second ballast (163b) includes a second secondary geophysical sensor for the second payload (150b). The third and fourth ballasts (163c-d) do not include a geophysical sensor. The payloads (150a-d) do not include other geophysical sensors. Thus, the geophysical acquisition device (100) includes a total of six geophysical sensors: the four primary geophysical sensors (405a-d) and the two secondary geophysical sensors of the first and second ballasts (163a-b). The six geophysical sensors may be of the same type or different types. The four ballasts (163a-d) are carefully built, configured or selected so that the four payloads (450a-d) have equal masses. Accordingly, no imbalance is induced for the geophysical acquisition device (100), despite the four payloads (150a-d) carrying different types of geophysical sensors.

[0112] The myriad of scenarios presented above illustrate the flexibility of the configuration of the geophysical acquisition device (100). It is emphasized that the presented scenarios are given only as examples and should be considered non-limiting. One with ordinary skill in the art will readily appreciate that the payloads (150a-d) may be configured differently from the presented scenarios without departing from the scope of this disclosure. For instance, each of the payload (150a-d) may include a different number of geophysical sensors from those in the presented scenarios, the geophysical sensors being of the same type or different types; each of the payload (150a-d) may or may not include a ballast (163a-d); for any combination of the one or more geophysical sensors (155) of each payload (150a-d), the geophysical acquisition device (100) may be designed to acquire geophysical data from different environments and acquisition locations, such as a surface of the Earth, a surface of a water formation or an airborne location. Furthermore, the geophysical acquisition device (100) is presented as transporting four payloads (150a- d). In other scenarios, the geophysical acquisition device may be configured as transporting a different number of payloads (150) without departing from the scope of this disclosure.

[0113] To illustrate a different number of transported payloads (150), FIG. 9 depicts a third embodiment of the geophysical acquisition device (100) that includes eight payloads (150a-h) attached to the drone (110). In FIG. 9, the drone (110) is configured as the first embodiment of the drone (110) from FIG. 2. Each of the four payloads (150a-d) is attached to a distal end of a distinct leg (209a-d) of the drone (110) using a distinct locking mechanism (139a-d). The landing pads (21 la-d) of the drone (110) seen in FIG. 2 have been removed. The payloads (150a-d) and locking mechanisms (139a-d) occupy positions where the landing pads (21 la-d) were originally installed (see FIG. 2). The four payloads (150e-h) are attached to the arms (207a-d), opposite the motors (205a-d), using the locking mechanisms (139e-h). Specifically, the fifth payload (207e) is attached to a distal end of the first arm (207a), opposite the first motor (205a), using a fifth locking mechanism (139e); the sixth payload (207f) is attached to a distal end of the second arm (207b), opposite the second motor (205b), using a sixth locking mechanism ( 139f); the seventh payload (207g) is attached to a distal end of the third arm (207c), opposite the third motor (205c), using a seventh locking mechanism (139g); the eighth payload (207h) is attached to a distal end of the fourth arm (207d), opposite the fourth motor (205d), using an eighth locking mechanism (139h).

[0114] In FIG. 9, the landing of the geophysical acquisition device (100) is supported by the payloads (150a-d). In scenarios where the acquisition location is located on a surfaceof a seismic medium, such as earth or water, the geophysical acquisition device (100) may land onto the acquisition location. When the geophysical acquisition device (100) is landed on the surface, the containers (153a-d) of the payloads (150a-d) are in contact with the surface. Specifically, when the geophysical acquisition device (100) is landed on the surface, the containers (153a-d) of the payloads (150a-d) are located between the legs (209a-d) and the surface. In contrast, the containers (153e-h) of the payloads (150e-h) are not in contact with the surface. To capture a seismic signal from the seismic medium using one or seismic receivers, it may be advantageous to include the one or more seismic receivers in the four payloads (150a-d), rather than the four payloads (150e-h).

[0115] As stated, the drone ( 110) may include the onboard computer ( 133 ) . In one or more embodiments, the onboard computer (133) is configured to receive the geophysical data from each of the one or more pay loads (150). Specifically, each distinct pay load (150) may produce distinct geophysical data that are transmitted to the onboard computer (133) using the distinct transmitter (159) of the distinct payload (150). The geophysical data received by the onboard computer (133) from each payload (150) form a geophysical dataset. In one or more embodiments, the onboard computer (133) is configured to process the geophysical dataset. In such embodiments, two stages of processing are performed throughout the acquisition of the geophysical data. Firstly, the geophysical signal from each payload (150) is processed by the preprocessing system (161) of the payload (150) to produce the geophysical data. Secondly, the geophysical data are processed by the onboard computer (133).

[0116] Processing the geophysical dataset transforms the geophysical dataset into a processed geophysical dataset. Processing the geophysical dataset may be done in many ways and include various onboard geophysical processing steps. The onboard geophysical processing steps may include, without limitation: de-noising, re-sampling, clipping, regularizing, amplifying, re-datuming, frequency filtering, spectral shaping, correction for near surface effects; noise attenuation; compensation for irregularities of attributes of the geophysical dataset; calculation seismic attributes to characterize the subsurface; ghost wavefield elimination, P-Z summation, sorting geophysical traces into different domains; interpolation; stacking. In some embodiments, the geophysical data are produced in real time using the preprocessing system (161) of each payload (150), transmitted in real time from the preprocessing system (161) to the onboard computer (133), and processed in real¬ time using the onboard computer (133). Advantageously, the geophysical data transmitted from each payload (150) may be processed independently or in combination by the onboardcomputer (133). The geophysical acquisition device (100) may be moved to multiple acquisition locations and the one or more payloads (150) may produce geophysical data from the multiple acquisition locations. Advantageously, the geophysical data produced at the multiple acquisition locations and transmitted from each payload (150) to the onboard computer (133) may be processed independently or in combination. Advantageously, processing the geophysical data using the onboard computer may reduce the need to process the geophysical data externally.

[0117] In some embodiments, the geophysical sensors of all of the one or more payloads (150) combined (z.e.: all the geophysical sensors included in the geophysical acquisition device (100)) include multiple geophysical sensors of a same type such as, for example, multiple three-dimensional geophones. The multiple geophysical sensors of the same type capture multiple geophysical signals of a same type, such as multiple seismic signals. The multiple geophysical signals of the same type are processed by the preprocessing systems (161) to produce multiple geophysical traces of a same type, such as multiple seismic traces. In such embodiments, processing the geophysical data may include stacking the multiple geophysical traces of the same type to produce a stacked geophysical trace. In some scenarios, a signal-to-noise ratio of the stacked geophysical trace is smaller than a signal-to-noise ratio of each of the multiple geophysical traces of the same type. Stacking the multiple geophysical traces of the same type may include, for example, averaging the multiple geophysical traces of the same type using a mean or a weighted average. Stacking the multiple geophysical traces of the same type may further include, for example, performing constructive or destructive summation of the multiple geophysical traces of the same type. Alternatively or concurrently, the multiple geophysical traces of the same type may be stored independently (i.e. : without stacking) in the onboard computer memory of the onboard computer (133) for subsequent operations, such as signal enhancement and a spatial gradient calculation.

[0118] In some embodiments, the drone (110) includes a data link configured to upload a final geophysical dataset from the onboard computer (133) to an external computer. The final geophysical dataset includes one or more of the geophysical dataset and the processed geophysical dataset. In some embodiments, the data link includes, or is, an onboard wireless emitter, not shown in FIGs. 2 or 3. In such embodiments, uploading the final geophysical dataset is performed wirelessly using the onboard wireless emitter. Uploading the final geophysical dataset wirelessly may be done in real time or delay time. In other embodiments, the data link includes, or is, an onboard transfer port, not shown in FIGs. 2or 3. The onboard transfer port can be electrically connected to the external computer in order to upload the final geophysical dataset to the external computer. In such embodiments, the onboard computer (133) may store the final geophysical dataset in the onboard computer memory. The final geophysical dataset is then uploaded from the onboard computer memory to the external computer at a later time, when the geophysical acquisition device (100) flies to a vicinity of the external computer. In this disclosure, a vicinity of the external computer is defined as any location from where the onboard computer (133) may be plugged to the external computer. In some embodiments, the external computer is the central computer (185) of the control station (180).

[0119] In other implementations, the drone (110) does not include a data link. The geophysical data produced by each payload (150) are not transferred to the onboard computer (133). Instead, the geophysical data are stored in the local computer memory of the preprocessing system (161) and transmitted from the preprocessing system (161) to the external computer, in real time or delay time.

[0120] In the following, three examples of production commands are provided: an acquisition command, a signal processing command and a data processing command. The production commands may be received by the communication system (135) of the drone (110). In one or more embodiments, the communication system (135) is configured to receive an acquisition command instructing at least one geophysical sensor of the one or more geophysical sensors (155) of at least one payload (150) to capture a first geophysical signal component. The communication system (135) may forward the acquisition command to the onboard computer (133). In response, the onboard computer (133) may command the at least one geophysical sensor to capture the first geophysical signal component. In some implementations, the acquisition command to capture the first geophysical signal component is conveyed from the onboard computer (133) to the at least one geophysical sensor using the transmitter (159).

[0121] In one or more embodiments, the communication system (135) is configured to receive a signal processing command instructing the preprocessing system (161) to process the geophysical signal. The communication system (135) may forward the signal processing command to the onboard computer (133). In response, the onboard computer (133) may command the preprocessing system (161) to process the geophysical signal to produce the geophysical data. In some implementations, the signal processing command to process the geophysical signal is conveyed from the onboard computer (133) to the at least one geophysical sensor using the transmitter (159).

[0122] In some embodiments, the communication system (135) of the drone (110) is configured to receive a data processing command instructing the onboard computer (133) to process the geophysical dataset. The communication system (135) sends the data processing command to the onboard computer (133). In response, the onboard computer (133) processes the geophysical dataset to produce the processed geophysical dataset.

[0123] In some embodiments, one or more of the acquisition command, the signal processing command and the data processing command are received form the remote operator using the central communication system (183) of the control station (180). Yet, in other embodiments, the acquisition of the geophysical signal components, processing of the geophysical signal and processing of the geophysical data are automated, without the need for the communication system (135) to receive a production command.

[0124] The preprocessing system (161), onboard computer (133) and other electronic or mechanical components of the geophysical acquisition device (100) may be interconnected as an integrated electromechanical system. The integrated electromechanical system may be defined in many ways. While describing every possible configuration of the integrated electromechanical system would extend beyond the scope of this disclosure, FIG. 10 depicts an embodiment of the integrated electromechanical system for illustrative purposes.

[0125] In FIG. 10, the onboard computer (133) is connected to the communication system (135) and flight control system (119). In FIG. 10, the drone (110) includes the four motors (205a-d), in a similar fashion to the embodiments of the drone (110) presented in FIGs. 2 and 3. The four motors (205a-d) are connected to the flight control system (119) and the onboard computer (133). The remote control system (121) includes a telemetry module (1009) and a remote control receiver (1010), connected to the flight control system (119). The remote control system (121) may further include one or more remote control antennas, not shown. The battery (131) is configured to power the components of the drone (110) that require electrical power, such as the motors (205a-d) and the onboard computer (133). The battery (131) is controlled by a battery control board (1004), connected to the onboard computer (133). The battery control board (1004) is configured to manage battery usage, including the amount of power allocated to different components of the drone (110). The battery control board (1004) is further configured to control a charge of the battery (131) when the battery (131) is plugged to a battery charger, not shown.

[0126] The payload (150) includes a primary geophysical sensor in a similar fashion to the primary geophysical sensor (405) in FIGs. 4A-4C, 5A-5C and 6A-6C. In FIG. 10, theprimary geophysical sensor is a three-axis analog accelerometer (1033). The ballast (163) includes a secondary geophysical sensor which, in this specific embodiment, is a one-axis seismic accelerometer (1037). The preprocessing system (161) includes an analog-to- digital converter (1025) configured to digitalize the geophysical signal components captured by the three-axis analog accelerometer (1033) and one-axis seismic accelerometer (1037). The payload (150) includes a holonomic drive system (1043), as presented in FIGs.5A-5C. The holonomic drive system (1043) includes the wheel motors (429a-h), connected to the onboard computer (133). The wheel motors (429a-h) receive commands from the onboard computer (133) to maintain the payload (150) in a desired position. Some of the connections are represented, schematically, as connecting wires (1053). However, a person of ordinary skill in the art will readily appreciate that the connections may be of other types or include multiple electric wires. Furthermore, the integrated electromechanical system in FIG. 10 may include other connections, not shown.

[0127] Advantageously, multiple geophysical acquisition devices (100) may be combined to form a geophysical surveying system, configured to acquire a geophysical dataset in a region of interest. Accordingly, FIG. 11 depicts a geophysical surveying system (1100) deployed in a region of interest. The region of interest includes a surface (1102) and a subsurface (1103). The subsurface (1103) may contain a reservoir (1104). The geophysical surveying system (1100) is depicted as being on land, and a seismic source (1106) includes a seismic vibrator mounted on a land vehicle. In other examples, the geophysical surveying system (1100) may be deployed offshore, and the seismic source towed by a seismic vessel. When fired, the seismic source (1106) generates radiated seismic waves (1108) into the subsurface (1103). The radiated seismic waves (1108) include pressure waves and shear waves. The seismic source (1106) may fire multiple times, at different locations, thereby illuminating the whole subsurface (1103). Part of the radiated seismic waves (1108) may return to the surface as refracted seismic waves (1110). Part of the radiated seismic waves (1108) may be reflected by geological reflectors (1112) and return to the surface as reflected seismic waves (1114).

[0128] A plurality of geophysical acquisition devices (100) are deployed, landed on the surface (1102). Each geophysical acquisition device (100) includes the drone (110) and four payloads (150). Each payload (150) includes a unique geophone and no other geophysical sensors. Thus, each geophysical acquisition device (100) in FIG. 11 includes a total of four geophones. Each payload (150) captures a distinct geophysical signal, composed of a single geophysical signal component. The single geophysical signalcomponent is captured by the unique geophone of the payload (150). The geophysical signal captured by each payload (150) is a land seismic signal. Accordingly, each geophysical acquisition device (100) in FIG. 11 captures four distinct land seismic signals. Furthermore, the containers (153) of the four payloads (150) of each geophysical acquisition device (100) are in contact with the surface (1102) as the geophysical acquisition device (100) is landed on the surface (1102). Thus, the four geophones of each geophysical acquisition device (100) are advantageously positioned to capture their respective land seismic signal.

[0129] Continuing with FIG. 9, each land seismic signal captured by each geophysical acquisition device (100) is a representation of various seismic responses. Examples of seismic responses represented by each land seismic signal include the refracted seismic waves (1110) and the reflected seismic waves (1114) that return to the surface. Examples of seismic responses represented by each land seismic signal further include waves that reflect multiple times within the subsurface, known as multiple reflections. Examples of seismic responses represented by each land seismic signal further include noise, such as ground roll, engine noise, equipment damage noise and interferences, which does not originate from the seismic source (1106).

[0130] In conventional seismic surveys, the geophones may be manually positioned and re-positioned multiple times by skilled workers to capture geophysical data illuminating the whole subsurface (1103). Advantageously, in FIG. 9, the geophones are positioned and re-positioned by flying the geophysical acquisition devices (100), which eliminates the need for the geophones to be manually displaced.

[0131] FIGs. 12A-12C depict other scenarios where it may be advantageous to transport geophysical sensors using a drone, rather than a skilled worker. In FIG. 12A, a plurality of geophysical acquisition devices (100) is landed on various acquisition locations on a rugose terrain (1203). Each geophysical acquisition device (100) includes at least one geophone. Accordingly, the plurality of geophysical acquisition devices (100) includes multiple geophones. Each geophysical acquisition device (100) is remotely controlled from the control station (180) by a remote operator. Due to the rugose terrain (1203), it may be challenging for a skilled worker to reach the acquisition locations. Advantageously, the geophysical acquisition device (100) allows for transporting (i.e. flying) the multiple geophones to the acquisition locations regardless of terrain.

[0132] In FIG. 12B, a plurality of geophysical acquisition devices (100) are landed on various acquisition locations. Each geophysical acquisition device (100) includes at leastone geophone. Accordingly, the plurality of geophysical acquisition devices (100) includes multiple geophones. Each geophysical acquisition device (100) is remotely controlled from the control station (180) by a remote operator. An obstacle (1205) separates the acquisition locations from the control station (180). Due to the obstacle (1205), it may be challenging for a skilled worker to reach the acquisition locations. Advantageously, the geophysical acquisition device (100) allows for flying the multiple geophones to the acquisition locations behind the obstacle (1205), opposite the control station (180).

[0133] In FIG. 12C, a plurality of water surfaces (1207) is intertwined with a plurality of ground surfaces (1209). A plurality of geophysical acquisition devices (100) is landed on various acquisition locations. Some acquisition locations are located on the ground surfaces (1209), while other acquisition locations are located on the water surfaces (1207). Each geophysical acquisition device (100) includes at least one geophone and at least one hydrophone. Accordingly, the plurality of geophysical acquisition devices (100) includes multiple geophones and multiple hydrophones. Each geophysical acquisition device (100) is remotely controlled from the control station (180) by a remote operator. In conventional seismic data surveys, it may be challenging to deploy a seismic acquisition system configured to acquire seismic data on land and water simultaneously. Advantageously, the geophysical acquisition devices (100) are flown to the acquisition locations, regardless of whether the acquisition locations are on land or water. When the geophysical acquisition devices (100) are landed, the multiple geophones capture land seismic signal components from the ground surfaces (1209) and the multiple hydrophones capture marine seismic signal components from the water surfaces (1207).

[0134] FIG. 13 depicts a flow chart of a geophysical acquisition method. For concision, a full description of components and / or elements depicted in FIG. 13 is not provided anew for those components and / elements that have been previously described with reference to preceding figures. In Step 1303, a geophysical acquisition device is flown to an acquisition location where geophysical data are to be acquired. The geophysical acquisition device in Step 1303 is configured in a similar fashion to the geophysical acquisition device (100) in FIGs. 1, 7, 8 and 9. The geophysical acquisition device includes a drone, such as the drone (110) in FIGs. 1, 2 and 3. As such, the drone includes a drone body, a propulsion system, a flight control system and an energy source, similar to the drone body (113), propulsion system (117), flight control system (119) and energy source (129) in FIG. 1, respectively. The drone further includes one or more extensions extending from the drone body, similar to the extension (115) in FIG. 1. Each drone extension may be a leg or an arm of the drone.The drone body may carry, contain and protect various components of the drone. The propulsion system provides lift and thrust to the drone. The energy source provides energy for powering the propulsion system. The flight control system is configured to guide the drone and thus, the geophysical acquisition device, to any acquisition location. The drone may further include other components, such as an autonomous navigation system, a communication system, a remote control system and a data link, similar to the autonomous navigation system (123), communication system (135), remote control system (121) and data link (141) in FIG. 1, respectively.

[0135] The geophysical acquisition device further includes one or more payloads, attached to the drone. The one or more payloads in Step 1303 are similar to the one or more payloads (150) in FIGs. 1. As such, each payload includes, at least, one or more geophysical sensors, a preprocessing system, a transmitter and a container, similar to the one or more geophysical sensors (155), preprocessing system (161), transmitter (159) and container (153) in FIG. 1, respectively. The one or more geophysical sensors are configured to capture a geophysical signal. The preprocessing system is configured to produce geophysical data based on the geophysical signal. The transmitter is configured to transmit the geophysical data externally from the payload. The container contains the one or more geophysical sensors, preprocessing system and, at least in part, the transmitter. Each payload of the one or more payloads is attached to a distinct extension of the drone. To this end, the drone includes one or more locking mechanisms, similar to the locking mechanism (139) in FIG. 1. Each payload is attached to a distinct extension of the drone using a distinct locking mechanism among the one or more locking mechanisms. Flying the geophysical acquisition device to the acquisition location is done by flying the drone to the acquisition location. As the drone is flown to the acquisition location, the one or more payloads are transported to the acquisition location.

[0136] To balance the mass of the geophysical acquisition device, each payload of the one or more payloads or a subset thereof may include a ballast, thereby defining one or more ballasts. The one or more ballasts may be used to customize a position of a center of mass of geophysical acquisition device so that no mass imbalance of the geophysical acquisition device is induced by the one or more payloads. For instance, the masses of the one or more ballasts may be carefully built, configured or selected so that the one or more payloads have equal masses. Using one or more payloads of equal masses may promote stable flight of the geophysical acquisition device.

[0137] In Step 1305, a geophysical data acquisition procedure is performed, for each payload among the one or more payloads from Step 1303. For each payload, the geophysical data acquisition procedure includes capturing a geophysical signal using the one or more geophysical sensors of the payload. The geophysical signal includes one or more geophysical signal components. Each geophysical signal component is captured by a distinct geophysical sensor among the one or more geophysical sensors of the payload. Each geophysical sensor of the payload may be of various types, such as, for example, a Microelectromechanical Systems sensor, a geophone, a hydrophone, an accelerometer, a gravity sensor, a magnetic sensor and a gamma-ray sensor. Accordingly, each geophysical signal component may be of various types, such as, for example, a land seismic signal, a marine seismic signal, a magnetic signal and a gravimetric signal. The payload may include a single geophysical sensor or multiple geophysical sensors of a same type or different types. Accordingly, the geophysical signal may include a single geophysical signal component or multiple geophysical signal component of a same type or different types.

[0138] For each payload, the geophysical data acquisition procedure further includes producing geophysical data based on the geophysical signal. Specifically, the geophysical data are produced by processing the geophysical signal using the preprocessing system of the payload. The preprocessing system includes electronic hardware components and software components configured to process the geophysical signal. Processing the geophysical signal is carried out by performing one or more geophysical processing tasks, such as elementary data processing tasks and non-elementary data processing tasks defined earlier in this disclosure. Advantageously, the geophysical data are a representation of the geophysical signal that may be stored, analyzed, processed, interpreted and transferred.

[0139] For each payload, the geophysical data acquisition procedure further includes transmitting the geophysical data externally from the payload using the transmitter of the payload. The geophysical data may be transmitted externally from the payload using a wired connection or a wireless connection. In some embodiments, each payload includes an electrical connector that connects the preprocessing system to a local outlet location exposed to an exterior of the payload. This way, an external system may be connected to the electrical connector, forming a wired connection between the preprocessing system and the external system. The geophysical data may be transmitted from the preprocessing system to the external system using the wired connection. In other implementations, each payload includes a local wireless emitter. The local wireless emitter may receive thegeophysical data from the preprocessing system and transmit the geophysical data wirelessly to any external system capable of receiving a wireless signal.

[0140] For each payload, the geophysical data may be transmitted externally from the payload to an onboard computer of the drone or a central computer of a control station. The control station may be defined in a similar fashion to the control station (180) in FIG.1. The onboard computer and central computer may be defined in a similar fashion to the onboard computer (133) and central computer (185) in FIG. 1.

[0141] In implementations where the geophysical data are transmitted from the payload to the onboard computer, the drone may include an onboard electrical receptor connected to the onboard computer. The onboard electrical receptor is configured to form a wired connection with the electrical connector of the payload when the payload is attached to the drone. Accordingly, the geophysical data may be transmitted from the preprocessing system of the payload to the onboard computer of the drone when the payload is attached to the drone, using the wired connection. Alternatively, the drone may include an onboard wireless receiver connected to the onboard computer. The onboard wireless receiver is configured to receive the geophysical data transmitted wirelessly from the local wireless emitter of the payload. Accordingly, the geophysical data may be transmitted from the preprocessing system of the payload to the onboard computer of the drone using the local wireless emitter and the onboard wireless receiver.

[0142] In implementations where the geophysical data are transmitted externally from the payload to the central computer of the control station, the control station may include a central electrical receptor connected to the central computer. The central electrical receptor can be connected to the electrical connector of the payload when the geophysical acquisition device is in a vicinity of the control station, thereby forming a wired connection. Accordingly, the geophysical data may be transmitted from the preprocessing system of the payload to the central computer of the control station using the wired connection. Alternatively, the control station may include a central wireless receiver connected to the central computer. The central wireless receiver is configured to receive the geophysical data transmitted wirelessly from the local wireless emitter. Accordingly, the geophysical data may be transmitted from the preprocessing system of the payload to the central computer of the control station using the local wireless emitter and the central wireless receiver.

[0143] In optional Step 1307, the geophysical data of each payload are transmitted to the onboard computer of the drone, thereby forming a geophysical dataset. The onboardcomputer may be configured to process the geophysical dataset. Processing the geophysical dataset transforms the geophysical dataset into a processed geophysical dataset. Processing the geophysical dataset may be done in many ways and include various onboard geophysical processing steps, previously described in this disclosure. In one or more embodiments, a final geophysical dataset is uploaded from the onboard computer to an external computer. The final geophysical dataset includes one or more of the geophysical dataset and the processed geophysical dataset. In some implementations, the drone includes a data link configured to upload the final dataset wirelessly in the same fashion to the data link (141) in FIG. 1.

[0144] In one or more embodiments, a remote operator may communicate with the drone from the control station. For instance, the remote operator may send remote flight inputs, a flight command, an acquisition command, a signal processing command and a data processing command to the drone, as previously defined in this disclosure. In response, the drone may fly to an acquisition location, capture geophysical signal components, process the geophysical signal and process the geophysical data, respectively.

[0145] As stated, the preprocessing system (161) and onboard computer (133) are each a form of computer. In that regard, FIG. 14 depicts a block diagram of a computer (1402) used to provide computational functionalities associated with described algorithms, methods, functions, processes, flows, and procedures as described in this disclosure, according to one or more embodiments. The computer (1402) may include devices that can accept user information, such as peripherals, and an output device that conveys information associated with the operation of the computer (1402), including digital data, visual, or audio information (or a combination of information).

[0146] The computer (1402) can serve in a role as a client, network component, a server, a database or other persistency, or any other component (or a combination of roles) of a computer system for performing the subject matter described in the instant disclosure. In some implementations, one or more components of the computer (1402) may be configured to operate within environments, including cloud-computing-based, local, global, or other environments (or a combination of environments).

[0147] At a high level, the computer (1402) is an electronic computing device operable to receive, transmit, process, store, or manage data and information associated with the described subject matter. According to some implementations, the computer (1402) may also include or be communicably coupled with an application server, e-mail server, webserver, caching server, streaming data server, business intelligence (BI) server, or other server (or a combination of servers).

[0148] The computer (1402) can receive requests over network (1430) from a client application (for example, executing on another computer (1402) and responding to the received requests by processing the said requests in an appropriate software application. In addition, requests may also be sent to the computer (1402) from a user (for example, the remote operator), external or third-parties, other automated applications, as well as any other appropriate entities, individuals, systems, or computers.

[0149] Each of the components of the computer (1402) can communicate using a system bus (1403). In some implementations, any or all of the components of the computer (1402), both hardware or software (or a combination of hardware and software), may interface with each other or the interface (1404) (or a combination of both) over the system bus (1403) using an application programming interface (API) (1412) or a service layer (1413) (or a combination of the API (1412) and service layer (1413). The API (1412) may include specifications for routines, data structures, and object classes. The API (1412) 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 (1413) provides software services to the computer (1402) or other components (whether or not illustrated) that are communicably coupled to the computer (1402). The functionality of the computer (1402) may be accessible for all service consumers using this service layer. Software services, such as those provided by the service layer (1413), 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 the computer (1402), alternative implementations may illustrate the API (1412) or the service layer (1413) as stand-alone components in relation to other components of the computer (1402) or other components (whether or not illustrated) that are communicably coupled to the computer (1402). Moreover, any or all parts of the API (1412) or the service layer (1413) may be implemented as child or sub-modules of another software module, enterprise application, or hardware module without departing from the scope of this disclosure.

[0150] The computer (1402) includes an interface (1404). Although illustrated as a single interface (1404) in FIG. 14, two or more interfaces (1404) may be used according to particular needs, desires, or particular implementations of the computer (1402). Theinterface (1404) is used by the computer (1402) for communicating with other systems in a distributed environment that are connected to the network (1430). Generally, the interface (1404) includes logic encoded in software or hardware (or a combination of software and hardware) and operable to communicate with the network (1430). More specifically, the interface (1404) may include software supporting one or more communication protocols associated with communications such that the network (1430) or interface’s hardware is operable to communicate physical signals within and outside of the illustrated computer (1402).

[0151] The computer (1402) includes at least one computer processor (1405). Although illustrated as a single computer processor (1405) in FIG. 14, two or more processors may be used according to particular needs, desires, or particular implementations of the computer (1402). Generally, the computer processor (1405) executes instructions and manipulates data to perform the operations of the computer (1402) and any algorithms, methods, functions, processes, flows, and procedures as described in the instant disclosure.

[0152] The computer (1402) also includes a memory (1406) that holds data for the computer (1402) or other components (or a combination of both) that can be connected to the network (1430). The memory may be a non-transitory computer readable medium. For example, memory (1406) can be a database storing data consistent with this disclosure. Although illustrated as a single memory (1406) in FIG. 14, two or more memories may be used according to particular needs, desires, or particular implementations of the computer (1402) and the described functionality. While memory (1406) is illustrated as an integral component of the computer (1402), in alternative implementations, memory (1406) can be external to the computer (1402).

[0153] The application (1407) is an algorithmic software engine providing functionality according to particular needs, desires, or particular implementations of the computer (1402), particularly with respect to functionality described in this disclosure. For example, application (1407) can serve as one or more components, modules, applications, etc. Further, although illustrated as a single application (1407), the application (1407) may be implemented as multiple applications (1407) on the computer (1402). In addition, although illustrated as integral to the computer (1402), in alternative implementations, the application (1407) can be external to the computer (1402).

[0154] There may be any number of computers such as the computer (1402) associated with, or external to, a computer system containing computer (1402), wherein each computer (1402) communicates over network (1430). 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 one computer (1402), or that one user may use multiple computers such as the computer (1402).

[0155] 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

1. CLAIMSWhat is claimed is:

1. A payload comprising:one or more geophysical sensors configured to capture a geophysical signal; a preprocessing system configured to produce geophysical data based on the geophysical signal;a transmitter configured to transmit the geophysical data externally from the payload, anda container containing the one or more geophysical sensors, preprocessing system and, at least in part, the transmitter,wherein the payload is configured to be attached to a distal end of an extension of a drone, the extension forming one of:a leg providing support for landing the drone, andan arm supporting a motor of the drone.

2. The payload of claim 1, wherein the container has a substantially spherical shape or a substantially cylindrical shape.

3. The payload of claim 1, wherein the transmitter comprises one of:an electrical connector exposed to an exterior of the payload, anda wireless emitter.

4. The payload of claim 1, wherein the one or more geophysical sensors comprise one or more of:a Microelectromechanical Systems sensor;a geophone;a hydrophone;a gravity sensor;a magnetic sensor, anda gamma-ray sensor.

5. The payload of claim 1 , further comprising a ballast contained in the container, the ballast configured to customize a mass of the payload.

6. The payload of claim 5, wherein the ballast comprises a first geophysical sensor among the one or more geophysical sensors.. A geophysical acquisition device, comprising:a drone capable of flying to an acquisition location, the drone comprising one or more extensions, each extension forming one of:a leg providing support for landing the drone, andan arm supporting a motor of the drone, andone or more payloads, each payload comprising:one or more geophysical sensors configured to capture a geophysical signal from the acquisition location;a preprocessing system configured to produce geophysical data based on the geophysical signal;a transmitter configured to transmit the geophysical data externally from the payload, anda container containing the one or more geophysical sensors, preprocessing system and, at least in part, the transmitter,wherein each payload is attached to a distal end of a distinct extension so that the drone transports the one or more payloads when flying to the acquisition location.

8. The geophysical acquisition device of claim 7, wherein:the acquisition location is located on a surface of a seismic medium comprising one of earth and water;the one or more geophysical sensors of at least one payload comprise one or more seismic receivers configured to capture a seismic signal from the seismic medium;flying to the acquisition location comprises landing the drone onto the acquisition location;the one or more payloads are attached to the drone so that the container of the at least one payload is in contact with the seismic medium when the drone is landed on the acquisition location, andthe geophysical signal captured by the one or more geophysical sensors of the at least one payload comprises the seismic signal.

9. The geophysical acquisition device of claim 7, wherein the drone comprises one or more locking mechanisms, wherein each payload is attached to a distal end of a distinct extension using a distinct locking mechanism among the one or more locking mechanisms.

10. The geophysical acquisition device of claim 7, wherein the container of each payload has a substantially spherical shape or a substantially cylindrical shape.

11. The geophysical acquisition device of claim 10, wherein the transmitter of each payload comprises one of:an electrical connector exposed to an exterior of the payload, anda wireless emitter.

12. The geophysical acquisition device of claim 7, wherein the one or more geophysical sensors of each payload comprise one or more of:a Microelectromechanical Systems sensor;a geophone;a hydrophone;a gravity sensor;a magnetic sensor, anda gamma-ray sensor.

13. The geophysical acquisition device of claim 7, wherein each payload among the one or more payloads or a subset thereof comprises a ballast contained in the container of the payload, thereby defining one or more ballasts configured to customize a position of a center of mass of the geophysical acquisition device.

14. The geophysical acquisition device of claim 13, wherein each ballast among the one or more ballasts or a subset thereof comprises a first geophysical sensor among the one or more geophysical sensors of a first payload comprising the ballast.

15. The geophysical acquisition device of claim 7, wherein:the drone comprises an onboard computer configured to receive and process the geophysical data transmitted externally from each payload, thereby producing a processed geophysical dataset, andtransmitting the geophysical data externally from a payload comprises transmitting the geophysical data from the payload to the onboard computer.

16. The geophysical acquisition device of claim 15, wherein the drone further comprises: a flight control system configured to guide the drone to the acquisition location; a communication system configured to receive instructions from a remote operator, the instructions comprising one or more of:a flight command instructing the flight control system to guide the drone to the acquisition location, anda processing command instructing the onboard computer to process the geophysical signal transmitted from each payload, anda data link configured to upload the processed geophysical dataset to an external computer.

17. A geophysical surveying system comprising a plurality of geophysical acquisition devices according to claim 7, the geophysical surveying system configured to acquire a geophysical dataset in an area of interest.

18. A geophysical acquisition method comprising:flying a geophysical acquisition device to an acquisition location, the geophysical acquisition device comprising:a drone capable of flying to the acquisition location, the drone comprising one or more extensions, each extension forming one of:a leg providing support for landing the drone, andan arm supporting a motor of the drone, andone or more payloads, each payload comprising:one or more geophysical sensors;a preprocessing system;a transmitter, anda container containing the one or more geophysical sensors, preprocessing system and, at least in part, the transmitter, wherein each payload is attached to a distal end of a distinct extension so that the drone transports the one or more payloads when flying to the acquisition location, andfor each payload, performing a geophysical data acquisition procedure comprising: capturing a geophysical signal from the acquisition location using the one or more geophysical sensors of the payload;producing geophysical data based on the geophysical signal using the preprocessing system of the payload, andtransmitting the geophysical data externally from the payload using the transmitter of the payload.

19. The geophysical acquisition method of claim 18, further comprising one or more of:customizing a position of a center of mass of the geophysical acquisition device using one or more ballasts, wherein each payload among the one or more payloads or a subset thereof comprises a distinct ballast among the one or more ballasts, the container of the payload containing the distinct ballast, andprocessing the geophysical data transmitted externally from each payload using an onboard computer of the drone, wherein transmitting the geophysical data externally from the payload comprises transmitting the geophysical data from the payload to the onboard computer,wherein the one or more geophysical sensors of each payload comprise one or more of:a Microelectromechanical Systems sensor;a geophone;a hydrophone;a gravity sensor;a magnetic sensor, anda gamma-ray sensor.

20. The geophysical acquisition method of claim 18, wherein:the acquisition location is located on a surface of a seismic medium comprising one of earth and water;the one or more geophysical sensors of at least one payload comprise one or more seismic receivers configured to capture a seismic signal from the seismic medium;flying to the acquisition location comprises landing the drone onto the acquisition location;the one or more payloads are attached to the drone so that the container of the at least one payload is in contact with the seismic medium when the drone is landed on the acquisition location, andthe geophysical signal captured by the one or more geophysical sensors of the at least one pay load comprises the seismic signal.

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