The invention provides pipeline inner wall three-dimensional acquisition equipment, which comprises a body and an
impeller, wherein the body comprises a rotating device, and the rotating device is provided with an
image acquisition port; an
image acquisition port used for importing the images of the inner wall of the pipeline into the
image acquisition device; an image acquisition device used foracquiring images of the inner wall of the pipeline; the advancing speed of the scanning equipment, the rotating angular speed of the rotating device and the
field angle of the image acquisition device meet the following relation: (theta-beta) * v is smaller than m * R * sin beta * w, v is the advancing speed of the scanning equipment in the rotating process of the rotating device, R is the radiusof the pipeline, beta is the
half field angle of the image collecting device, w is the rotating angular speed of the rotating device, theta is the included angle of the optical axes of every two adjacent cameras, and m is a coefficient. Three-dimensional acquisition equipment without extra power is proposed for the first time. In order to ensure the synthesis effect of subsequent three-dimensional images, the advancing speed of scanning equipment and the rotating speed of image acquisition are limited, and optimization is performed according to experience, so that the three-dimensional synthesis can give consideration to the speed and the effect at the same time.