# US 11,442,191 B2 · System and method for deploying ocean bottom seismic nodes using a plurality of underwater vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,442,191 B2 - Document ID: US11442191B2 - Status: Granted - Kind: B2 - Application number: 16/487,765 - Filed: 2018-04-19 - Published: 2020-02-13 - Granted: 2022-09-13 - Earliest claimed: 2017-05-02 - Assignees: Seabed Geosolutions B.V. - Applicants: Martin John Hartland; Seabed Geosolutions B.V. - Inventors: Martin John Hartland - Web page: https://patentgrep.com/patent/US11442191B2 ## CPC - G01V 1/3852: {to the seabed} - B63B 21/66: Equipment specially adapted for towing underwater objects or vessels, e.g. fairings for tow-cables ({paravanes for dragging fishing nets A01K73/02; } salvaging underwater vessels or objects B63C7/00; towed underwater vessels B63G8/42) - B63G 8/001: {Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations (self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42)} - B63G 2008/007: {by means of a physical link to a base, e.g. wire, cable or umbilical} - G01V: GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS (means for indicating the location of accidentally buried, e.g. snow-buried, persons A63B29/02) - B63B: SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING (arrangements of vessel ventilation, heating, cooling, or air-conditioning B63J2/00; floating substructures as supports of dredgers or soil-shifting machines E02F9/06) - B63G: OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS (means of attack or defence in general, e.g. turrets F41H) ## Abstract Embodiments, including systems and methods, for deploying ocean bottom seismic nodes. Two or more underwater vehicles (such as remotely operated vehicles (ROVs)) may be deployed by a surface vessel and each connected to the surface vessel by a ROV deployment line. A catenary shape of each ROV deployment line may be modeled for more accurate and efficient subsea ROV operations. Real-time modeling and predictive modeling of the catenary shape of the deployed lines may be performed, and the surface vessel and/or ROVs may be positioned based on the modeled catenary shapes. The ROVs may be automatically positioned and/or controlled based on commands from a dynamic positioning (DP) system. An integrated navigation system (INS) may be located on the surface vessel and directly coupled to the one or more DP systems. The surface vessel may travel backwards during deployment operations and deploy one or more subsea baskets astern from the ROVs. ## Claims ### Claim 1 A method for the deployment of ocean bottom seismic nodes, comprising: deploying a plurality of remotely operated vehicles (ROVs) from a surface vessel, wherein each of the ROVs is connected to the surface vessel by a ROV deployment line, wherein the plurality of ROVs comprises three or more ROVs, wherein each ROV deployment line comprises a catenary shape in the form of a curve, wherein each ROV comprises a Dynamic Positioning (DP) System; deploying a plurality of ocean bottom seismic nodes on the seabed by the three or more ROVs; modeling a catenary shape of each ROV deployment line during the deployment of the ocean bottom seismic nodes based on a plurality of subsea parameters, including cable length of the ROV deployment line and subsea position of the ROV; determining one or more operating parameters for each of the plurality of ROVs based on the modeled catenary shape of each ROV deployment line; using an Integrated Navigation System (INS) on the surface vessel to determine a subsea position of each ROV; outputting the modeled catenary shape of the ROV deployment line to the DP system; outputting the modeled catenary shape of the ROV deployment lines to the INS for real-time visualization of the ROV deployment lines; automatically positioning the plurality of ROVs during the deployment of the ocean bottom seismic nodes based on commands provided by the DP system based on the modeled catenary shape of each ROV deployment line and the output from the INS of the subsea position of the ROV; and determining one or more operating parameters for the surface vessel based on the modeled catenary shape of each ROV deployment line. ### Claim 2 (depends on 1) The method of claim 1, wherein the plurality of ROVs comprises six ROVs. ### Claim 3 (depends on 1) The method of claim 1, further comprising deploying the plurality of ROVs from the surface vessel while the surface vessel is travelling backwards. ### Claim 4 (depends on 3) The method of claim 3, wherein the speed of the surface vessel is approximately 2 knots. ### Claim 5 (depends on 1) The method of claim 1, further comprising determining a position of each of the ROVs by a surface vessel Integrated Navigation System (INS) and outputting that ROV position to the one or more DP systems. ### Claim 6 (depends on 1) The method of claim 1, further comprising deploying a subsea basket holding the plurality of ocean bottom seismic nodes from the surface vessel; and automatically docking each of the plurality of ROVs to the subsea basket based on commands provided by the one or more DP systems. ### Claim 7 (depends on 6) The method of claim 6, further comprising deploying the subsea basket astern to the deployment of the plurality of ROVs from the surface vessel.