A three-dimensional mapping system for submarine pipelines

Abstract

This invention relates to a three-dimensional mapping system for subsea pipelines, belonging to the field of surveying technology. It includes a host computer control system, a lower-level hardware system, an underwater dry chamber device, and a three-dimensional mapping apparatus. The host computer control system and the lower-level hardware system are connected. The host computer control system sends mapping commands to the lower-level hardware system and provides power to it. The lower-level hardware system includes a motor drive unit, which drives the three-dimensional mapping apparatus to perform three-dimensional mapping of the subsea pipeline under test according to the mapping commands, and transmits the mapping data acquired by the three-dimensional mapping apparatus to the host computer control system. The underwater dry chamber device covers the outside of the subsea pipeline under test, and the three-dimensional mapping apparatus is located inside the underwater dry chamber device. This invention improves the accuracy and reliability of mapping.

Description

Technical Field

[0001] This invention relates to the field of surveying and mapping technology, and in particular to a three-dimensional surveying and mapping system for submarine pipelines. Background Technology

[0002] With China's rapid economic development, the demand for energy is increasing daily, and the number of subsea crude oil pipelines is growing year by year. Therefore, mapping the deformation defects of damaged pipelines and implementing pipeline reinforcement and repair is becoming increasingly important. External inspection technology for subsea pipelines is suitable for waters with low current speeds and high visibility. However, its ability to operate normally in complex sea conditions, with fast currents and extremely low visibility is highly uncertain. Similarly, in similar sea areas, if external inspection methods are used to develop devices for direct measurement on the pipeline, it will inevitably face challenges such as maintaining equipment stability in fast-flowing, low-visibility conditions, and low signal-to-noise ratios due to numerous impurities. If these problems are not resolved, the accuracy and reliability of the mapping cannot be guaranteed. Summary of the Invention

[0003] The purpose of this invention is to provide a three-dimensional mapping system for submarine pipelines, which improves the accuracy of mapping.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] A three-dimensional mapping system for submarine pipelines includes a host computer control system, a slave computer hardware system, an underwater dry chamber device, and a three-dimensional mapping device, wherein the host computer control system and the slave computer hardware system are connected.

[0006] The host computer control system is used to send mapping instructions to the lower computer hardware system and also to provide power to the lower computer hardware system.

[0007] The lower-level hardware system includes a motor drive unit; the motor drive unit is used to drive the three-dimensional mapping device to perform three-dimensional mapping of the subsea pipeline to be measured according to the mapping instructions; the lower-level hardware system is also used to transmit the mapping data obtained by the three-dimensional mapping device to the upper-level control system; the underwater dry chamber equipment covers the outside of the subsea pipeline to be measured, and the three-dimensional mapping device is located inside the underwater dry chamber equipment.

[0008] Optionally, the motor drive unit includes an AC servo motor driver, a first DC stepper motor driver, and a second DC stepper motor driver. The AC servo motor driver is used to drive the three-dimensional mapping device to perform linear motion, the first DC stepper motor driver is used to drive the three-dimensional mapping device to perform circumferential rotational motion inside the underwater dry chamber equipment, and the second DC stepper motor driver is used to drive the three-dimensional mapping device to perform rotation.

[0009] Optionally, the host computer control system includes a power distribution cabinet for providing 220V AC voltage.

[0010] Optionally, the lower-level hardware system further includes a sensor information acquisition unit and peripheral sensors. The sensor information acquisition unit includes a main control module and an acquisition module. The underwater dry-tank equipment is equipped with an electronic compartment and an acquisition compartment. The main control module is located in the electronic compartment, and the acquisition module is located in the acquisition compartment. The peripheral sensors are used to detect the status parameters of the underwater dry-tank equipment.

[0011] The main control module includes a first microcontroller, a first signal transmission unit, and a first water leakage detection unit. The first microcontroller is used to control the power supply of the peripheral sensor. The first water leakage detection unit is used to detect whether the electronic compartment is leaking water. The first signal transmission unit is used to transmit the data collected by the first water leakage detection unit to the host computer control system.

[0012] The acquisition module includes a second microcontroller, a third microcontroller, a second signal transmission unit, and a second leakage detection unit. The second microcontroller is used to acquire the voltage signal of the peripheral sensor, the third microcontroller is used to acquire the current signal of the peripheral sensor, the second leakage detection unit is used to detect whether the acquisition chamber is leaking, and the second signal transmission unit is used to transmit the data acquired by the second leakage detection unit, the current signal of the peripheral sensor, and the voltage signal of the peripheral sensor to the host computer control system.

[0013] Optionally, the lower-level hardware system further includes a power distribution unit, which is connected to the upper-level control system via an optoelectronic composite cable. The power distribution unit is used to provide power to the sensor information acquisition unit, the peripheral sensors, and the motor drive unit.

[0014] Optionally, the power distribution unit includes a relay, a power conversion module, an external power distribution board, and a 24V DC battery. The AC voltage output by the host computer control system is connected to the power conversion module through the relay. The power conversion module outputs 220V AC voltage, 48V DC voltage, and 24V DC voltage. The external power distribution board and the 24V DC battery are both connected to the power conversion module. The external power distribution board is used to provide power to the external sensor, and the 24V DC battery is used to store electrical energy. The 24V DC battery is also used to provide power to the external sensor when the host computer control system does not provide power.

[0015] Optionally, the state parameters include depth data, attitude data, and pressure data.

[0016] Optionally, the first microcontroller is an STM32F103C8T6 chip.

[0017] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0018] This invention discloses a three-dimensional mapping system for submarine pipelines, which includes an underwater dry chamber-type device encased on the submarine pipeline to be measured. The underwater dry chamber-type device is equipped with a three-dimensional mapping device, which is controlled by a host computer control system, thereby improving the accuracy and reliability of the mapping. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a three-dimensional mapping system for submarine pipelines according to the present invention;

[0021] Figure 2 This is a schematic diagram of the power distribution unit structure of the present invention;

[0022] Figure 3 This is a schematic diagram of the power control circuit structure of the main control module and peripheral sensors of the present invention;

[0023] Figure 4 This is a circuit diagram of the first leakage detection unit of the present invention;

[0024] Figure 5 This is a circuit diagram of the second leakage detection unit of the present invention;

[0025] Figure 6 This is a schematic diagram of the software flow of the main control module and the power control circuit of the peripheral sensor in this invention;

[0026] Figure 7 This is a schematic diagram of the sensor signal acquisition circuit structure in the acquisition module of the present invention;

[0027] Figure 8 This is a schematic diagram of the software flow of the sensor signal acquisition unit in the acquisition module of the present invention;

[0028] Figure 9 This is a schematic diagram of the motor drive unit structure of the present invention. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] The purpose of this invention is to provide a three-dimensional mapping system for submarine pipelines, which improves the accuracy of mapping.

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Figure 1 This is a schematic diagram of the structure of a three-dimensional mapping system for submarine pipelines according to the present invention, as shown below. Figure 1 As shown, a three-dimensional mapping system for submarine pipelines includes a host computer control system 101, a slave computer hardware system 102, an underwater dry chamber device 104, and a three-dimensional mapping device 103. The host computer control system 101 and the slave computer hardware system 102 are connected, specifically, the host computer control system 101 is bidirectionally connected to the slave computer hardware system 102 via an optical fiber composite cable.

[0033] The host computer control system 101 is used to send mapping instructions to the lower computer hardware system 102 and also to provide power to the lower computer hardware system 102.

[0034] The lower-level hardware system 102 includes a motor drive unit, which is used to drive the three-dimensional mapping device 103 to perform three-dimensional mapping of the subsea pipeline to be measured according to the mapping instructions. The lower-level hardware system 102 is also used to transmit the mapping data obtained by the three-dimensional mapping device 103 to the upper-level control system 101. The underwater dry chamber equipment 104 covers the outside of the subsea pipeline to be measured, and the three-dimensional mapping device is located inside the underwater dry chamber equipment 104.

[0035] The mapping data acquired by the three-dimensional mapping device 103 is specifically transmitted to the host computer control system 101 through the first signal transmission unit in the main control module.

[0036] Before using a three-dimensional mapping device to perform three-dimensional mapping on the outer surface of the submarine pipeline to be measured, the seawater inside the underwater dry chamber equipment 104 is drained.

[0037] The motor drive unit includes an AC servo motor driver, a first DC stepper motor driver, a second DC stepper motor driver, and a third signal transmission unit.

[0038] The 3D mapping device includes two AC servo motors (AC servo linear track motors), two first DC stepper motors (first DC stepper ring track motors), and one second DC stepper motor (second DC stepper angle motor). The two AC servo motors are designated as linear travel motor #1 and linear travel motor #2, the two first DC stepper motors are designated as circumferential motor #1 and circumferential motor #2, and the second DC stepper motor is an angle motor. AC servo motor drivers are used to drive the two AC servo motors, the first DC stepper motor driver is used to drive the first DC stepper motor, and the second DC stepper motor driver is used to drive the second DC stepper motor. The two AC servo motors are used to drive the 3D mapping device 103 to perform linear movement outside the seabed pipeline to be measured. The 3D mapping device 103 moves in the bow-to-tail direction inside the underwater dry chamber equipment 104; the first DC stepper motor drives the 3D mapping device 103 to rotate in a circular direction inside the underwater dry chamber equipment 104, and the second DC stepper motor drives the 3D mapping device 103 to perform small-angle stationary rotation; the third signal transmission unit receives mapping commands and includes two RS485 to CAN modules. The first RS485 to CAN module converts the control RS485 bus to the CAN bus, and the second RS485 to CAN module converts the CAN bus to the drive RS485 bus. This configuration simplifies the communication data frame format between the host computer and the driver, and improves communication stability. The motor drive unit structure is as follows: Figure 9 As shown, Figure 9 The No. 1 linear motor driver and the No. 2 linear motor driver are both AC servo motor drivers, the No. 1 circumferential motor driver and the No. 2 circumferential motor driver are both first DC stepper motor drivers, and the corner motor driver is a second DC stepper motor driver.

[0039] The host computer control system 101 includes a power distribution cabinet, which is used to provide 220V AC voltage.

[0040] The lower-level hardware system 102 also includes a sensor information acquisition unit and peripheral sensors. The sensor information acquisition unit includes a main control module and an acquisition module. The underwater dry cabin equipment 104 is equipped with an electronic cabin and an acquisition cabin. The main control module is located in the electronic cabin, and the acquisition module is located in the acquisition cabin. The peripheral sensors are used to detect the status parameters of the underwater dry cabin equipment 104.

[0041] The main control module includes a first microcontroller, a first signal transmission unit, and a first leakage detection unit. The first microcontroller controls the power supply to the peripheral sensors and has overload protection. The first leakage detection unit detects whether the electronic compartment is leaking in real time. The first signal transmission unit transmits the data collected by the first leakage detection unit to the host computer control system 101. The first signal transmission unit converts the TTL level signal (leakage signal) into an RS485 level signal and networks it with the RS485 communication bus to transmit the leakage signal to the host computer control system 101.

[0042] The circuit principle of the first leak detection unit is as follows: Figure 4 As shown. The circuit principle of the first leak detection unit is as follows. Figure 5 As shown. The two leak detection units operate on the same principle: a 300kΩ resistor is connected in the circuit. If water enters, the circuit short-circuits, and the 300kΩ resistor ( Figure 4 R22 and Figure 5 If R27 (the circuit indicator) is not functioning properly, and the circuit is short-circuited, the displayed voltage will be 0. This indicates that the circuit is short-circuited due to water ingress into the cabin. Figure 4 LEAK1 (including LEAK1+ and LEAK1-) is the access port of the first leakage detection unit, and ADC1 is the signal output terminal. The signal output by the signal output terminal ADC1 is used to determine whether the electronic compartment is leaking. Figure 5 LEAK2 (including LEAK2+ and LEAK2-) is the access port of the second leakage detection unit, and ADC2 is the signal output terminal. The signal output by ADC2 is used to determine whether the acquisition chamber is leaking. Figure 4 and Figure 5 In the diagram, D5V indicates a 5V DC voltage, and OPA2340 indicates the model numbers of operational amplifiers U6A and U6B.

[0043] The first microcontroller is an STM32F103C8T6 chip. The first microcontroller is used to control peripheral sensors with a rated power of 100W and peripheral sensors with a power of less than 60W. The status parameters include depth data, attitude data, pressure data, and other data from the peripheral sensors. Figure 3 The main control chip is the first microcontroller, and the #1 and #2 leakage detection circuits are both circuits of the first leakage detection unit.

[0044] like Figure 6As shown, the software design of the main control module and peripheral sensor power control circuit of this invention mainly completes the following functions: (1) System pre-definition and initialization; (2) Enable serial port receive interrupt; (3) Receive data and judge the correctness of the data. If the correct data is received, it is judged whether the data frame ID is the ID of this peripheral power control board. If not, the data frame is discarded. If it is, the instruction byte of the data frame is judged, and the corresponding IO port is operated according to the state of the instruction byte; (4) If the received data frame is a query instruction, the water leakage detection data collected by the system is sent to the host computer; (5) If the system does not receive the execution operation instruction from the host computer again within the time interval of the independent watchdog reload value, it is automatically reset (to ensure that the peripheral power control unit can be automatically reset in the case of communication abnormality).

[0045] The acquisition module includes a second microcontroller, a third microcontroller, a second signal transmission unit, and a second leakage detection unit. Since the peripheral sensor has both voltage and current output forms, the acquisition module integrates two microcontrollers. The second microcontroller is used to acquire the voltage signal of the peripheral sensor, and the third microcontroller is used to acquire the current signal of the peripheral sensor. The second and third microcontrollers communicate with each other via a communication port, reducing the space occupied by the circuit. The second leakage detection unit is used to detect whether the acquisition chamber leaks in real time. The second signal transmission unit is used to transmit the data acquired by the second leakage detection unit, the voltage signal of the peripheral sensor, and the current signal of the peripheral sensor to the host computer control system 101. The acquisition module structure is as follows: Figure 7 As shown, it provides 8 channels of 0-5V voltage power supply (corresponding to 8 channels of 0-5V voltage acquisition circuit) and 8 channels of 4-20mA current power supply (corresponding to 8 channels of 4-20mA current acquisition circuit). The second and third microcontrollers are both STM32F103C8T6 chips.

[0046] like Figure 8 As shown, the software design of the sensor signal acquisition unit of the acquisition module of this invention mainly includes the following functions: (1) initialization of the main control chip (second microcontroller) and the auxiliary control chip (third microcontroller); (2) the auxiliary control chip acquires analog data and sends it to the main control chip through the serial port at certain time intervals; (3) the auxiliary control chip judges the watchdog flag bit. If the watchdog flag bit is obtained within the overload time, the watchdog is updated; otherwise, the auxiliary control chip system is reset. (4) the main control chip receives data through the serial port interrupt and verifies the data frame. If the data is sent by the auxiliary control chip, it is stored in the buffer. If the data is an inquiry instruction sent by the host computer, if the instruction is correct, the data acquired by the auxiliary control chip or the inquiry instruction sent by the host computer is stored, and the latest data status is written into the upload data frame and sent to the host computer control system through the serial port.

[0047] In summary, the main control module controls the power switches of various peripheral sensors, while the acquisition module is used to collect data from these peripheral sensors, such as depth sensors, attitude sensors, and pressure sensors. The main control module powers on or off the peripheral sensors and sends commands to them to operate or disable them. The main control module needs to control and communicate with the host computer control system 101. The acquisition module uploads the collected data to the host computer control system 101, and the acquisition module also needs to control and communicate with the host computer control system 101.

[0048] The lower-level hardware system 102 also includes a power distribution unit, which is connected to the upper-level control system 101 via an optoelectronic composite cable. The power distribution unit is used to provide power to the sensor information acquisition unit, the peripheral sensor, and the motor drive unit.

[0049] like Figure 2 As shown, the power distribution unit includes a relay, a power conversion module, an external power distribution board, and a 24V DC battery. The 220V AC voltage output by the power distribution cabinet is connected to the power conversion module through the relay. The relay is connected to prevent leakage during operation and ensures that the circuit is cut off in time when the current is too high, thereby protecting the circuit.

[0050] The power conversion module outputs 220V AC voltage, 48V DC voltage, and 24V DC voltage. The peripheral power distribution board ( Figure 2 Both the DC24V peripheral power distribution board and the DC24V battery are connected to the power conversion module. The peripheral power distribution board is used to provide power to the peripheral sensor, and the DC24V battery is used to store electrical energy. The DC24V battery is also used to provide power to the peripheral sensor when the host computer control system 101 does not provide power. Figure 2 The multi-channel DC24V peripheral device indicates the peripheral sensor.

[0051] The 220V AC voltage output from the power conversion module is connected to the AC servo motor driver in the motor drive unit, supplying power to the AC servo motor driver and the AC servo motor (AC servo linear guide motor); the 48V DC voltage in the power conversion module is connected to the DC stepper motor driver, supplying power to the DC stepper motor driver and the DC stepper motor (first DC stepper motor and second DC stepper motor); the 24V DC voltage in the power conversion module simultaneously outputs 24V DC voltage and 12V DC voltage, which are connected to the peripheral power distribution board to provide isolated power to the DC 24V peripheral sensor and DC 12V peripheral sensor in the sensor signal acquisition unit. The 24V DC battery is connected to the power conversion module, outputting 24V DC voltage as 24V DC voltage and 12V DC voltage. If the ship's power distribution cabinet fails and cannot provide the required power, the 24V DC battery provides power to the 24V DC peripheral sensor and the 12V DC peripheral sensor in the sensor signal acquisition unit, ensuring that the peripheral sensor can work normally in emergency situations.

[0052] The host computer control system 101 includes a host computer interface. The host computer interface displays the data collected by the peripheral sensors and the underwater environment status in real time after data parsing. The host computer interface is also used to control the number of rotations and speed of the AC servo linear rail motor, DC stepper ring rail motor and DC stepper angle motor in the motor drive unit. That is, the mapping command includes the number of rotations and speed of the AC servo linear rail motor, DC stepper ring rail motor and DC stepper angle motor.

[0053] After the three-dimensional mapping device 103 has achieved an empty cabin (underwater dry cabin equipment 104) and all external sensor data feedback is normal (after meeting the preset conditions), on the host computer control interface, according to the gear reduction ratio of the motor reducer and the required three-dimensional mapping distance and angle, it controls the number of rotations and speed of the AC servo linear rail motor, DC stepper ring rail motor and DC stepper angle motor in the motor drive unit in real time, so as to achieve accurate three-dimensional mapping of the subsea pipeline.

[0054] As a specific embodiment, the specific mapping principle of the three-dimensional mapping device 103 is as follows:

[0055] The selected AC servo linear guide motor reducer has a gear reduction ratio of 12:1 and a pitch of 8mm. Therefore, the straight-line distance of the 3D mapping device 103 is:

[0056] Straight distance = Number of turns / 12 * 8mm;

[0057] The selected DC stepper ring track motor reducer has a gear reduction ratio of 36:1 and a gear ratio of 30:1. Therefore, the circumferential rotation angle of the 3D mapping device 103 is:

[0058] Circular rotation angle = number of revolutions / 36 / 30 * 360 = number of revolutions / 3;

[0059] The selected DC stepper angle motor reducer has a gear reduction ratio of 5:1 and a gear ratio of 40:17. Therefore, the rotation angle of the 3D mapping device 103 is:

[0060] Rotation angle = number of rotations * 17 / 40 / 5 * 360 = number of rotations * 30.6.

[0061] The host computer control system 101 is bidirectionally connected to the lower computer hardware system 102 via a photoelectric composite cable. The host computer interface can monitor the collected underwater peripheral sensor data and underwater environmental status in real time, and can also control the number of rotations and speed of the motor in the motor drive unit in real time to realize the three-dimensional accurate mapping of the subsea pipeline.

[0062] This invention's power distribution unit provides power to peripheral sensor devices with various power supply models, enabling independent power supply for each individual peripheral sensor. This ensures that a single peripheral sensor device can be isolated in case of failure without affecting the normal operation of other devices. Simultaneously, it is equipped with multiple peripheral sensors to collect real-time data on the attitude of the subsea pipeline dry-chamber 3D mapping equipment, underwater environmental conditions, liquid level within the dry chamber, and winch tension. The shipboard host computer control system monitors the underwater operation of the subsea pipeline dry-chamber 3D mapping device in real time and guides deck personnel in their operations. Compared with existing technologies, this invention has advantages such as controllability, integration, real-time online monitoring, high information accuracy, high mapping precision, high stability, and good safety, greatly improving the efficiency and accuracy of non-destructive testing in subsea pipeline dry-chamber 3D mapping.

[0063] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0064] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A three-dimensional mapping system for submarine pipelines, characterized in that, It includes a host computer control system, a slave computer hardware system, an underwater dry cabin equipment, and a three-dimensional mapping device, wherein the host computer control system and the slave computer hardware system are connected. The host computer control system is used to send mapping instructions to the lower computer hardware system and also to provide power to the lower computer hardware system. The lower-level hardware system includes a motor drive unit, which is used to drive the three-dimensional mapping device to perform three-dimensional mapping of the subsea pipeline to be measured according to the mapping instructions. The lower-level hardware system is also used to transmit the mapping data obtained by the three-dimensional mapping device to the upper-level control system. The underwater dry chamber equipment covers the outside of the subsea pipeline to be measured, and the three-dimensional mapping device is located inside the underwater dry chamber equipment. The motor drive unit includes an AC servo motor driver, a first DC stepper motor driver, and a second DC stepper motor driver. The AC servo motor driver is used to drive the three-dimensional mapping device to perform linear motion. The first DC stepper motor driver is used to drive the three-dimensional mapping device to perform circumferential rotational motion inside the underwater dry chamber equipment. The second DC stepper motor driver is used to drive the three-dimensional mapping device to perform small-angle in-place rotation. The lower-level hardware system also includes a sensor information acquisition unit and peripheral sensors. The sensor information acquisition unit includes a main control module and an acquisition module. The underwater dry-tank equipment is equipped with an electronic compartment and an acquisition compartment. The main control module is located in the electronic compartment, and the acquisition module is located in the acquisition compartment. The peripheral sensors are used to detect the status parameters of the underwater dry-tank equipment. The main control module includes a first microcontroller, a first signal transmission unit, and a first water leakage detection unit. The first microcontroller is used to control the power supply of the peripheral sensor. The first water leakage detection unit is used to detect whether the electronic compartment is leaking water. The first signal transmission unit is used to transmit the data collected by the first water leakage detection unit to the host computer control system. The acquisition module includes a second microcontroller, a third microcontroller, a second signal transmission unit, and a second leakage detection unit. The second microcontroller is used to acquire the voltage signal of the peripheral sensor, the third microcontroller is used to acquire the current signal of the peripheral sensor, the second leakage detection unit is used to detect whether the acquisition chamber is leaking, and the second signal transmission unit is used to transmit the data acquired by the second leakage detection unit, the current signal of the peripheral sensor, and the voltage signal of the peripheral sensor to the host computer control system. The lower-level hardware system also includes a power distribution unit, which is connected to the upper-level control system via an optical-electric composite cable. The power distribution unit is used to provide power to the sensor information acquisition unit, the peripheral sensor and the motor drive unit. The power distribution unit includes a relay, a power conversion module, an external power distribution board, and a 24V DC battery. The AC voltage output by the host computer control system is connected to the power conversion module through the relay. The power conversion module outputs 220V AC voltage, 48V DC voltage, and 24V DC voltage. The external power distribution board and the 24V DC battery are both connected to the power conversion module. The external power distribution board is used to provide power to the external sensors, and the 24V DC battery is used to store electrical energy. The 24V DC battery is also used to provide power to the external sensors when the host computer control system does not provide power. The three-dimensional mapping device includes two AC servo linear rail motors, two first DC stepper motors, and one second DC stepper motor; the first DC stepper motor is a DC stepper ring rail motor, and the second DC stepper motor is a DC stepper angle motor. The host computer control system includes a host computer interface, which displays data collected by external sensors and the underwater environment status in real time after data parsing. The host computer interface is also used to control the number of rotations and speed of AC servo linear rail motors, DC stepper ring rail motors, and DC stepper angle motors.

2. The three-dimensional mapping system for submarine pipelines according to claim 1, characterized in that, The host computer control system includes a power distribution cabinet, which is used to provide 220V AC voltage.

3. The three-dimensional mapping system for submarine pipelines according to claim 1, characterized in that, The state parameters include depth data, attitude data, and pressure data.

4. The three-dimensional mapping system for submarine pipelines according to claim 1, characterized in that, The first microcontroller is an STM32F103C8T6 chip.

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