Double-positioning double-measuring-scanning device for offshore subsea pipeline identification

Abstract

A double-positioning double-measuring-scanning device for offshore subsea pipeline identification comprises a floating platform, a measuring-scanning module and a propelling device. The measuring and sweeping module comprises an accurate measuring and sweeping module and a preliminary measuring and sweeping module, the floating platform comprises a plurality of floating rods, the two ends of one floating rod are connected with the output end of the propelling device, during application, the floating platform enables the device to float on the offshore sea surface, then the device reaches an area needing measuring and sweeping through the propelling device, and when the needed measuring and sweeping precision is not high, the device can be used for measuring and sweeping. The preliminary measuring and scanning module is used for measuring and scanning, and when the required measuring and scanning precision is high, the accurate measuring and scanning module is used for measuring and scanning; the device can float on the sea surface to complete measuring and sweeping, and can move through the propelling device, so that the difficulty of moving on the sea surface is low, and the pipeline identification efficiency is improved. Therefore, according to the design, the sea surface movement difficulty is small, and the pipeline recognition efficiency is high.

Description

TECHNICAL FIELD

[0001] The present application relates to a measuring and sweeping device, belonging to the field of offshore submarine pipeline identification, in particular to a double positioning and double measuring and sweeping device for offshore submarine pipeline identification. BACKGROUND

[0002] In the offshore area from anchorage to coast, there are various pipelines distributed on the seabed, and there are many ships on the sea surface and active navigation. When the ships are operating, anchoring and unanchoring, they may damage the pipelines on the seabed. In order to avoid the damaged pipelines affecting the construction of marine engineering, it is necessary to measure and sweep the pipelines and seabed topography.

[0003] The Chinese patent with application number 202411122773.7 and application date August 15, 2024 discloses an underwater robot carrying device, which comprises a machine body composed of a floating plate, a connecting column, a erection platform and a traveling track. A propelling assembly for quickly moving the machine body is arranged on the floating plate. A power supply device and a hydraulic system are arranged on the top of the erection platform. The propelling assembly comprises a mounting hole, which is arranged on the floating plate. A vertical propeller is arranged on the inner side of the mounting hole. An installation frame is fixed to the bottom of the floating plate. A horizontal propeller is arranged on the end of the installation frame away from the floating plate. The horizontal propeller provides underwater propulsion and steering for the robot. Although this design can identify pipelines through a camera, it still has the following defects: In this design, the entire device is driven by the traveling track to move on the seabed. The seabed topography and pipelines are uneven. Therefore, it is difficult for the traveling track to move in uneven areas, which reduces the efficiency of pipeline identification.

[0004] The information disclosed in this background section is intended only to enhance understanding of the overall background and does not suggest that the information forms prior art that is already known to those of ordinary skill in the art. SUMMARY

[0005] The purpose of the present application is to overcome the defects and problems of difficult seabed movement and low pipeline identification efficiency in the prior art, and to provide a double positioning and double measuring and sweeping device for offshore submarine pipeline identification, which has smaller sea surface movement difficulty and higher pipeline identification efficiency.

[0006] To achieve the above purpose, the technical solution of the present application is: A double positioning and double measuring and sweeping device for offshore submarine pipeline identification, which comprises a floating platform, a measuring and sweeping module and a propelling device. The measuring and scanning module comprises a precise measuring and scanning module and a preliminary measuring and scanning module, one end of the control cable is connected to the top of the precise measuring and scanning module, the other end of the control cable is fixed to one end of the floating platform, the top of the precise measuring and scanning module is provided with a magnetic attraction device, the top of the magnetic attraction device is magnetically connected to the magnetic attraction part of the floating platform, the top of the connecting rod is connected to the top of the preliminary measuring and scanning module, and the top of the connecting rod is connected to one end of the floating platform. The floating platform comprises a plurality of floating rods, two adjacent floating rods are connected end to end, the middle part of the floating rod is a hollow channel, the hollow channels of two adjacent floating rods are communicated, one end of one floating rod is fixed to one end of the control cable, the bottom of one floating rod is connected to the top of the connecting rod, and the two ends of one floating rod are connected to the output end of the propelling device.

[0007] One end of the control cable away from the precise measuring and scanning module is wound around the middle part of the winch, the bottom of the winch is connected to the platform, and one end of the platform is fixed to one end of one floating rod.

[0008] The bottom of the precise measuring and scanning module is connected to the top of the grabbing rod, and the bottom of the grabbing rod is connected to the top of the mechanical hand.

[0009] The preliminary measuring and scanning module comprises a measuring and scanning detection sonar device or a scanning detection sonar device, and the precise measuring and scanning module comprises a synthetic aperture sonar detection device or a high-definition camera.

[0010] The top of the floating rod is connected to the bottom of the supporting rod, the top of the supporting rod is connected to the positioning and information transmission module, the positioning and information transmission module comprises a positioning module and an information transmission module, the information transmission module is signal connected to the positioning module, the information transmission module is signal connected to the preliminary measuring and scanning module, the information transmission module is signal connected to the precise measuring and scanning module, and the information transmission module is signal connected to the shore-side equipment.

[0011] The hollow channel is provided with an energy supply device, one end of the energy supply device is connected to one end of the control cable, the other end of the control cable is connected to the precise measuring and scanning module, one end of the energy supply device is connected to one end of a plurality of transmission cables, the middle parts of all the transmission cables are located in the hollow channel, the other end of one transmission cable is connected to one end of the preliminary measuring and scanning module, the other end of one transmission cable is connected to one end of the positioning and information transmission module, and the plurality of transmission cables are connected to one end of the propelling device.

[0012] The floating rod is made of flame-retardant environmentally friendly high-density special high-molecular materials.

[0013] The propelling device comprises a first propelling device and a second propelling device, one end of the first propelling device is connected to one end of one floating rod, and the other end of the floating rod is connected to one end of the second propelling device.

[0014] The first propelling device and the second propelling device are of the same structure, and the first propelling device comprises a propeller, and the movement stroke of the propeller is rotation.

[0015] One end of the floating platform is provided with an equipment placing area, and the top of the equipment placing area is provided with an illuminating equipment.

[0016] Compared with the prior art, the present application has the following advantages: 1. In the double-positioning double-sweeping device for offshore submarine pipeline identification, the device comprises a floating platform, a sweeping module and a propelling device, the sweeping module comprises a precise sweeping module and a preliminary sweeping module, the precise sweeping module is fixed with a floating rod in the floating platform through a control cable on a winch and a magnetic attraction function, the preliminary sweeping module is fixed with a floating rod in the floating platform through a connecting rod, all the floating rods in the floating platform are connected end to end, the hollow channels in the middle of all the floating rods are communicated, and the two ends of one floating rod are connected with the propelling device, in application, the floating rod is of a hollow structure, so the floating platform can float on the sea surface, the floating platform is moved through the propelling device, then the precise sweeping module and the preliminary sweeping module are moved through the floating platform, when the required precision of pipeline identification is not high, the preliminary sweeping module is used to identify the submarine pipeline, when the required precision of pipeline identification is high, the floating platform and the precise sweeping module are released from the magnetic attraction, the cable is lowered through the winch, so the precise sweeping module moves downward to the submarine pipeline under the action of gravity, then the precise sweeping module is used to identify the pipeline, and then the cable is recovered through the winch to drive the precise sweeping module to return to the floating rod, so that the precise sweeping module and the floating rod are magnetically attracted and fixed, and the present application has the following advantages: Firstly, the whole device is floated on the sea surface through the buoyancy of the floating rod, and it is not necessary to move on the uneven area of the seabed, so the moving difficulty is small, and the pipeline identification efficiency is high. Secondly, for the area of the seabed requiring high-precision sweeping, the precise sweeping module can be lowered to the area to perform high-precision identification, so the pipeline identification precision is high. Therefore, the present application has small sea surface moving difficulty and high pipeline identification efficiency.

[0017] 2. In the double-positioning double-sweeping device for offshore submarine pipeline identification, the bottom of the precise sweeping module is provided with a mechanical hand, in application, when it is necessary to grab the soil, stones or other objects on the seabed, the precise sweeping module is lowered, so that the mechanical hand can grab the soil, stones or other objects, the precise sweeping module is recovered, so that the mechanical hand is recovered, then the device reaches the shore, and the soil, stones or other objects are taken out from the mechanical hand for research. Therefore, the present application has the function of sampling.

[0018] 3. In the dual-positioning and dual-scanning device for identifying near-shore subsea pipelines of the present invention, a support rod is mounted on a float, and a positioning and information transmission module is mounted on the support rod. The positioning and information transmission module includes a positioning module and an information transmission module. In application, the information transmission module can receive signals sent by the operator through shore-based equipment, enabling the device to move to a designated area. Then, the precise scanning module and the preliminary scanning module can simultaneously or either one of them identify the designated area. The identification data is combined with the positioning data in the positioning module to accurately identify the subsea pipeline situation in the designated area. The identification data and positioning data are then sent to the shore-based equipment through the information transmission module to achieve information interaction. Therefore, the present invention has an information interaction function.

[0019] 4. In this invention, a dual-positioning and dual-scanning device for identifying near-shore subsea pipelines includes a power supply device housed within the hollow channel of the support rod. This power supply device powers the precision scanning module, the preliminary scanning module, the positioning and information transmission module, and the propulsion device. During application, the power supply device includes a high-endurance battery, capable of providing long-term power to all modules. Existing engineering geophysical exploration equipment or unmanned remotely operated vehicles (UAVs) are limited by their battery endurance, preventing them from operating independently underwater for extended periods. They require a mother ship for power supply and must be used as a carrier to reach designated areas. This method consumes significant fuel, hindering energy conservation and emission reduction. This device, however, employs a lightweight design, using flame-retardant, environmentally friendly, high-density special polymer materials to construct the float, coupled with a high-endurance battery, to support the operation of each module and propulsion device, achieving long-term independent operation while simultaneously achieving energy conservation and emission reduction. Therefore, this invention exhibits superior long-term operational performance.

[0020] 5. In the dual-positioning and dual-scanning device for identifying near-shore subsea pipelines of the present invention, the propulsion device includes a first propulsion device and a second propulsion device, which are located on both sides of a float. The first and second propulsion devices can be propellers. In application, the propeller blades rotate to achieve propulsion, and the propellers steer to achieve steering. The two propulsion devices are symmetrically distributed on both sides of a float to achieve better movement. Therefore, the present invention has better movement performance.

[0021] 6. In the dual-positioning and dual-scanning device for identifying near-shore submarine pipelines of the present invention, one end of a float is provided with an equipment placement area, within which a lighting device is installed. During application, when the device is ashore and in low-light conditions, the lighting device can be turned on to facilitate observation of the device. The lighting device can also be turned on to provide illumination while charging the power supply device, facilitating the connection and operation of electrical wires. Other equipment can also be placed in the equipment placement area as needed. Therefore, the present invention has an illumination function. Attached Figure Description

[0022] Figure 1 is a structural schematic diagram of the application.

[0023] Figure 2 is Figure 1 a bottom view.

[0024] Figure 3 is Figure 1 a structural schematic diagram of the measuring and scanning module in

[0025] Figure 4 is Figure 1 a structural schematic diagram of the winch in

[0026] Figure 5 is Figure 1 a top view.

[0027] Figure 6 is Figure 1 a structural schematic diagram of the preliminary measuring and scanning module in

[0028] Figure 7 is Figure 1 a structural schematic diagram of the accurate measuring and scanning module in

[0029] Figure 8 is Figure 7 a structural schematic diagram of the control cable in

[0030] Figure 9 is Figure 7 a structural schematic diagram of the mechanical hand in

[0031] Figure 10 is Figure 1 a structural schematic diagram of the energy supply device in

[0032] In the figure: floating platform 1, magnetic attraction part 11, floating rod 12, hollow passage 121, platform 13, equipment placement area 14, lighting equipment 141, measuring and scanning module 2, accurate measuring and scanning module 21, magnetic attraction device 211, grabbing rod 212, mechanical hand 213, preliminary measuring and scanning module 22, connecting rod 221, propulsion device 3, first propulsion device 31, second propulsion device 32, control cable 4, winch 41, support rod 5, positioning and information transmission module 51, positioning module 511, information transmission module 512, energy supply device 6, transmission cable 61. DETAILED DESCRIPTION

[0033] The application will be further described in detail in the following combined with the description and specific embodiments of the drawings.

[0034] Please refer to Figure 1 — Figure 10The utility model provides a kind of double positioning double surveying device for offshore submarine pipeline identification, the device includes floating platform 1, surveying module 2 and propulsion device 3; The surveying module 2 includes accurate surveying module 21 and preliminary surveying module 22, one end of the control cable 4 is connected to the top of the accurate surveying module 21, the other end of the control cable 4 is fixed to one end of the floating platform 1, the top of the accurate surveying module 21 is provided with magnetic attraction device 211, the top of the magnetic attraction device 211 is magnetically connected to the magnetic attraction part 11 of the floating platform 1, the top of the connecting rod 221 is connected to the top of the accurate surveying module 21. The floating platform 1 includes a plurality of floating rods 12, two adjacent floating rods 12 are connected end to end, the middle part of the floating rod 12 is a hollow channel 121, the hollow channels 121 of two adjacent floating rods 12 are communicated, one end of one floating rod 12 is fixed to one end of the control cable 4, the bottom of one floating rod 12 is connected to the top of the connecting rod 221, and the two ends of one floating rod 12 are connected to the output end of the propulsion device 3.

[0035] One end of the control cable 4 away from the accurate surveying module 21 is wound in the middle part of the winch 41, the bottom of the winch 41 is connected to the platform 13, and one end of the platform 13 is fixed to one end of one floating rod 12.

[0036] The bottom of the accurate surveying module 21 is connected to the top of the grabbing rod 212, and the bottom of the grabbing rod 212 is connected to the top of the mechanical hand 213.

[0037] The preliminary surveying module 22 includes a surveying detection sonar device or a scanning detection sonar device, and the accurate surveying module 21 includes a synthetic aperture sonar detection device or a high-definition camera.

[0038] The top of the floating rod 12 is connected to the bottom of the supporting rod 5, the top of the supporting rod 5 is connected to the positioning and information transmission module 51, the positioning and information transmission module 51 includes a positioning module 511 and an information transmission module 512, the information transmission module 512 is signal connected to the positioning module 511, the information transmission module 512 is signal connected to the preliminary surveying module 22, the information transmission module 512 is signal connected to the accurate surveying module 21, and the information transmission module 512 is signal connected to the shore-end equipment.

[0039] The hollow channel 121 is provided with an energy supply device 6, one end of the energy supply device 6 is connected with one end of the control cable 4, the other end of the control cable 4 is connected with the accurate scanning module 21, one end of the energy supply device 6 is connected with one end of a plurality of transmission cables 61, the middle parts of all the transmission cables 61 are located in the hollow channel 121, the other end of one transmission cable 61 is connected with one end of the preliminary scanning module 22, the other end of one transmission cable 61 is connected with one end of the positioning and information transmission module 51, and the plurality of transmission cables 61 are connected with one end of the propelling device 3.

[0040] The floating rod 12 is made of a flame-retardant environment-friendly high-density special polymer material.

[0041] The propelling device 3 comprises a first propelling device 31 and a second propelling device 32, one end of the first propelling device 31 is connected with one end of one floating rod 12, and the other end of the floating rod 12 is connected with one end of the second propelling device 32.

[0042] The first propelling device 31 and the second propelling device 32 are of the same structure, the first propelling device 31 comprises a propeller, and the movement stroke of the propeller is rotation.

[0043] One end of the floating platform 12 is provided with an equipment placing area 14, and the top of the equipment placing area 14 is provided with an illuminating equipment 141.

[0044] The supplementary description of the present application is as follows: The identification refers to that the accurate scanning module 21 or the preliminary scanning module 22 is used for scanning a pipeline (including a pipeline device and the like) on the seabed to obtain image data, and then the image data is identified to identify whether the pipeline is damaged, and the device can also scan the topography of the seabed while scanning the pipeline, and the topography data of the seabed can be used for scientific research and offshore ocean construction.

[0045] The present application is applicable to the sea area from an anchorage to a coast, i.e. an area with a water depth less than or equal to 80 meters, and is suitable for use at sea under the condition of good sea conditions and small waves.

[0046] Embodiment 1: Please refer to Figure 1 — Figure 10The utility model provides a kind of double positioning double surveying device for offshore seabed pipeline identification, the device includes floating platform 1, surveying module 2 and propulsion device 3;The surveying module 2 includes accurate surveying module 21 and preliminary surveying module 22, the top of accurate surveying module 21 is connected with one end of control cable 4, the other end of control cable 4 is fixed with one end of floating platform 1, the top of accurate surveying module 21 is provided with magnetic attraction device 211, the top of magnetic attraction device 211 is magnetically connected with the magnetic attraction part 11 of floating platform 1, the top of connecting rod 221 is connected with one end of floating platform 1, the top of connecting rod 221 is connected with one end of floating platform 1;The floating platform 1 includes a plurality of float rods 12, two adjacent float rods 12 are connected end to end, the middle of float rod 12 is hollow passage 121, the hollow passage 121 of two adjacent float rods 12 is communicated, one end of a float rod 12 is fixed with one end of control cable 4, the bottom of a float rod 12 is connected with the top of connecting rod 221, and the two ends of a float rod 12 are connected with the output end of propulsion device 3.The end of control cable 4 away from accurate surveying module 21 is wound in the middle of winch 41, the bottom of winch 41 is connected with platform 13, and one end of platform 13 is fixed with one end of a float rod 12.

[0047] When using, the device is first placed on the sea surface of offshore, at this time, the buoyancy of float rod 12 makes the whole device float on the sea surface, and then the device is moved to the designated area by propulsion device 3, when the required precision of pipeline identification is not high, the preliminary surveying module 21 identifies the seabed of the designated area, and a lower-precision identification result can be obtained, when the required precision of pipeline identification is high, the magnetic attraction part 11 is first magnetically disconnected with the magnetic attraction device 211, and then the accurate surveying module 21 moves downward under the action of gravity, and then the accurate surveying module 21 identifies the seabed of the designated area, and a higher-precision identification result can be obtained;When the accurate surveying module 21 moves downward, the winch 41 rotates to release the control cable 4, and then the control cable 4 is used to bind and limit the accurate surveying module 21, and then the winch 41 rotates to recover the control cable 4, and then the control cable 4 drives the accurate surveying module 21 to move, so that the magnetic attraction device 211 of the accurate surveying module 21 is magnetically connected with the magnetic attraction part 11, so as to realize the fixing effect of the accurate surveying module 21 and the float rod 12;The four float rods 12 enclose a "mouth" shape, the middle part is a hollow structure, that is, the sea waves can pass through the middle part, reducing the impact of the sea waves on the device, and being conducive to maintaining stability in the sea waves.

[0048] Embodiment 2 The basic content is the same as that of embodiment 1, and the difference is that: Please see Figure 1 - Figure 9The bottom of the accurate surveying and scanning module 21 is connected with the top of the grabbing rod 212, and the bottom of the grabbing rod 212 is connected with the top of the mechanical arm 213. The preliminary surveying and scanning module 22 comprises a surveying and scanning sonar device or a scanning and surveying sonar device; and the accurate surveying and scanning module 21 comprises a synthetic aperture sonar device or a high-definition camera.

[0049] In application, when it is needed to grab the seabed soil, stone or other objects, the magnetic attraction device 211 is first disconnected with the magnetic attraction part 11, the accurate surveying and scanning module 21 is moved downward under the action of gravity, the accurate surveying and scanning module 21 drives the mechanical arm 213 to move downward, and then the mechanical arm 213 grabs the seabed soil, stone or other objects, the accurate surveying and scanning module 21 is moved upward until the magnetic attraction device 211 is connected with the magnetic attraction part 11, the device reaches the shore, and the seabed soil, stone or other objects in the mechanical arm 213 are taken out, wherein the other objects include harmful garbage, etc. The preliminary surveying and scanning module 22 can perform surveying and scanning operation with slightly lower precision, the accurate surveying and scanning module 21 can perform surveying and scanning operation with higher precision, and the accurate surveying and scanning module 21 has the functions of communication and positioning, can be accurately positioned in the radial direction underwater, so that the positioning information of the surveying and scanning area is more accurate.

[0050] Embodiment 3 The basic content is the same as that of embodiment 1, and the difference lies in that: Please refer to Figure 1 — Figure 6 The top of the floating rod 12 is connected with the bottom of the supporting rod 5, the top of the supporting rod 5 is connected with the positioning and information transmission module 51, the positioning and information transmission module 51 comprises a positioning module 511 and an information transmission module 512, the information transmission module 512 is signal connected with the positioning module 511, the information transmission module 512 is signal connected with the preliminary surveying and scanning module 22, the information transmission module 512 is signal connected with the accurate surveying and scanning module 21, and the information transmission module 512 is signal connected with the shore equipment.

[0051] In application, the identification results of the accurate surveying and scanning module 21 and the preliminary surveying and scanning module 22 are sent to the information transmission module 512; the positioning module 511 obtains the positioning data of the device through the GPS positioning function, the positioning data can be combined with the identification results obtained by the accurate surveying and scanning module 21 and the preliminary surveying and scanning module 22 to obtain the identification results of the accurate position, and the positioning information obtained by the positioning module 511 can be mutually verified with the positioning information obtained by the accurate surveying and scanning module 21; the identification results are sent to the shore equipment through the information transmission module 512 for the operator to view, and the network signal of the near sea is better, so the information transmission speed is faster.

[0052] Embodiment 4 The basic content is the same as that of embodiment 1, and the difference lies in that: Please see Figure 1 — Figure 10 , the hollow channel 121 is provided with an energy supply device 6, one end of the energy supply device 6 is connected with one end of the control cable 4, the other end of the control cable 4 is connected with the accurate scanning module 21, one end of the energy supply device 6 is connected with one end of the plurality of transmission cables 61, the middle part of all the transmission cables 61 is located in the hollow channel 121, the other end of one transmission cable 61 is connected with one end of the preliminary scanning module 22, the other end of one transmission cable 61 is connected with one end of the positioning and information transmission module 51, and the plurality of transmission cables 61 are connected with one end of the propulsion device 3. The float rod 12 is made of flame-retardant environmentally friendly high-density special polymer materials.

[0053] In application, the energy supply device 6 includes a high endurance battery, the energy supply device 6 supplies power to the preliminary scanning module 22, the information transmission module 51 and the propulsion device 3 through the plurality of transmission cables 61, and supplies power to the accurate scanning module 21 through the control cable 4, so that the device can work independently in the offshore area for a long time, the float rod 12 is made of flame-retardant high-density polyethylene, polypropylene and other materials, and can generate a large buoyancy in cooperation with the hollow channel 121, so that the device floats on the sea surface, the weight of the device is evenly distributed, so that the device does not overturn, the high endurance battery also has a certain counterweight effect, the outer surface of the float rod 12 is sealed to achieve the waterproof effect, and the power supply effect is stable.

[0054] Example 5: The basic content is the same as that in example 1, except that: Please see Figure 1 — Figure 4 , the propulsion device 3 includes a first propulsion device 31 and a second propulsion device 32, one end of the first propulsion device 31 is connected with one end of a float rod 12, and the other end of the float rod 12 is connected with one end of the second propulsion device 32. The first propulsion device 31 and the second propulsion device 32 are the same in structure, the first propulsion device 31 includes a propeller, and the movement stroke of the propeller is rotation. Preferably, the first propulsion device 31 and the second propulsion device 32 are connected with the energy supply device 6 through a cable, and the first propulsion device 31 and the second propulsion device 32 are signal connected with the information transmission module 512.

[0055] In application, the operator sends a signal to the information transmission module 512, the signal is transmitted to the first propulsion device 31 and the second propulsion device 32 by the information transmission module 512, and then the first propulsion device 31 and the second propulsion device 32 are started to drive the device to move, the first propulsion device 31 and the second propulsion device 32 include a propeller, and the propeller can be rotated to realize the propulsion of the device.

[0056] Example 6: The basic content is the same as that of Example 1, except that: See Figure 1 Figure 5 One end of the floating platform 12 is provided with a device placement area 14, and the top of the device placement area 14 is provided with an illuminating device 141.

[0057] When the device is docked and the light is weak, the illuminating device 141 can be turned on to facilitate the observation of the device by the operator. When the energy supply device 6 is being charged, the illuminating device 141 can also provide good lighting effect, facilitating the operator to plug in the power cord.

[0058] The above is only a preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiment. Any equivalent modification or change made by those skilled in the art according to the disclosed content of the present application shall be included in the protection scope recited in the claims.​

Claims

1. A dual-positioning and dual-scanning device for identifying near-shore subsea pipelines, characterized in that: The device includes a floating platform (1), a scanning module (2), and a propulsion device (3). The scanning module (2) includes a precision scanning module (21) and a preliminary scanning module (22). The top of the precision scanning module (21) is connected to one end of the control cable (4), and the other end of the control cable (4) is fixed to one end of the floating platform (1). A magnetic suction device (211) is provided on the top of the precision scanning module (21). The top of the magnetic suction device (211) is magnetically connected to the magnetic suction part (11) of the floating platform (1). The top of the preliminary scanning module (22) is connected to the bottom of the connecting rod (221), and the top of the connecting rod (221) is connected to one end of the floating platform (1). The floating platform (1) includes multiple floats (12), with two adjacent floats (12) connected end to end. The middle of the float (12) is a hollow channel (121), and the hollow channels (121) of two adjacent floats (12) are connected. One end of a float (12) is fixed to one end of a control cable (4), the bottom of a float (12) is connected to the top of a connecting rod (221), and both ends of a float (12) are connected to the output end of a propulsion device (3).

2. The dual-positioning and dual-scanning device for identifying near-shore subsea pipelines according to claim 1, characterized in that: The control cable (4) is wound around the middle of the winch (41) at the end away from the precision measurement module (21). The bottom of the winch (41) is connected to the platform (13). One end of the platform (13) is fixed to one end of a float (12).

3. A dual-positioning dual-scanning device for identifying near-shore subsea pipelines according to claim 1 or 2, characterized in that: The bottom of the precision scanning module (21) is connected to the top of the gripping rod (212), and the bottom of the gripping rod (212) is connected to the top of the robotic arm (213).

4. The dual-positioning and dual-scanning device for identifying near-shore subsea pipelines according to claim 3, characterized in that: The preliminary scanning module (22) includes a scanning detection sonar device or a scanning detection sonar device; the precise scanning module (21) includes a synthetic aperture sonar detection device or a high-definition camera.

5. A dual-positioning dual-scanning device for identifying near-shore subsea pipelines according to claim 1 or 2, characterized in that: The top of the float (12) is connected to the bottom of the support rod (5), and the top of the support rod (5) is connected to the positioning and information transmission module (51). The positioning and information transmission module (51) includes a positioning module (511) and an information transmission module (512). The information transmission module (512) is signal-connected to the positioning module (511), the information transmission module (512) is signal-connected to the preliminary survey module (22), the information transmission module (512) is signal-connected to the precise survey module (21), and the information transmission module (512) is signal-connected to the shore-side equipment.

6. A dual-positioning and dual-scanning device for identifying near-shore subsea pipelines according to claim 5, characterized in that: A power supply device (6) is installed inside the hollow channel (121). One end of the power supply device (6) is connected to one end of the control cable (4), and the other end of the control cable (4) is connected to the precision scanning module (21). One end of the power supply device (6) is connected to one end of multiple transmission cables (61). The middle part of all transmission cables (61) is located inside the hollow channel (121). The other end of one transmission cable (61) is connected to one end of the preliminary scanning module (22), and the other end of one transmission cable (61) is connected to one end of the positioning and information transmission module (51). Multiple transmission cables (61) are connected to one end of the propulsion device (3).

7. A dual-positioning and dual-scanning device for identifying near-shore subsea pipelines according to claim 6, characterized in that: The float (12) is made of flame-retardant, environmentally friendly, high-density special polymer material.

8. A dual-positioning and dual-scanning device for identifying near-shore subsea pipelines according to claim 1 or 2, characterized in that: The propulsion device (3) includes a first propulsion device (31) and a second propulsion device (32). One end of the first propulsion device (31) is connected to one end of a float (12), and the other end of the float (12) is connected to one end of the second propulsion device (32).

9. A dual-positioning and dual-scanning device for identifying near-shore subsea pipelines according to claim 8, characterized in that: The first propulsion device (31) and the second propulsion device (32) have the same structure. The first propulsion device (31) includes a propeller, and the propeller's stroke is rotation.

10. A dual-positioning dual-scanning device for identifying near-shore subsea pipelines according to claim 1 or 2, characterized in that: One end of the floating platform (12) is provided with an equipment placement area (14), and a lighting device (141) is provided on the top of the equipment placement area (14).

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