Submarine pipeline automatic potential inspection system

Abstract

The embodiment discloses an automatic potential inspection system for a subsea pipeline, which is characterized in that a magnetic detector and a cesium optical pump are arranged on an underwater load platform, position signals between the subsea pipeline and the underwater load platform are respectively acquired, and an automatic inspection path signal of the underwater load platform is acquired based on the signals acquired by the magnetic detector and the cesium optical pump; the problem that in the prior art, image information is fuzzy when automatic routing inspection path signals are obtained depending on images is solved, the problems that the pipeline detection capacity and precision are limited by independently adopting magnetic detection equipment are solved, the obtained automatic routing inspection path signals are high in precision, and meanwhile the potential collection precision is not affected.

Description

Technical Field

[0001] This utility model relates to the field of pipeline inspection technology, and in particular to an automatic potential inspection system for submarine pipelines. Background Technology

[0002] Submarine pipelines are pipeline systems laid on or below the seabed, primarily used to transport liquids, gases, and sometimes electricity and communication signals. They play a crucial role in marine resource development, energy transportation, and global connectivity.

[0003] Due to the influence of underwater ocean dynamics, the actual location of subsea pipelines may deviate from the original planned coordinates. Using the planned pipeline route to plan an autonomous pipeline inspection path may result in the inability to locate the pipeline requiring inspection. Existing inspection robots use onboard cameras to process images beforehand, or they can use magnetic detection equipment with fluxgate sensors to assist in pipeline route detection. The processed information is transmitted to the main control board, which controls and adjusts the horizontal and vertical thrusters to correct the angle during operation, thus ensuring that the robot always moves along the monitored pipeline.

[0004] In practical use, it was found that traditional cameras have significant limitations, and the quality of the image directly affects the accuracy of the automatic pipeline inspection path planning. However, the underwater environment is complex, and underwater visibility is easily affected by environmental factors such as water depth, water quality, and seabed composition. When visibility is poor, the camera cannot provide reliable navigation path planning information to the main control board; in addition, submarine pipelines are easily buried by underwater sand and gravel, and the sensors cannot accurately identify the pipeline's direction, resulting in low accuracy of the obtained automatic inspection path signal.

[0005] Furthermore, magnetic detection equipment using fluxgate sensors has limited passive pipeline detection capabilities and accuracy during actual pipeline inspections. While active detection mode improves detection capabilities, it affects the accuracy of potential sensor acquisition of pipeline potential. Simply using fluxgate sensors for pipeline depth and relative position detection has low accuracy and a limited range; if the angle deviates significantly, the pipeline position and depth cannot be detected, thus failing to obtain high-precision automatic inspection path signals. Utility Model Content

[0006] This utility model discloses an automatic potential inspection system for submarine pipelines to overcome the above-mentioned technical problems.

[0007] To achieve the above objectives, the technical solution of this utility model is as follows:

[0008] An automatic potential inspection system for subsea pipelines includes: an underwater load platform, an ultra-short baseline positioning system, an altimeter, a magnetic detector, a cesium optical pump, an inertial navigation system, and a control cabinet;

[0009] The ultra-short baseline positioning system is fixedly installed on the top of the underwater load platform to obtain a first relative position signal between the underwater load platform and the surface vessel; the first relative position signal includes a first relative angle signal between the underwater load platform and the surface vessel, a first relative height signal between the underwater load platform and the surface vessel, and a relative horizontal position data signal between the underwater load platform and the surface vessel.

[0010] The altimeter is fixedly installed at the bottom of the underwater load platform to obtain the height signal between the underwater load platform and the seabed;

[0011] The magnetic detector is fixedly installed at the front end of the underwater load platform in the direction of travel to obtain the second relative position signal between the subsea pipeline and the underwater load platform;

[0012] The cesium optical pump is fixedly installed at the rear end of the underwater load platform in the direction of advancement to obtain a third relative position signal between the subsea pipeline and the underwater load platform;

[0013] The underwater payload platform is equipped with an underwater payload platform system, which is communicatively connected to an ultra-short baseline positioning system, a magnetic detector, a cesium optical pump, and an altimeter to transmit a first relative position signal, a second relative position signal, a third relative position signal, and a height signal between the underwater payload platform and the seabed to the underwater payload platform system; then, based on the second relative position signal, the third relative position signal, and the height signal between the underwater payload platform and the seabed, a fused position signal between the subsea pipeline and the underwater payload platform is obtained; and based on the fused position signal and the first relative position signal, a compressed and packaged data signal is obtained.

[0014] The control cabinet is equipped with a real-time information processing system, an automatic inspection path planning system, and an underwater load platform control system.

[0015] The input end of the real-time information processing system is communicatively connected to the output end of the underwater payload platform system to transmit the packaged and compressed data signal to the real-time information processing system and obtain the decompressed and split data signal, including the decompressed and split first relative position signal, the decompressed and split second relative position signal, the decompressed and split third relative position signal, and the height signal between the underwater payload platform and the seabed.

[0016] The input end of the automatic inspection path planning system is communicatively connected to the output end of the real-time information processing system to transmit the decompressed and split data signals to the automatic inspection path planning system and obtain the automatic inspection path signals.

[0017] The input terminal of the underwater load platform control system is communicatively connected to the output terminal of the automatic inspection path planning system to transmit the automatic inspection path signal to the underwater load platform control system and acquire the control signals of the underwater load platform, including the horizontal propeller control signal and the vertical propeller control signal, so that the underwater load platform can move according to the automatic inspection path signal.

[0018] Furthermore, this also includes inertial navigation systems;

[0019] The inertial navigation system is fixedly installed on the underwater payload platform and is communicatively connected to the input terminal of the underwater payload platform system to collect the position signal, attitude signal and running speed signal of the underwater payload platform and transmit them to the underwater payload platform system; the attitude signal includes the roll angle signal, pitch angle signal and heading angle signal of the underwater payload platform.

[0020] Furthermore, it also includes a potential detector;

[0021] The potential detector is installed on the underwater load platform and connected to the input terminal of the underwater load platform system to collect the potential signal of the subsea pipeline and transmit it to the underwater load platform system.

[0022] Furthermore, the underwater payload platform system includes a data fusion module, a power system, a propulsion system, and a data processing module;

[0023] The input terminals of the data fusion module are respectively connected to the magnetic detector, the cesium optical pump and the altimeter to transmit the second relative position signal, the third relative position signal and the height signal between the underwater load platform and the seabed to the data fusion module to obtain the fused position signal between the subsea pipeline and the underwater load platform;

[0024] The ultra-short baseline positioning system, data fusion module, potential detector, and inertial navigation system are all communicatively connected to the input terminal of the data processing module. They transmit the first relative position signal, the fused position signal between the subsea pipeline and the underwater load platform, the potential signal of the subsea pipeline, the position signal, attitude signal, and operating speed signal of the underwater load platform to the data processing module to obtain the packaged and compressed data signal. This enables the system to obtain the decompressed and split first relative position signal, the decompressed and split second relative position signal, the decompressed and split third relative position signal, the decompressed and split height signal between the underwater load platform and the seabed, the decompressed and split position signal of the underwater load platform, the decompressed and split attitude signal of the underwater load platform, the decompressed and split operating speed signal of the underwater load platform, and the decompressed and split potential signal of the subsea pipeline after the packaged and compressed data signal is transmitted to the real-time information processing system.

[0025] The power system is communicatively connected to the output of the automatic inspection path planning system to transmit the control signal of the underwater load platform to the power system and drive the underwater load platform to move according to the automatic inspection path signal.

[0026] The power system is used to provide power to the underwater payload platform.

[0027] Furthermore, it also includes a human-machine interface, which is communicatively connected to the real-time information processing system to transmit the decompressed and split first relative position signal, the decompressed and split second relative position signal, the decompressed and split third relative position signal, the height signal between the decompressed and split underwater load platform and the seabed, the position signal, attitude signal, and operating speed signal of the decompressed and split underwater load platform, and the potential signal of the decompressed and split subsea pipeline to the human-machine interface, thereby realizing the visualization of the first relative position signal, the second relative position signal, the third relative position signal, the height signal between the underwater load platform and the seabed, the position signal of the underwater load platform, the attitude signal of the underwater load platform, the operating speed signal of the underwater load platform, and the potential signal of the subsea pipeline.

[0028] Furthermore, the underwater payload platform is also equipped with a camera device for acquiring real-time underwater images.

[0029] Beneficial effects: This utility model provides an automatic potential inspection system for submarine pipelines. By setting up a magnetic detector and a cesium optical pump on an underwater load platform, the system collects position signals between the submarine pipeline and the underwater load platform, and obtains the automatic inspection path signal of the underwater load platform based on the signals collected by both. This solves the problem of blurry image information when relying on images to obtain automatic inspection path signals in traditional technologies, as well as the problem of limited detection capability and accuracy of using magnetic detectors alone to detect pipelines. The obtained automatic inspection path signal has high accuracy and does not affect the potential acquisition accuracy. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a block diagram of the overall structure of the automatic potential inspection system for submarine pipelines of this utility model. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0033] This embodiment introduces an automatic potential inspection system for subsea pipelines, such as... Figure 1 As shown, it includes: an underwater payload platform, an ultra-short baseline positioning system, an altimeter, a magnetometer, a camera device and a cesium optical pump, an inertial navigation system, and a control cabinet;

[0034] The ultra-short baseline positioning system is fixedly installed on the top of the underwater load platform to obtain a first relative position signal between the underwater load platform and the surface vessel; the first relative position signal includes a first relative angle signal between the underwater load platform and the surface vessel, a first relative height signal between the underwater load platform and the surface vessel, and a relative horizontal position data signal between the underwater load platform and the surface vessel.

[0035] The altimeter is fixedly installed at the bottom of the underwater load platform to obtain the height signal between the underwater load platform and the seabed;

[0036] The magnetic detector is fixedly installed at the front end of the underwater load platform in the direction of travel to obtain the second relative position signal between the subsea pipeline and the underwater load platform. The second relative position signal includes the second relative angle signal between the subsea pipeline and the underwater load platform, the second relative height signal between the subsea pipeline and the underwater load platform, and the second relative horizontal position data signal between the subsea pipeline and the underwater load platform.

[0037] The cesium optical pump is fixedly installed at the rear end of the underwater load platform in the forward direction to obtain the third relative position signal between the subsea pipeline and the underwater load platform. The third relative position signal includes the third relative angle signal between the subsea pipeline and the underwater load platform, the third relative height signal between the subsea pipeline and the underwater load platform, and the third relative horizontal position data signal between the subsea pipeline and the underwater load platform.

[0038] Specifically, the underwater payload platform is equipped with a magnetic detector at the front end and a cesium optical pump at the rear end. A data fusion module is also installed within the platform system to optimize, fuse, and integrate the detected data. This data is a crucial parameter for automatic inspection path planning and directly impacts the accuracy of the platform's automatic patrol and tracking of pipelines. Simultaneously, a potential detector is installed at the rear end to acquire the pipeline's potential value, assessing the pipeline's protection status and enabling the calculation of any abnormal corrosion conditions using the potential data.

[0039] The underwater payload platform is equipped with an underwater payload platform system, which is communicatively connected to an ultra-short baseline positioning system, a magnetic detector, a cesium optical pump, and an altimeter to transmit a first relative position signal, a second relative position signal, a third relative position signal, and a height signal between the underwater payload platform and the seabed to the underwater payload platform system; then, based on the second relative position signal, the third relative position signal, and the height signal between the underwater payload platform and the seabed, a fused position signal between the subsea pipeline and the underwater payload platform is obtained; and based on the fused position signal and the first relative position signal, a compressed and packaged data signal is obtained.

[0040] The control cabinet is equipped with an underwater load platform control system, an automatic inspection path planning system, and a real-time information processing system.

[0041] The underwater payload platform is connected to the underwater payload platform control cabinet on the ship via an umbilical cable; the control cabinet is equipped with a real-time information processing system, an automatic inspection path planning system, and an underwater payload platform control system; a human-machine interface is provided on the outer wall of the control cabinet;

[0042] The input end of the real-time information processing system is communicatively connected to the output end of the underwater payload platform system to transmit the packaged and compressed data signal to the real-time information processing system in order to obtain the decompressed and split data signal, including the decompressed and split first relative position signal, the decompressed and split second relative position signal, the decompressed and split third relative position signal, and the height signal between the underwater payload platform and the seabed.

[0043] Specifically, the real-time information processing system in this embodiment can perform data preprocessing, data parameter distribution, and uplink and downlink forwarding of control signals, and complete water download and data exchange between the platform and the control system.

[0044] The input end of the automatic inspection path planning system is communicatively connected to the output end of the real-time information processing system to transmit the decompressed and split data signal to the automatic inspection path planning system in order to obtain the automatic inspection path signal.

[0045] The automatic inspection path planning system in this embodiment has a built-in path planning algorithm. By taking into account the motion attitude and working status of the underwater load platform, as well as the relative position of the underwater load platform to the subsea pipeline and the relative position of the underwater load platform to the surface cabinet, it realizes closed-loop motion control of the underwater load platform, plans the inspection route of the underwater load platform in real time, obtains the automatic inspection path signal and transmits it to the underwater load platform control system, and generates the control signal of the underwater load platform and transmits it to the underwater load platform control system.

[0046] The input terminal of the underwater load platform control system is connected to the output terminal of the automatic inspection path planning system to transmit the automatic inspection path signal to the underwater load platform control system in order to obtain the control signal of the underwater load platform, including the horizontal propeller control signal and the vertical propeller control signal, so that the underwater load platform can move according to the automatic inspection path signal.

[0047] The underwater payload platform control system in this embodiment includes both online and manual control modes, enabling automatic inspection navigation or manual navigation control. Furthermore, the control system also includes a power control level protection device to provide power supply and power monitoring for the underwater payload platform. Additionally, a GPS positioning module and an ultra-short baseline positioning system are connected to the control cabinet, and the real-time signals collected by these two devices are used as reference signals in the automatic inspection path planning system.

[0048] Preferably, it also includes an inertial navigation system;

[0049] The inertial navigation system is fixedly connected to the underwater payload platform and communicates with the input terminal of the underwater payload platform system to collect the position signal, attitude signal and running speed signal of the underwater payload platform; the attitude signal includes the roll angle signal, pitch angle signal and heading angle signal of the underwater payload platform; and transmits them to the underwater payload platform system.

[0050] Preferably, it also includes a potential detector;

[0051] The potential detector is connected to the underwater load platform and to the input terminal of the underwater load platform system to collect the potential signal of the subsea pipeline and transmit it to the underwater load platform system.

[0052] Preferably, the underwater payload platform system includes a data fusion module, a power system, a propulsion system, and a data processing module;

[0053] The input terminals of the data fusion module are respectively connected to the magnetic detector, the cesium optical pump and the altimeter to transmit the second relative position signal, the third relative position signal and the height signal between the underwater load platform and the seabed to the data fusion module in order to obtain the fused position signal between the subsea pipeline and the underwater load platform.

[0054] The ultra-short baseline positioning system, data fusion module, potential detector, and inertial navigation system are all communicatively connected to the input of the data processing module. They transmit the first relative position signal, the fused position signal between the subsea pipeline and the underwater payload platform, the potential signal of the subsea pipeline, the position signal, attitude signal, and operating speed signal of the underwater payload platform to the data processing module to obtain a packaged and compressed data signal. This enables the real-time information processing system to obtain the decompressed and split first relative position signal, the decompressed and split second relative position signal, the decompressed and split third relative position signal, the decompressed and split height signal between the underwater payload platform and the seabed, the decompressed and split position signal of the underwater payload platform, the decompressed and split attitude signal of the underwater payload platform, the decompressed and split operating speed signal of the underwater payload platform, and the decompressed and split potential signal of the subsea pipeline after the packaged and compressed data signal is transmitted to the system.

[0055] The power system is communicatively connected to the output of the automatic inspection path planning system to transmit the control signal of the underwater load platform to the power system and drive the underwater load platform to move according to the automatic inspection path signal.

[0056] The power system is used to provide power to the underwater payload platform.

[0057] Specifically, the data fusion module and data processing module in this embodiment are both applications of existing technologies in the field. In this embodiment, they are only used to realize the data interaction function in this embodiment.

[0058] Preferably, the power system includes a horizontal propeller and a vertical propeller; the horizontal propeller and the vertical propeller are mounted on an underwater load platform.

[0059] Preferably, the system also includes a human-machine interface, which is communicatively connected to a real-time information processing system to transmit the decompressed and split first relative position signal, the decompressed and split second relative position signal, the decompressed and split third relative position signal, the height signal between the decompressed and split underwater load platform and the seabed, the position signal of the decompressed and split underwater load platform, the attitude signal of the decompressed and split underwater load platform, the operating speed signal of the decompressed and split underwater load platform, and the potential signal of the decompressed and split subsea pipeline to the human-machine interface, thereby realizing the visualization of the first relative position signal, the second relative position signal, the third relative position signal, the height signal between the underwater load platform and the seabed, the position signal of the underwater load platform, the attitude signal of the underwater load platform, the operating speed signal of the underwater load platform, and the potential signal of the subsea pipeline.

[0060] Preferably, the underwater payload platform is also equipped with a camera device for acquiring real-time underwater images.

[0061] Specifically, the human-machine interface of this embodiment can set and input parameters and display underwater information, including the operating status, operating attitude, relative position of pipelines, pipeline potential, and real-time camera footage of the underwater payload platform, thereby realizing the visualization of underwater working conditions and clearly displaying various indicators and working status of the underwater payload platform. This allows operators to understand the underwater situation in a timely manner and determine whether the inspection work is safe and effective.

[0062] In this embodiment, the underwater payload platform is connected to the ship's control cabinet via an umbilical cable, enabling bidirectional data transmission and ensuring the platform's navigation safety. The GPS positioning module is connected to the control cabinet via RS-485 communication, providing real-time location information for automated pipeline path planning. The underwater payload platform is equipped with propellers, including horizontal and vertical propellers, which are controlled by a motion control module within the platform. An inertial navigation system is also installed on the platform to acquire its own attitude and motion information as feedback signals. An ultra-short baseline positioning system and an altimeter are installed on the platform to provide raw data signals for automated navigation. In addition to a fluxgate magnetometer, a cesium optical pump magnetometer is also included. Finally, a camera and a potential acquisition device are installed on the platform to acquire status signals such as the potential of the subsea pipeline.

[0063] The underwater payload platform is equipped with a power system, a propulsion system, an inertial navigation system, and a data processing module. The power system rectifies and steps down the power supply from the umbilical cable to provide suitable voltage to the various electrical devices mounted on the platform, and monitors them in real time to detect voltage issues. If any abnormality occurs, the system immediately cuts off power to protect the entire platform. The propulsion system consists of horizontal and vertical propellers, providing power for the platform's underwater movement. The inertial navigation system includes a high-precision electronic gyroscope and a high-precision nine-axis accelerometer. These two sensors accurately reflect the platform's underwater motion and attitude in real time, providing the platform control module with raw heading, attitude, and other signals. The data processing module packages the raw signals acquired from all devices on the platform and uploads them to the control cabinet via the umbilical cable. Simultaneously, it unpacks the data transmitted from the control cabinet and distributes it to the platform or the devices mounted on it.

[0064] The ultra-short baseline positioning system installed on the platform can obtain the relative position between the platform and vessels operating on the water, including relative angles and relative heights. The base point is typically installed below the waterline. An altimeter is installed at the bottom of the platform, transmitting signals downwards to obtain the platform's height data relative to the seabed. These two sets of data provide the foundation for path planning and also protect the platform's operation, preventing it from hitting the seabed and causing equipment damage.

[0065] The inertial navigation system, real-time information processing system, automatic inspection path planning system, and underwater payload platform control system in this embodiment all use existing products. This embodiment only uses them to realize the transmission and exchange of data in this embodiment, and does not improve the internal logic of each system. Therefore, they will not be described in detail here.

[0066] Specifically, in existing technologies, a single magnetic detector is used as a navigation device for automated inspection of subsea pipelines. This magnetic detector employs a fluxgate sensor, a magnetic field measuring element that utilizes the nonlinear variation of the permeability of ferromagnetic materials. Its core structure consists of a high-permeability iron core, an excitation coil, and a measuring coil. When the magnetic field being measured acts on the saturated magnetic core, the change in permeability modulates the magnetic field information into the induced potential, and a demodulation circuit enables accurate measurement of weak magnetic fields. However, this magnetic detector also has certain problems:

[0067] Temperature has a significant impact: Although the equipment is equipped with temperature compensation, temperature changes still cause significant measurement variations in the detection of weak magnetic signals, which has a substantial impact on the detection results.

[0068] Susceptible to external magnetic field interference: Before each detection, the equipment needs to be calibrated in a relatively open area of ​​15 meters on the seabed, free of metal objects, to monitor the geomagnetic field and eliminate external magnetic interference. However, because it is on the seabed, it is impossible to guarantee that there are no magnetically conductive objects within the calibration range. In addition, the platform itself may contain magnetically conductive objects, which may cause some interference. All of these factors may affect the accuracy of magnetic detection of seabed pipelines.

[0069] Limited detection angle: When tracking and detecting submarine pipelines, this type of magnetic detector uses the angle between the pipeline's installation direction and true north as a fixed parameter. When the pipeline's direction changes, and this angle changes by more than ±20°, it needs to be re-entered and set. However, the actual angle of the submarine pipeline cannot be accurately obtained, and its direction may change frequently. These factors increase the error in submarine pipeline detection, resulting in low data accuracy and making it impossible to guarantee accurate automatic navigation based on the actual situation of the submarine pipeline.

[0070] Limited horizontal detection range: This type of magnetic detector uses multiple probes installed on the same plane to detect the same subsea pipeline. Based on the magnetic field data between the probes and the distance difference between their fixed installation positions, a positioning algorithm is used to calculate the depth of the subsea pipeline and its relative position to the platform. To ensure detection accuracy, the subsea pipeline must be positioned precisely below the detection plane. Generally, due to the size of the underwater platform, operational safety, and the accuracy of the magnetic detector, the distance between the two furthest probes is not large. This results in a relatively small detection plane, which significantly impacts the accuracy of locating the subsea pipeline in practical applications, greatly increasing the difficulty of path planning and affecting the accuracy of inspections.

[0071] Operating Mode Limitations: This type of magnetic detector generally has two operating modes: active and passive. In active mode, the detector emits its own signal and receives reflected signals modulated by the subsea pipeline. In passive mode, the detector does not emit a signal but only receives signals modulated by the subsea pipeline. Generally, the detection capability of the magnetic detector in active mode is significantly better than that in passive mode. However, in certain situations, such as when detecting the potential data of the subsea pipeline, using active mode to emit signals can affect the data being monitored, introducing significant errors and severely impacting the detection results, rendering the entire subsea pipeline monitoring work meaningless. Using only passive mode, on the other hand, will affect the monitoring of the subsea pipeline's trajectory, preventing automatic operation along the pipeline and impacting the accuracy of the acquired data.

[0072] This embodiment adds a cesium optically pumped magnetometer and a data fusion module to the existing single magnetic detector. The cesium optically pumped magnetometer measures the magnetic field by detecting the Larmor resonance frequency of cesium atoms in a magnetic field. Its core is to use lasers to manipulate the energy state of cesium (Cs) atoms and invert the magnetic field strength by measuring the spin precession frequency of the atoms.

[0073] Cesium optically pumped magnetometers have shown significant advantages over traditional fluxgate sensors in many aspects, especially in key performance areas such as ultra-high precision, absolute measurement, long-term stability, and anti-interference capabilities, which are irreplaceable.

[0074] 1. Sensitivity and precision in the quantum limit

[0075] The core advantage of cesium optical pumps lies in their quantum physics principles based on atomic energy levels. By measuring the Zeeman splitting frequency of the hyperfine level of cesium atoms, the magnetic field measurement is directly correlated with the atomic constant (gyromagnetic ratio γ), with a sensitivity of 0.01 pT / √Hz or even higher, which is 2-3 orders of magnitude higher than fluxgate magnetization (typically 1 nT / √Hz).

[0076] Physical essence: The sensitivity of optical pumping is determined by the atomic spin coherence time (which can reach the millisecond level), while fluxgate is limited by the magnetic noise of soft magnetic materials and the thermal noise of electronic circuits.

[0077] Absolute accuracy: Optical pump measurements do not require external calibration (frequency traceable to atomic standards), while fluxgates require periodic calibration with known magnetic fields and are susceptible to temperature drift and aging.

[0078] 2. Unparalleled long-term stability

[0079] The stability of the cesium optical pump stems from the inherent properties of atomic energy levels; its output hardly drifts with time or environmental conditions.

[0080] No hysteresis effect: The soft magnetic core of fluxgate has a hysteresis loop, and repeated magnetization will cause zero-point drift, while the quantum state transition of cesium atoms has no memory effect.

[0081] Temperature insensitivity: The hyperfine structure of cesium atoms is extremely insensitive to temperature changes (error <0.1 nT / °C), while the magnetic core and coil resistance of fluxgate magnets will introduce significant errors due to temperature changes (requiring complex compensation algorithms).

[0082] 3. Robustness to magnetic field gradients

[0083] Cesium optical pumps have a higher tolerance to non-uniform magnetic fields:

[0084] Global frequency response: Optical pumping measures the average precession frequency of atoms in the detection region and is not sensitive to local magnetic field gradients.

[0085] Limitations of fluxgate: Fluxgate is usually a point sensor. If the magnetic field changes drastically in space (such as near a ferromagnetic object), its output will be distorted due to the different saturation levels of different parts of the magnetic core.

[0086] 4. Orientation insensitivity and full vector measurement

[0087] Advanced cesium optical pumping can achieve full-vector magnetic field measurement through multi-beam or modulation techniques, and has lower requirements for sensor orientation:

[0088] Scalar mode: Traditional optical pumps only need to be roughly aligned with the direction of the magnetic field to measure the total intensity |B|, which is suitable for mobile platforms.

[0089] Fluxgate constraint: The three-axis probes must be placed strictly orthogonally, and the inconsistency of sensitivity of each axis requires software correction.

[0090] 5. Passive detection and low interference

[0091] The passive detection mechanism of cesium optical pumping reduces the introduction of external interference:

[0092] No excitation signal required: Only laser and weak radio frequency field are needed, and no additional magnetic field is generated (the AC excitation coil of the fluxgate will interfere with sensitive environments).

[0093] Based on the above characteristics of the cesium optical pump, this embodiment effectively addresses the accuracy requirements of subsea pipeline detection. To address the issue that data from either device alone, when used for path planning, can still impact accuracy, this embodiment employs a data fusion module to improve the accuracy of the path signal: first, the approximate location of the subsea pipeline is determined using data from the magnetic detector; this data then guides the platform to the vicinity of the pipeline. After the pipeline is stably located, the signal collected by the cesium optical pump is used to determine the pipeline's direction and depth, providing precise navigation data for the platform's movement along the pipeline, improving navigation accuracy, and ensuring the accuracy and precision of the pipeline monitoring data.

[0094] The potential detector installed in this embodiment can acquire the potential data of the subsea pipeline during the patrol. This data can effectively detect any abnormalities in the subsea pipeline, promptly identify safety risks, and better ensure the production safety of the subsea pipeline.

[0095] This embodiment allows the entire magnetic detection system to be installed on other mobile platforms, such as small drones and unmanned vehicles, through simple modifications, to perform high-altitude or ground-based magnetic field detection tasks.

[0096] This embodiment provides more accurate depth detection and burial depth measurement for subsea pipelines. The automatic potential inspection system based on this embodiment obtains more precise automatic inspection path signals, which, combined with signals collected by the unit's detectors and cameras, provides a more realistic reflection of the subsea pipeline's underwater condition, improving its safety and stability. This maximizes the service life of subsea pipelines and ensures safe production.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An automatic potential inspection system for subsea pipelines, characterized in that, include: Underwater payload platform, ultra-short baseline positioning system, altimeter, magnetometer, cesium optical pump, inertial navigation system, control cabinet; The ultra-short baseline positioning system is fixedly installed on the top of the underwater load platform to obtain a first relative position signal between the underwater load platform and the surface vessel; the first relative position signal includes a first relative angle signal between the underwater load platform and the surface vessel, a first relative height signal between the underwater load platform and the surface vessel, and a relative horizontal position data signal between the underwater load platform and the surface vessel. The altimeter is fixedly installed at the bottom of the underwater load platform to obtain the height signal between the underwater load platform and the seabed; The magnetic detector is fixedly installed at the front end of the underwater load platform in the direction of travel to obtain the second relative position signal between the subsea pipeline and the underwater load platform; The cesium optical pump is fixedly installed at the rear end of the underwater load platform in the direction of advancement to obtain a third relative position signal between the subsea pipeline and the underwater load platform; The underwater payload platform is equipped with an underwater payload platform system, which is communicatively connected to an ultra-short baseline positioning system, a magnetic detector, a cesium optical pump, and an altimeter to transmit a first relative position signal, a second relative position signal, a third relative position signal, and a height signal between the underwater payload platform and the seabed to the underwater payload platform system; then, based on the second relative position signal, the third relative position signal, and the height signal between the underwater payload platform and the seabed, a fused position signal between the subsea pipeline and the underwater payload platform is obtained; and based on the fused position signal and the first relative position signal, a compressed and packaged data signal is obtained. The control cabinet is equipped with a real-time information processing system, an automatic inspection path planning system, and an underwater load platform control system. The input end of the real-time information processing system is communicatively connected to the output end of the underwater payload platform system to transmit the packaged and compressed data signal to the real-time information processing system and obtain the decompressed and split data signal, including the decompressed and split first relative position signal, the decompressed and split second relative position signal, the decompressed and split third relative position signal, and the height signal between the underwater payload platform and the seabed. The input end of the automatic inspection path planning system is communicatively connected to the output end of the real-time information processing system to transmit the decompressed and split data signals to the automatic inspection path planning system and obtain the automatic inspection path signals. The input terminal of the underwater load platform control system is communicatively connected to the output terminal of the automatic inspection path planning system to transmit the automatic inspection path signal to the underwater load platform control system and acquire the control signals of the underwater load platform, including the horizontal propeller control signal and the vertical propeller control signal, so that the underwater load platform can move according to the automatic inspection path signal.

2. The automatic potential inspection system for subsea pipelines according to claim 1, characterized in that, It also includes inertial navigation systems; The inertial navigation system is fixedly installed on the underwater payload platform and is communicatively connected to the input terminal of the underwater payload platform system to collect the position signal, attitude signal and running speed signal of the underwater payload platform and transmit them to the underwater payload platform system; the attitude signal includes the roll angle signal, pitch angle signal and heading angle signal of the underwater payload platform.

3. The automatic potential inspection system for subsea pipelines according to claim 2, characterized in that, It also includes a potential detector; The potential detector is installed on the underwater load platform and connected to the input terminal of the underwater load platform system to collect the potential signal of the subsea pipeline and transmit it to the underwater load platform system.

4. The automatic potential inspection system for subsea pipelines according to claim 3, characterized in that, The underwater payload platform system includes a data fusion module, a power system, a propulsion system, and a data processing module; The input terminals of the data fusion module are respectively connected to the magnetic detector, the cesium optical pump and the altimeter to transmit the second relative position signal, the third relative position signal and the height signal between the underwater load platform and the seabed to the data fusion module to obtain the fused position signal between the subsea pipeline and the underwater load platform; The ultra-short baseline positioning system, data fusion module, potential detector, and inertial navigation system are all communicatively connected to the input terminal of the data processing module. They transmit the first relative position signal, the fused position signal between the subsea pipeline and the underwater load platform, the potential signal of the subsea pipeline, the position signal, attitude signal, and operating speed signal of the underwater load platform to the data processing module to obtain the packaged and compressed data signal. This enables the system to obtain the decompressed and split first relative position signal, the decompressed and split second relative position signal, the decompressed and split third relative position signal, the decompressed and split height signal between the underwater load platform and the seabed, the decompressed and split position signal of the underwater load platform, the decompressed and split attitude signal of the underwater load platform, the decompressed and split operating speed signal of the underwater load platform, and the decompressed and split potential signal of the subsea pipeline after the packaged and compressed data signal is transmitted to the real-time information processing system. The power system is communicatively connected to the output of the automatic inspection path planning system to transmit the control signal of the underwater load platform to the power system and drive the underwater load platform to move according to the automatic inspection path signal. The power system is used to provide power to the underwater payload platform.

5. The automatic potential inspection system for subsea pipelines according to claim 4, characterized in that, It also includes a human-machine interface, which is communicatively connected to a real-time information processing system to transmit the decompressed and split first relative position signal, the decompressed and split second relative position signal, the decompressed and split third relative position signal, the height signal between the decompressed and split underwater load platform and the seabed, the position signal of the decompressed and split underwater load platform, the attitude signal of the decompressed and split underwater load platform, the operating speed signal of the decompressed and split underwater load platform, and the potential signal of the decompressed and split subsea pipeline to the human-machine interface, thereby realizing the visualization of the first relative position signal, the second relative position signal, the third relative position signal, the height signal between the underwater load platform and the seabed, the position signal of the underwater load platform, the attitude signal of the underwater load platform, the operating speed signal of the underwater load platform, and the potential signal of the subsea pipeline.

6. The automatic potential inspection system for subsea pipelines according to claim 1, characterized in that, The underwater payload platform is also equipped with a camera device for acquiring real-time underwater images.

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