BR102021012710A2 - SUBMARINE 3D SCANNER - Google Patents

Abstract

The present invention proposes an equipment capable of scanning and digitizing the underwater environment, identifying and obtaining the real geometry of equipment and pipeline sections. Through scanning, a cloud of points is obtained which, after being processed, results in a 3D CAD model of the scanned object, thus being able to be manipulated in a commercial CAD application software to obtain real geometric parameters.
The underwater digitizer (DIGISUB) can be attached to ROVs (remotely operated vehicles) or AUVs (undersea autonomous vehicles).

Description

SUBMARINE 3D SCANNER Field of Invention

[0001] The present invention is based on the development of equipment capable of obtaining the geometry of equipment and sections of subsea pipelines.

Description of the State of the Art

[0002] 3D mapping technology (also called projection mapping or spatial augmented reality) is a technology used to 2D object or 3D project onto a display surface using spatial mapping.

[0003] As a general rule, the greater the distance from the sensor to the object, the lower the accuracy. The selection of a sensor and processing techniques for the development of 3D mapping systems are related to the characteristics of the operation site to be inspected, such as depth, turbidity and water temperature. Also affecting the sensor selection are the processing techniques used to generate the 3D map. In this sense, the development of equipment capable of operating in deep water requires the application of advanced research in related scientific areas, such as electronics, mechanics and underwater robotics.

[0004] Document US8929178B2 discloses a system that can be used to inspect underwater structures. This allows the user to gain a better understanding of the conditions of an underwater structure.-This is a self-contained modular system that can be operated by divers, attached to an AUV, ROV, or other towed host vehicle deployment platform by a ship, mounted on a pole or on the hull. All components needed to achieve the desired scanner functions are built into the self-contained modular system. The equipment can include and fully utilize a 3D sonar system and an inertial navigation system. This combination of features allows the system to be used to, for example, generate 3D models of underwater structures. Despite presenting equipment capable of generating 3D images of an underwater environment, the equipment, however, is only capable of generating images being considerably close to the objects.

[0005] Document EP3553565A1 reveals a hybrid imaging system with application in underwater operations with robots. The system comprises two optical image sensors for stereoscopic imaging, a light emitter with different wavelengths, a light source, a data processor connected to the image sensors. Despite presenting equipment capable of generating 3D images of an underwater environment, this, however, only uses cameras to generate the images and, in addition, needs to be close to the objects to portray the environment in 3D.

[0006] Document CN111090103A discloses a three-dimensional imaging device for dynamic detection of underwater targets. The device comprises a platform and is characterized in that a laser emitting module and an underwater camera are fixedly arranged on a platform. Despite presenting equipment capable of generating 3D images, the equipment, however, is only capable of detecting objects or small targets, it is not capable of recreating the environment virtually in 3D.

[0007] The present invention presents a solution for a 3D digitizer, the object of which is an underwater digitizer prototype (DIGISUB). The system of the invention consists of an armored computer on a support vessel, equipped with user interface software. The communication between the computer and the DIGISUB prototype follows the Ethernet architecture, through a local network that will use the ROV's umbilical to send packets. The prototype of the invention is equipped with two multiplexers (MUX), available on the vessel (topside) and on the ROV, the latter responsible for feeding the equipment's power system and its communication. DIGISUB is divided into 7 subsystems, characterizing the analytical structure of the prototype. Such subsystems are lighting, sensing, processing, power system, mechanical structure, interface and software.

[0008] The works obtained from the State of the Art differ from this invention because they do not reveal the use of a passive stereo vision method that uses only two cameras and structured light by a range of laser lines used to measure the disparity between the two cameras and, therefore, , there is no need to correct any refraction caused by it when passing through various media in the water. Consequently, this approach does not require extrinsic calibration between the pattern projector and the stereo vision system and software that has a layering of well-defined interface components, providing high cohesion and low coupling at various levels.

Purpose of the invention

[0009] It is an objective of the invention to obtain the real geometry of equipment and subsea pipeline sections.

Brief Description of the Invention

[0010] The present invention proposes a prototype capable of scanning and digitizing the underwater environment, identifying and obtaining the real geometry of equipment and pipeline sections in underwater environments.

[0011] The prototype of the digitizing equipment DIGISUB, object of this invention, was designed to provide clouds of high resolution 3D points, resulting from the sensory fusion of different sensors, through the exploration of the different qualities of each sensor. Point clouds can be used to generate three-dimensional models of equipment and sections of underwater pipelines/risers. From these, it will be possible to carry out a 3D reconstruction of the inspected structures, providing necessary measurements for planning operations in a virtual environment, further reducing the time and cost of operations.

[0012] The prototype of the DIGISUB underwater digitizing equipment is characterized by having seven functional modules: acquisition module, integration module, digitization module, persistence module, navigation module, post-processing module, and interface module.

Brief Description of the Drawings

• - A Figura 1, a qual ilustra a estrutura analítica do protótipo do digitalizador 3D (DIGISUB);
• - A Figura 2, a qual ilustra o fluxo de atividades do Módulo de Aquisição;
• - A Figura 3, a qual ilustra o fluxo de atividades do Módulo de Integração;
• - A Figura 4, a qual ilustra o fluxo de atividades do Módulo de Digitalização;
• - A Figura 5, a qual ilustra o fluxo de atividades do Módulo de Persistência;
• - A Figura 6, a qual ilustra o fluxo de atividades do Módulo de Navegação;
• - A Figura 7, a qual ilustra o fluxo de atividades do Módulo de Pós-Processamento;
• - A Figura 8, a qual ilustra o fluxo de atividades do Módulo de Interface de Operação;
• - A Figura 9, a qual ilustra a arquitetura geral do protótipo e seus respectivos módulos funcionais;
• - A Figura 10, a qual ilustra a visão geral do projeto arquitetural.
• - A Figura 11, a qual ilustra o ROS nodes;
• - A Figura 12, a qual ilustra a visão de pacotes e subsistemas da aplicação;
• - A Figura 13, a qual ilustra uma visão isométrica do sistema do digitalizador 3D, sendo composto de um sistema óptico (A), um sistema de visão estéreo formado por duas câmeras RGB (B e C), um sistema de processamento e potência (D), um sistema de iluminação formado por dois LED's (E e F) e um sonar multifeixe (G);
• - A Figura 14, a qual ilustra uma visão isométrica do encapsulamento das câmeras;
• - A Figura 15, a qual ilustra uma visão isométrica do encapsulamento da unidade de processamento e potência;
• - A Figura 16, a qual ilustra uma visão isométrica do encapsulamento óptico;
• - A Figura 17, a qual ilustra uma visão isométrica do encapsulamento do sonar;
• - A Figura 18, a qual ilustra a arquitetura eletroeletrônica completa do protótipo;
• - A Figura 19, a qual ilustra uma visão frontal do digitalizador 3D;
• - A Figura 20, a qual ilustra uma visão lateral do digitalizador 3D.

[0013] The present invention will be described in more detail below, with reference to the attached figures which, in a schematic way and not limiting the inventive scope, represent examples of its realization. The drawings have:

• - Figure 1, which illustrates the analytical structure of the 3D digitizer prototype (DIGISUB);
• - Figure 2, which illustrates the flow of activities in the Acquisition Module;
• - Figure 3, which illustrates the flow of activities in the Integration Module;
• - Figure 4, which illustrates the activity flow of the Digitization Module;
• - Figure 5, which illustrates the activity flow of the Persistence Module;
• - Figure 6, which illustrates the flow of activities in the Navigation Module;
• - Figure 7, which illustrates the activity flow of the Post-Processing Module;
• - Figure 8, which illustrates the flow of activities of the Operator Interface Module;
• - Figure 9, which illustrates the general architecture of the prototype and its respective functional modules;
• - Figure 10, which illustrates the overview of the architectural project.
• - Figure 11, which illustrates the ROS nodes;
• - Figure 12, which illustrates the view of packages and subsystems of the application;
• - Figure 13, which illustrates an isometric view of the 3D digitizer system, consisting of an optical system (A), a stereo vision system formed by two RGB cameras (B and C), a processing and power system ( D), a lighting system consisting of two LEDs (E and F) and a multibeam sonar (G);
• - Figure 14, which illustrates an isometric view of the cameras encapsulation;
• - Figure 15, which illustrates an isometric view of the packaging of the processing and power unit;
• - Figure 16, which illustrates an isometric view of the optical package;
• - Figure 17, which illustrates an isometric view of the sonar package;
• - Figure 18, which illustrates the complete electronics architecture of the prototype;
• - Figure 19, which illustrates a front view of the 3D scanner;
• - Figure 20, which illustrates a side view of the 3D scanner.

Detailed Description of the Invention

[0014] Below follows a detailed description of a preferred embodiment of the present invention, by way of example and in no way limiting. Nevertheless, it will be clear to a person skilled in the art, from reading this description, possible additional embodiments of the present invention still comprised by the essential and optional features below.

[0015] The present invention uses an armored computer on a support vessel, equipped with user interface software. All processing and activation of hardware devices is the responsibility of the computer onboard the submarine 3D digitizer (DIGISUB), which will be fixed to the ROV.

[0016] The communication between the computer and the submarine 3D digitizer (DIGISUB) follows the ethernet architecture, through a local network that will use the ROV's umbilical to send packets. A multiplexer (MUX) will be available on the vessel (topside) and another on the ROV that will be responsible for feeding the digitizer's power system and for its communication.

[0017] The development of DIGISUB through sensory fusion will provide point clouds that can be used to generate three-dimensional models of equipment and sections of underwater pipelines/risers. From the point clouds, it will be possible to carry out a 3D reconstruction of the inspected structures, providing necessary measurements for planning operations in a virtual environment, reducing the time and cost of operations.

• • Escanear os componentes submarinos a partir de uma distância de até 20 metros do ROV;
• • Ter uma área de cobertura de escaneamento máxima de pelo menos 40 m2 por tomada;
• • Ter uma resolução mínima de pelo menos 3 mm a longa distância e 1 mm a curta distância;
• • Possuir um método para auto calibração do equipamento;
• • Ser projetado para operar em profundidades de até 3000 m;
• • Salvar os dados dos componentes escaneados em formato que possa ser utilizado para outras aplicações;
• • Possuir interface amigável para configuração do equipamento.

[0018] The adoption of sensory fusion aims to generate a high-resolution point cloud by exploring the different qualities of each sensor. In this sense, the DIGISUB subsea 3D digitizer must:

• • Scan subsea components from a distance of up to 20 meters from the ROV;
• • Have a maximum scanning coverage area of at least 40 m2 per outlet;
• • Have a minimum resolution of at least 3 mm at long range and 1 mm at close range;
• • Have a method for self-calibration of the equipment;
• • Be designed to operate at depths of up to 3000 m;
• • Save the scanned component data in a format that can be used for other applications;
• • Have a friendly interface for equipment configuration.

[0019] Systematically, the submarine 3D digitizer was divided into 7 subsystems (functional modules), characterizing the analytical structure of the prototype, illustrated in Figure 1. The subsystems consist of Lighting, Sensing, Processing, Power System, Mechanical Structure and Interface and are related to the physical condition of the hardware. The software subsystem was considered from the functionalities developed to the final solution of the invention project.

[0020] To create the point cloud of submerged objects, it is necessary to use a first high-speed camera (Figure 13, B), capable of capturing a large number of pixels per second. This camera will be used to capture the points of interest marked out by the underwater laser.

[0021] For the process of data fusion and point cloud generation to be carried out properly, the system needs to know the position of the equipment at a given time. This positioning is achieved through several techniques, one of them using a second camera (Figure 13, C) as a visual reference for the current position.

[0022] For the proper functioning of the system's cameras, it is necessary to use lenses that fit the requirements of the submarine 3D digitizer prototype. For this, 2 lenses are used.

[0023] A sonar is also used (Figure 13, G) capable of generating a high resolution image of underwater areas, structures and objects, in conditions of low or zero visibility. Sonar provides a 3D point cloud and can deliver a motion compensated point cloud with the use of additional equipment.

[0024] Given the amount of information captured by the two cameras (Figure 13, B, C) and sonar (Figure 13, G), a portable computer with advanced settings and physical robustness compatible with the weather and risky conditions of the environment is required in which the operations are carried out.

[0025] The general architecture of the scanner prototype was designed with modular features to facilitate the use of all system components. The underwater 3D digitizer proposed here is composed of seven functional modules, responsible for executing the steps of digitizing underwater objects, providing the generation of a high resolution point cloud. These are: Acquisition Module, Integration Module, Digitization Module, Persistence Module, Navigation Module, Post-Processing Module, and Interface Module.

[0026] The Acquisition Module consists of a sonar, two high-resolution cameras and a laser line with adequate power for the operation. The data generated by the sensors will be properly treated and made available to other prototype subsystems. This functionality consists of establishing communication and reading data from high-speed cameras, sonar and laser line angular position. This is a step of the scanning functionality.

[0027] The devices integrated into the computer embedded in the scanning system, such as high definition cameras, sonar and the laser line, are added to the respective ROS drivers and ROS packages are created to perform data acquisition at the scanning stage. Raw data such as point cloud and position from sonar are processed during the digitization step. The stereoscopic cameras publish the rectified and pre-processed images so that it is possible to extract the depth map so that in the later step it is possible to generate the point cloud of the scene of interest. The system formed by the camera and the laser line delivers a frame for each angular position of the laser line. These images are delivered to the scanning step. In Figure 2, the activity flow of the data acquisition stage of the prototype is represented.

[0028] The Integration Module has the role of connecting data acquisition devices (sensors) and actuators with the ROS system. This functionality is responsible for establishing the physical connections between the prototype system and the sensors, in addition to establishing the logical communication between the sensors and the ROS through drivers developed by third parties and/or by the project team, as shown in Figure 3.

[0029] The Integration Module establishes the physical connection through cables and connectors specially sized to operate in a deep water environment. With the physical connection guaranteed, the logical communication can be established between the devices (sensors/actuators) and the Acquisition Module.

[0030] The Digitizing Module allows you to digitize underwater equipment and provides a high-resolution point cloud in PLY format as a result. The digitalization process consists of crossing the data acquired in the acquisition stage, which will result in the construction of high definition three-dimensional points, forming the 3D point cloud. This functionality will process heterogeneous sensor data from the automatic selection of common points, using the laser scan point cloud as a reference to scale the triangulated mesh. Through the operator interface, the operator will be able to start the scanning process, monitor it and interrupt it, if necessary. After sending the command to start a shot, the system receives an interruption signal and processes a set of actions, as shown in Figure 4, where the flow for acquiring data from each sensor and subsequent creation of the cloud of points in the PLY format.

[0031] The Persistence Module allows creating, searching and deleting PLY files that contain data from point clouds. In Figure 5, the activity flow of the prototype's Persistence Module is represented.

[0032] The purpose of the Persistence Module is to maintain the point cloud files that will be used in the post-processing step. Files generated from scanning equipment need to be organized into folders that contain files that uniquely identify each scanning step/process

[0033] The Navigation Module is responsible for providing data for calculating the distance between the point clouds generated in the digitization step. The inclusion of this data in the points is important to the union of the point clouds during the post-processing step. Navigation is the functionality that provides the system with the necessary data for the correct assembly of point clouds. This functionality uses point cloud data provided by the acquisition system itself to locate itself, generating a global view of the environment in which it will navigate. In Figure 6, the navigation activity flow is represented.

[0034] The process of capturing point clouds and 3D location in space are performed simultaneously with a technique known as Simultaneous Localization and Mapping (SLAM Simultaneous Localization and Mapping). Ο SLAM will provide a 3D map of the environment in which the digitalization will take place, allowing the location of the prototype in the environment. To increase the accuracy of the data generated by SLAM, in addition to the point clouds, an inertial measurement unit will be used, known as the Inertial Navigation System (INS Inertial Navigation System), which generates inertial measurement data with high precision and repeatability, helping the SLAM algorithm to compensate for small pose variations (position and orientation) that the prototype may suffer during the digitization process.

[0035] The Post-Processing Module is responsible for merging the data from the sensors present in the 3D scanner and for assembling the point clouds referring to the underwater scans carried out in the missions, as seen in Figure 7.

[0036] Finally, the Operator Interface Module is responsible for dealing with functionalities related to the interaction between the scanner prototype system and the system operator. Through this module, it is possible to perform operations such as: checking the status of the prototype, calibrating the system, downloading the point cloud, post-processing, visual inspection, and digitalization. In Figure 8, the activity flow of the 3D digitizer operator interface is represented.

• • Camada de Apresentação - contém os componentes de UI (User Interface), responsáveis pela interação do sistema com o usuário da aplicação. Essa camada comunica-se com as camadas de Serviço e Modelo.
• • Camada de Serviço - provê as funcionalidades referentes à lógica da aplicação, gerência das classes de negócio e controle, sendo independente da camada de apresentação.
• • Camada de Persistência - implementa uma solução de acesso a dados, provendo uma interface de métodos à Camada de Serviço para consulta e gravação de objetos.
• • Modelo - contém as abstrações que representam as classes entidades do sistema, as quais são utilizadas para transferir dados entre as camadas da aplicação.
• • Camada de Controle - é composta por classes responsáveis pelo gerenciamento do hardware do sistema. Nela encontra-se o ROS master, responsável por registrar e coordenar a comunicação entre os diversos nós (ROS Node) do sistema.
• • Camada de Integração - implementa classes que oferecem serviços de abstração do hardware e controle de baixo nível de dispositivos (drivers).
• • ROS Framework - sistema operacional.

[0037] The underwater 3D digitizer proposed here has a general architecture covering all the modules mentioned above, as shown in Figure 9. The architecture is divided into layers (Figure 10), namely:

• • Presentation Layer - contains the UI (User Interface) components, responsible for the interaction between the system and the application user. This layer communicates with the Service and Model layers.
• • Service Layer - provides functionalities related to application logic, management of business and control classes, being independent of the presentation layer.
• • Persistence Layer - implements a data access solution, providing an interface of methods to the Service Layer for querying and saving objects.
• • Model - contains the abstractions that represent the system's entity classes, which are used to transfer data between application layers.
• • Control Layer - comprises classes responsible for managing the system's hardware. It contains the ROS master, responsible for registering and coordinating the communication between the different nodes (ROS Node) of the system.
• • Integration Layer - implements classes that offer hardware abstraction services and low-level control of devices (drivers).
• • ROS Framework - operating system.

[0038] Figure 11 illustrates the communication scheme containing three system components (Nodes): Camera, Sonar and Laser, where each circle represents a node (node). Each node communicates with other nodes through messages, which are assigned to a memory address (standard location of that node, where it receives or sends messages). The node reads the message at an address and performs an action.

[0039] The layers listed above are composed of one or more packages and/or application subsystems, as shown in Figure 12. These packages group classes according to their responsibilities, namely: presentation -represents the location where the Layer classes are located of Presentation, service - represents the location where the Service Layer classes are located, persistence -represents the location where the Persistence Layer classes are located, model -represents the location where the Model Layer classes are located, control -represents the location where the Control Layer classes are, integration -represents the location where the Integration Layer classes (drivers) are.

[0040] The proposed architecture supports the requirements of a client/server architecture. The client part is implemented through the armored computer on the support vessel. The components are designed to ensure that minimum disk and memory requirements are required on the server node (NUC).

[0041] The shielded computer hosts the software components that deal with the functionalities related to the interaction between the user and the scanner prototype system. The user operates the system through a friendly interface, containing features to view the system status, calibrate the sensors, activate the inspection camera, scan equipment, download the point cloud, and apply filters to the point clouds.

[0042] The dynamic content of the application is hosted in the NUC, covering the software components of the service, persistence, model, control and integration layers.

[0043] The mechanical structure of the submarine 3D digitizer followed some assumptions to meet the work specifications, such as being able to operate in regions where the water depth approaches 3000 m in depth, in an environment with low lighting, withstanding high pressures due to to the operating environment, be equipped with a processing unit connected to the sensors, have a scanning coverage area of up to 40 m2 and a scanning distance of up to 20 m.

[0044] Figure 13 illustrates the design of the 3D digitizer, with the prototype subdivided into 5 packages, consisting of a processing and power unit (Figure 13, D), two RGB cameras (Figure 13, B and C) (forming a stereo vision system), optical system (Figure 13, A) (laser), a sonar (Figure 13, G), in addition to an artificial lighting subsystem (Figure 13, E and F) composed of two LEDs.

[0045] Figure 14 illustrates the encapsulation of the RGB cameras. As it is a camera connected via USB 3.0, the package has a standard MCBH16F connector with 16 pins, 10 of which are used for USB 3.0 Micro B communication, 4 pins for analog activation, and two spare pins for possible changes.

[0046] The encapsulation of the processing and power unit is illustrated in Figure 15, located in the central part of the prototype.

[0047] Ο optical encapsulation, illustrated in Figure 16, houses a system composed of a laser that will focus on a mirror. The mirror is mounted on an electric motor, responsible for moving the laser beam on the objects to be scanned. The centralized position of the laser in relation to the cameras guarantees that the laser beam will always find itself in the superposition of the images of the two cameras.

[0048] The sonar encapsulation is illustrated in Figure 17. Similar to the positioning of the laser, the sonar must also be centrally positioned, since the type of beam emitted by the sonar spreads out in a conical shape in front of it.

[0049] Due to the use in deep water and in an environment that has practically no lighting, an auxiliary lighting system was designed as part of the prototype. The positioning takes into account the viewing direction of the cameras (Figure 13, B and C) and a positioning above the emission plane of the laser beam (Figure 13, A) to, in case of use together, avoid light interference on the laser.

[0050] The design of the invention has a set of independent sensors and actuators that work synchronously to create and scan underwater structures. For the scanning process to be carried out properly, a power supply must be able to provide power to the sensors (INS, sonar and cameras), lighting devices (laser and LEDs), as well as the galvanometer, switch, unit data acquisition (DAQ) and NUC. The ROV will provide cabling to power and communicate with the prototype.

[0051] The communication between the prototype and the user via a computer uses an Ethernet link available on the Switch port. The commands are sent to the NUC, which works as a processing center. The data captured by the sensors (Cameras, Sonar and INS) are sent to the NUC, where the processing is done and, then, the results are sent to the computer through the umbilical cable of the ROV. The complete electronics architecture of the prototype is illustrated in Figure 18.

[0052] Figures 19 and 20 illustrate the main dimensions of the prototype, in millimeters.

Claims (18)

SUBMARINE 3D SCANNER, characterized by having seven functional modules: Acquisition Module, Integration Module, Digitization Module, Persistence Module, Navigation Module, Post-processing Module, and Interface Module. SUBMARINE 3D SCANNER, according to claim 1, characterized in that the Acquisition Module comprises a sonar (Figure 13, G), two high resolution cameras (Figure 13, B and C) and a laser line (Figure 13, A) of adequate power for the operation. SUBMARINE 3D SCANNER, according to any one of the previous claims, characterized in that the Acquisition Module also comprises an artificial lighting subsystem composed of LEDs (Figure 13, E and F). SUBMARINE 3D SCANNER, according to claim 1, characterized by the Integration Module connecting the devices comprised in the Acquisition Module and the actuators such as the ROS system. UNDERWATER 3D SCANNER, according to claim 1, characterized by the Scanning Module crossing the data acquired by the Acquisition Module and building three-dimensional points in high definition, forming a 3D point cloud. SUBMARINE 3D SCANNER, according to claim 5, characterized by the Scanning Module, preferably, creating a cloud of points in a PLY format. SUBMARINE 3D SCANNER, according to claim 1, characterized by the Persistence Module performing the creation, search and deletion of files in PLY format. SUBMARINE 3D SCANNER, according to claim 1, characterized in that the Navigation Module provides data for calculating the distance between the point clouds generated by the Scanning Module. UNDERWATER 3D SCANNER, according to claim 8, characterized in that the point cloud capture process and 3D location in space are carried out simultaneously, using the simultaneous location and mapping technique. UNDERWATER 3D SCANNER, according to claim 1, characterized in that the Post-Processing Module merges the data from the sensors present in the 3D scanner and assembles the point clouds from the scans of the Scanning Module. SUBMARINE 3D SCANNER, according to claim 1, characterized by the Interface Module making the Scanning Module interact with the operator of the 3D scanner. SUBMARINE 3D SCANNER, according to any of the preceding claims, characterized by further comprising a general architecture in layers of the type: Presentation Layer, Service Layer, Persistence Layer, Model, Control Layer, Integration Layer, and ROS Framework . SUBMARINE 3D SCANNER, according to claim 12, characterized in that the system layers are composed of one or more packages and/or application subsystems. SUBMARINE 3D SCANNER, according to any of the previous claims, characterized by the mechanical design considering some assumptions, such as: operating in regions where the water depth approaches 3000 m in depth, in an environment with low lighting, withstanding high pressures related to to the operating environment, be equipped with a processing unit connected to the sensors, have a scanning coverage area of up to 40 m2 and a scanning distance of up to 20 m. SUBMARINE 3D SCANNER, according to any one of the preceding claims, characterized in that it is subdivided into 5 packages, comprising a processing and power unit (Figure 13, D), two RGB cameras (Figure 13, B and C) (forming a of stereo vision), optical system (laser) (Figure 13, A), and a sonar (Figure 13, G), in addition to an artificial lighting subsystem composed of two LED's (Figure 13, E and F). UNDERWATER 3D SCANNER, according to any of the preceding claims, characterized in that it has a set of independent sensors and actuators that work synchronously to scan underwater structures. SUBMARINE 3D SCANNER, according to any of the preceding claims, characterized in that it has a power supply capable of providing energy to the sensors (INS, sonar and cameras), lighting devices (laser and LEDs), as well as the galvanometer, switch , data acquisition unit (DAQ) and NUC. SUBMARINE 3D SCANNER, according to any one of the preceding claims, characterized by being coupled to ROVs (remotely operated vehicles) or AUVs (undersea autonomous vehicles).

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