Pipeline inspection method, system and equipment integrating mixed reality and high-precision real-time positioning and medium

Abstract

The invention relates to a pipeline inspection method, system and device integrating mixed reality and high-precision real-time positioning and a medium, and relates to the technical field of pipeline positioning inspection, and the method comprises the steps: carrying out the decoding positioning processing through employing the obtained differential correction data and high-precision real-time satellite data, high-precision real-time positioning information when the mobile station performs pipeline inspection on the target pipeline is obtained, then three-dimensional rendering is performed by using the high-precision positioning information in combination with pipeline coordinate data and a pre-constructed three-dimensional pipeline model, and holographic projection data representing the real-time condition of the pipeline is obtained. According to the method and the device, the pipeline is subjected to pipeline holographic projection display and pipeline inspection according to the holographic projection data, and the pipeline data operation is performed in the pipeline inspection process, so that on the basis of remarkably improving the positioning precision, the real-time and visual display of the data is further realized, the data can be efficiently operated, and the data operation error rate is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline positioning and inspection, and in particular to a pipeline inspection method, system, equipment and medium integrating mixed reality and high-precision real-time positioning. Background Art

[0002] At present, with the rapid development of industrial automation and intelligence, pipeline inspection, as an important link to ensure the safe operation of key infrastructure such as oil and natural gas, has always attracted much attention for its efficiency and accuracy. Traditional pipeline inspection methods mainly rely on manual on-site measurement and observation, which is not only inefficient but also easily restricted by environmental conditions.

[0003] In order to overcome the defects of traditional pipeline inspection that relies on manual labor, the existing pipeline inspection system / method mainly presents inspection data through two-dimensional maps and digital display devices. However, the existing pipeline inspection system / method is difficult to intuitively reflect the three-dimensional structure and burial depth of the pipeline. When maintenance personnel perform pipeline management in a complex environment, they lack intuitive spatial information support, which easily leads to operational errors and low efficiency. Summary of the invention

[0004] The present application provides a pipeline inspection method, system, equipment and medium that integrates mixed reality and high-precision real-time positioning. While significantly improving positioning accuracy, it realizes real-time and intuitive display of data, can efficiently operate data, and reduce the error rate of data operation, solving the problem of operational errors and low efficiency caused by the lack of intuitive spatial information support in existing pipeline inspection methods.

[0005] In a first aspect, the present application provides a pipeline inspection method integrating mixed reality and high-precision real-time positioning, comprising:

[0006] Acquire differential correction data and high-precision real-time satellite data, wherein the differential correction data is the positioning data of the reference station in the RTK system;

[0007] Decoding and positioning processing is performed according to the differential correction data and the high-precision real-time satellite data to obtain high-precision positioning information, wherein the high-precision positioning information is real-time positioning information when the mobile station performs pipeline inspection on the target pipeline;

[0008] According to the high-precision positioning information, three-dimensional rendering is performed in combination with the acquired pipeline coordinate data and the pre-built three-dimensional pipeline model to obtain holographic projection data, wherein the holographic projection data includes real-time pipeline data of the target pipeline;

[0009] According to the holographic projection data, pipeline holographic projection display and pipeline inspection are performed, and pipeline data operations are performed through holographic projection during the pipeline inspection.

[0010] Optionally, obtain differential correction data and high-precision real-time satellite data, including:

[0011] Obtain the original positioning data of Beidou satellites through at least two virtual reference stations, and obtain high-precision real-time satellite data;

[0012] A differential correction is performed according to the original positioning data to obtain differential correction data.

[0013] Optionally, performing decoding and positioning processing according to the differential correction data and the high-precision real-time satellite data to obtain high-precision positioning information includes:

[0014] Performing real-time differential calculation based on the differential correction data in combination with the high-precision real-time satellite data to obtain mobile station positioning information;

[0015] According to a preset format, the mobile station positioning information is decoded to obtain clear code high-precision positioning information.

[0016] Optionally, three-dimensional rendering is performed based on the high-precision positioning information in combination with the acquired pipeline coordinate data and a pre-built three-dimensional pipeline model to obtain holographic projection data, including:

[0017] Obtaining a pre-built three-dimensional pipeline model of the target pipeline, and obtaining pipeline coordinate data of the target pipeline through a data interface;

[0018] Performing data preprocessing according to the high-precision positioning information to obtain key positioning data;

[0019] According to the key positioning data, coordinate system one processing is performed in combination with the pipeline coordinate data to obtain data to be rendered;

[0020] In the pipeline three-dimensional model, real-time pipeline detection rendering is performed using the data to be rendered to obtain holographic projection data containing real-time pipeline data;

[0021] The real-time pipeline data is pipeline data acquired when the mobile station performs pipeline inspection on the target pipeline, and the real-time pipeline data includes pipeline location information, buried depth information and maintenance record information.

[0022] Optionally, data preprocessing is performed according to the high-precision positioning information to obtain key positioning data, including:

[0023] Performing data cleaning and format conversion according to the high-precision positioning information to obtain positioning data in a target format;

[0024] The positioning data in the target format is parsed and extracted to obtain key positioning data, wherein the key positioning data includes position coordinates.

[0025] Optionally, performing pipeline holographic projection display and pipeline inspection according to the holographic projection data, and performing pipeline data operation through holographic projection during the pipeline inspection process, including:

[0026] Generate a projection instruction according to the holographic projection data, wherein the projection instruction is used to control a target display device to display the holographic projection data in a holographic projection interactive interface, wherein the displayed data includes a real-time pipeline model and related data, and the target display device includes mixed reality glasses;

[0027] Obtaining an inspection operation of a target object in the holographic projection interactive interface, wherein the inspection operation includes a viewing operation, a marking operation, and an editing operation;

[0028] The displayed relevant data is processed according to the inspection operation, and the real-time pipeline model and the relevant data are updated.

[0029] Optionally, after updating the real-time pipeline model and the related data, the method further includes:

[0030] Obtain the pipeline update model and related update data after data update;

[0031] The pipeline update model and related update data are uploaded to the target server to perform real-time recording and synchronization of inspection data.

[0032] In the second aspect, the present application provides a pipeline inspection system integrating mixed reality and high-precision real-time positioning, including:

[0033] Satellite signal receiver and communication module, used to obtain differential correction data and high-precision real-time satellite data, the differential correction data is the positioning data of the base station in the RTK system;

[0034] A positioning module, used to perform decoding and positioning processing based on the differential correction data and the high-precision real-time satellite data to obtain high-precision positioning information, wherein the high-precision positioning information is real-time positioning information when the mobile station performs pipeline inspection on the target pipeline;

[0035] A data processing module, configured to perform three-dimensional rendering according to the high-precision positioning information, in combination with the acquired pipeline coordinate data and a pre-built three-dimensional pipeline model, to obtain holographic projection data, wherein the holographic projection data includes real-time pipeline data of the target pipeline;

[0036] The display module is used to perform pipeline holographic projection display and pipeline inspection according to the holographic projection data, and to perform pipeline data operations through holographic projection during the pipeline inspection.

[0037] In a third aspect, the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0038] Memory, used to store computer programs;

[0039] The processor is used to implement the steps of the pipeline inspection method integrating mixed reality and high-precision real-time positioning as described in any embodiment of the first aspect when executing the program stored in the memory.

[0040] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the pipeline inspection method integrating mixed reality and high-precision real-time positioning as described in any embodiment of the first aspect.

[0041] In summary, the embodiment of the present application uses the acquired differential correction data and high-precision real-time satellite data for decoding and positioning processing to obtain high-precision real-time positioning information when the mobile station performs pipeline inspection on the target pipeline, and then uses the high-precision positioning information, combined with the pipeline coordinate data and the pre-built three-dimensional pipeline model for three-dimensional rendering, to obtain holographic projection data representing the real-time situation of the pipeline, and then performs pipeline holographic projection display and pipeline inspection according to the holographic projection data, and performs pipeline data operations during the pipeline inspection. Therefore, the present application uses the high-precision positioning capability of the satellite system, combined with network RTK technology, to achieve centimeter-level positioning accuracy and a wider range of coverage. On the basis of significantly improving the positioning accuracy, it further realizes real-time and intuitive display of data, and can efficiently operate data, reduce the error rate of data operation, and solves the problems of operational errors and inefficiency caused by the lack of intuitive spatial information support in the existing pipeline inspection method. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0044] Figure 1 A flow chart of a pipeline inspection method integrating mixed reality and high-precision real-time positioning provided in an embodiment of the present application;

[0045] Figure 2This is a schematic diagram of the steps of a pipeline inspection method integrating mixed reality and high-precision real-time positioning provided by an optional embodiment of the present application;

[0046] Figure 3 This is a schematic diagram of the components of a pipeline inspection system provided by an optional example of the present application, as well as the relative positions and connection relationships of the components;

[0047] Figure 4 It is a schematic diagram of a pipeline inspection system structure provided by an optional example of the present application;

[0048] Figure 5 This is a block diagram of the working principle of an RTK positioning module provided by an optional example of this application;

[0049] Figure 6 It is a software system architecture diagram provided by an optional example of this application;

[0050] Figure 7 It is a workflow diagram of MR glasses provided by an optional example of this application;

[0051] Figure 8 It is a user operation interface diagram provided by an optional example of this application;

[0052] Fig. 9 A structural block diagram of a pipeline inspection system integrating mixed reality and high-precision real-time positioning provided in an embodiment of the present application;

[0053] Fig.10 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0055] To facilitate the understanding of the embodiments of the present application, further explanation will be given below in conjunction with the drawings and specific embodiments. The embodiments do not constitute a limitation on the embodiments of the present application.

[0056] Figure 1 A flow chart of a pipeline inspection method integrating mixed reality and high-precision real-time positioning provided in an embodiment of the present application. Figure 1As shown, the pipeline inspection method integrating mixed reality and high-precision real-time positioning provided in the embodiment of the present application may specifically include the following steps:

[0057] Step 110, obtaining differential correction data and high-precision real-time satellite data.

[0058] The differential correction data is the positioning data of the base station in the RTK system.

[0059] In this embodiment, the differential correction data may be data obtained by satellite positioning of the reference station, such as the reference station may be obtained by Beidou GNSS positioning. The high-precision real-time satellite data may be satellite GPS positioning signal data obtained by a mobile station associated with the reference station through satellite positioning, such as the GPS positioning signal of the Beidou satellite system, which is not limited in this embodiment.

[0060] In actual implementation, this embodiment can use network RTK technology to build an RTK system by combining multiple base stations with mobile stations. The base station can first use the high-precision positioning capability of the Beidou satellite system for positioning, and send the obtained differential correction data to the mobile station. The mobile station can receive the differential correction data and obtain high-precision real-time satellite data for subsequent high-precision positioning.

[0061] Step 120, performing decoding and positioning processing based on the differential correction data and the high-precision real-time satellite data to obtain high-precision positioning information.

[0062] The high-precision positioning information is real-time positioning information when the mobile station conducts pipeline inspection on the target pipeline.

[0063] In the related art, most of the existing pipeline detection systems / methods use a single traditional RTK system for positioning. Specifically, the traditional RTK system is usually equipped with a fixed base station and a mobile station. The base station is usually installed at a fixed position with known coordinates. It is responsible for receiving satellite signals in real time and calculating differential correction data, and then transmitting the correction data to the mobile station via radio or other communication methods. After receiving the differential data from the base station, the mobile station performs real-time differential operations to obtain the positioning position coordinates. The traditional RTK system is mainly used in surveying and mapping, agriculture, and autonomous driving. However, the traditional RTK system can only be used for positioning in open environments. It cannot be used for pipeline inspections in some non-open environments or complex environments. Its dependence on the characteristics of fixed base stations limits the coverage of positioning. Once the effective transmission distance of the base station (usually several kilometers) is exceeded, the positioning accuracy and stability will drop significantly. In addition, the reception quality of satellite signals of traditional RTK systems may be affected in complex terrain or obstructed environments, resulting in increased positioning errors.

[0064] In order to overcome the problems of limited base station coverage and insufficient positioning accuracy in traditional RTK systems, this embodiment adopts network RTK technology and uses a network RTK system to build a base station network by deploying multiple base stations in a larger area. The central server processes the data of multiple base stations in real time to generate "virtual base station" data for use by mobile stations. The user's mobile station only needs to connect to the central server to obtain differential correction data from the virtual base station, thereby achieving high-precision positioning in a larger range. The network RTK system significantly improves the positioning coverage and reduces the dependence on a single base station. It is suitable for application scenarios in large-scale and complex environments.

[0065] In the specific implementation, this embodiment is improved on the basis of the network RTK system. The mobile station can simultaneously obtain the differential correction data of the reference station, and decode and position the data in combination with the high-precision real-time satellite data of the Beidou satellite system. By combining the two positioning data for high-precision positioning, high-precision positioning information is obtained. Therefore, this embodiment achieves centimeter-level positioning accuracy in the positioning part of the mobile station, effectively expands the positioning coverage, ensures the accuracy and timeliness of the positioning data, and solves the problems of limited range and insufficient positioning accuracy of the traditional RTK system.

[0066] Step 130, performing three-dimensional rendering based on the high-precision positioning information in combination with the acquired pipeline coordinate data and the pre-constructed three-dimensional pipeline model to obtain holographic projection data.

[0067] Wherein, the holographic projection data includes real-time pipeline data of the target pipeline.

[0068] In this embodiment, the pipeline coordinate data may include but is not limited to: pipeline coordinates and pipeline sensor data obtained from the client system. Real-time pipeline data may include multiple relevant information of the pipeline, such as but not limited to: pipeline location, buried depth, and maintenance records.

[0069] In a specific implementation, this embodiment can first unify the high-precision positioning information of real-time positioning and the pipeline coordinate data, and then use a three-dimensional engine, such as the Unity3D engine, to dynamically fuse the high-precision positioning information of real-time positioning with the three-dimensional pipeline model, and render the pipeline model in Unity3D to obtain holographic projection data, which can provide intuitive and real-time pipeline space information.

[0070] Step 140, performing pipeline holographic projection display and pipeline inspection according to the holographic projection data, and performing pipeline data operations through holographic projection during the pipeline inspection process.

[0071] In this embodiment, pipeline data operations may include but are not limited to: viewing operations, marking operations, and editing operations, etc., which are not limited in this embodiment.

[0072] In a specific implementation, this embodiment can use holographic projection data to perform pipeline holographic projection display through a holographic display device, such as a holographic display device that can include but is not limited to: MR glasses, etc. The holographic display device can display real-time pipeline data intuitively and in real time in the form of holographic image display.

[0073] In actual implementation, users can wear / use MR (Mixed Reality) glasses to inspect pipelines. During the inspection, in addition to viewing specific information about the pipeline, they can also perform necessary operations, including pipeline data operations. Specifically, MR glasses can display holographic projection data through an interactive interface, and the interactive interface can also be provided with functional modules related to data operations, such as a user interaction module. During pipeline inspection, the pipeline data can be operated through the interactive module.

[0074] It can be seen that the embodiment of the present application uses the acquired differential correction data and high-precision real-time satellite data for decoding and positioning processing to obtain high-precision real-time positioning information when the mobile station performs pipeline inspection on the target pipeline, and then uses the high-precision positioning information, combined with the pipeline coordinate data and the pre-built three-dimensional pipeline model for three-dimensional rendering, to obtain holographic projection data representing the real-time situation of the pipeline, and then performs pipeline holographic projection display and pipeline inspection according to the holographic projection data, and performs pipeline data operations during the pipeline inspection process. Therefore, the present application uses the high-precision positioning capability of the satellite system, combined with network RTK technology, to achieve centimeter-level positioning accuracy and a wider range of coverage. On the basis of significantly improving the positioning accuracy, it further realizes real-time and intuitive display of data, and can efficiently operate data, reduce the error rate of data operation, and solves the problems of operational errors and inefficiency caused by the lack of intuitive spatial information support in the existing pipeline inspection method.

[0075] Reference Figure 2 , shows a schematic flow chart of the steps of a pipeline inspection method integrating mixed reality and high-precision real-time positioning provided by an optional embodiment of the present application. The method may specifically include the following steps:

[0076] Step 210, obtaining differential correction data and high-precision real-time satellite data.

[0077] The differential correction data is the positioning data of the base station in the RTK system.

[0078] In an optional embodiment, the embodiment of the present application obtains differential correction data and high-precision real-time satellite data, which may specifically include: obtaining the original positioning data of the Beidou satellite through at least two virtual reference stations, and obtaining high-precision real-time satellite data; performing differential correction based on the original positioning data to obtain differential correction data.

[0079] In related technologies, although the network RTK system has expanded its coverage through the base station network, it still relies on the stability of the network and the distribution density of the base stations. In areas where the network is unstable or the base stations are unevenly distributed, the positioning accuracy and real-time performance may not be guaranteed, and the system is highly complex.

[0080] In addition, some existing pipeline inspection systems have attempted to introduce MR technology, but existing MR applications often lack deep integration with high-precision positioning technology, and cannot achieve real-time, accurate dynamic matching of virtual information with the real environment, resulting in insufficient accuracy and practicality of holographic projection. In addition, existing systems have certain barriers in software and hardware integration, and cannot achieve seamless connection of high-precision positioning data with MR devices. Some systems require additional portable computing device support, which increases the burden on maintenance personnel and operational complexity. The weight and wearing comfort of hardware equipment are also a major challenge for existing systems, especially during long-term on-site inspections. Equipment that is too heavy or uncomfortable may affect work efficiency and user experience.

[0081] In view of the above-mentioned deficiencies in the prior art, this embodiment proposes a pipeline inspection system that integrates Beidou + RTK positioning technology and MR glasses. By combining high-precision RTK positioning and MR holographic display, the pipeline inspection system proposed in this embodiment not only significantly improves the positioning accuracy and coverage, but also realizes real-time, intuitive display of data and efficient on-site operation through portable hardware design and optimized software integration.

[0082] In a specific implementation, this embodiment can construct a pipeline inspection system for pipeline inspection, and use the pipeline inspection system to implement pipeline inspection that integrates mixed reality and high-precision real-time positioning. Figure 3-Figure 8 ) introduces the technical solution of the present application in detail, including but not limited to: the structure, interconnection relationship and working principle of each component of the pipeline inspection system.

[0083] Refer to Figure 3 The pipeline inspection system composition diagram shown in the figure and Figure 4The pipeline inspection system structure diagram is shown. In a specific implementation, the pipeline inspection system can be mainly composed of multiple key components, including but not limited to: RTK positioning module, mixed reality (MR) reality device, software system and power management module (as a power supply, providing stable power for all electronic devices to ensure continuous operation of the system).

[0084] In actual implementation, the RTK positioning module is mainly used to combine the high-precision positioning capability of the Beidou satellite system with the wide-area coverage of the network RTK to achieve centimeter-level positioning accuracy and expand the positioning coverage. The RTK positioning module can be mainly composed of a Beidou GNSS receiver (such as a K823 GNSS module with an integrated GNSS receiver, which is responsible for receiving Beidou satellite signals to achieve high-precision positioning), a base station module (including one or more base stations, such as a T30 base station) and a communication module. The T30 base station can be installed at a fixed position with known coordinates and communicate with a mobile station, such as through a radio station or a 4G network, which is not limited in this example. The mobile station can be integrated into the pipeline inspection equipment, which can usually include but is not limited to: a Beidou GNSS receiver and a communication module, which receives the differential correction data of the base station in real time.

[0085] In actual processing, refer to Figure 4 The base station can first obtain its own coordinates by self-positioning, and then on this basis, the base station combines the obtained satellite signals for positioning to obtain differential correction data, and sends the differential correction data to the mobile station through the built-in radio. After the mobile station receives the differential correction data in real time, it can be combined with the obtained high-precision real-time satellite data for subsequent high-precision real-time positioning, that is, execute steps 220-230.

[0086] Step 220: Perform real-time differential calculation based on the differential correction data in combination with the high-precision real-time satellite data to obtain mobile station positioning information.

[0087] Step 230: Decode the mobile station positioning information according to a preset format to obtain high-precision positioning information in plain text.

[0088] The high-precision positioning information is real-time positioning information when the mobile station conducts pipeline inspection on the target pipeline.

[0089] A unified description of steps 220 to 230 is given as follows:

[0090] In the specific implementation, refer to Figure 4 and Figure 5After receiving the differential correction data transmitted by the base station, the mobile station combines the differential correction data with the satellite data for calculation, and obtains the real-time positioning information of the mobile station for the target pipeline inspection as the mobile station positioning information. The mobile station positioning information is then decoded and calculated to obtain centimeter-level precision positioning / position information.

[0091] In actual implementation, the mobile station can be integrated with real-time differential operation and data interface modules. By designing efficient data interface and processing modules, real-time preprocessing and differential operation of RTK positioning data can be ensured to ensure the accuracy and timeliness of positioning data.

[0092] Therefore, this embodiment first achieves high-precision positioning, and its positioning accuracy far exceeds the 5-10 meter positioning accuracy of traditional GPS equipment. By improving the positioning accuracy, it ensures that the field data of pipeline equipment is accurate, greatly improving the accuracy of inspection work. Through real-time differential calculation and data synchronization, it can ensure that the subsequently generated pipeline model can be dynamically matched with the actual position, improve the real-time and accuracy of data, and enhance the convenience and efficiency of on-site operations. Furthermore, this embodiment achieves a wide coverage range. By adopting network RTK technology, deploying multiple base stations and building a virtual base station network, it achieves a significant expansion of positioning coverage. Compared with the several kilometers limit of traditional RTK systems, network RTK systems can cover larger areas and adapt to inspection needs in complex environments.

[0093] Furthermore, considering the component costs of the RTK system, this embodiment can also optimize the costs to achieve cost-effectiveness optimization, which mainly includes two parts: hardware optimization and deployment solution optimization. Specifically, in the hardware optimization part, this embodiment can select economical and efficient hardware, and by evaluating different RTK access solutions and hardware selections, the system optimizes the cost structure while ensuring high performance. When the network RTK solution is used, only a one-time hardware investment is required when the network is good, reducing long-term operating costs; in the deployment solution optimization part, this embodiment uses a flexible deployment solution. The system supports radio station mode and network RTK mode, which can be flexibly selected according to the actual environment and budget to ensure the best cost-effectiveness in different application scenarios.

[0094] Step 240, obtaining a pre-built three-dimensional pipeline model of the target pipeline, and obtaining pipeline coordinate data of the target pipeline through a data interface.

[0095] In the specific implementation, refer to Figure 4 In this implementation, a three-dimensional model of the target pipeline to be inspected can be pre-built, and the target pipeline can be provided with sensors, etc. The client system is connected via a data interface (API), so that the pipeline coordinates and the sensor data of the pipeline can be obtained from the client system as the pipeline coordinate data.

[0096] Step 250: perform data preprocessing based on the high-precision positioning information to obtain key positioning data.

[0097] In a specific implementation, after acquiring high-precision positioning information, this embodiment can perform data preprocessing on the high-precision positioning information. The data preprocessing includes: cleaning, format conversion and parsing of RTK data such as high-precision positioning information, so as to obtain processed positioning data as key positioning information.

[0098] In an optional embodiment, the embodiment of the present application performs data preprocessing based on the high-precision positioning information to obtain key positioning data, which may specifically include: performing data cleaning and format conversion based on the high-precision positioning information to obtain positioning data in a target format; parsing and extracting the positioning data in the target format to obtain key positioning data, wherein the key positioning data includes location coordinates.

[0099] In this embodiment, data cleaning includes but is not limited to removing noise and outliers; format conversion is mainly used to standardize different output formats; and the parsing process includes extracting key information, such as location coordinates, etc.

[0100] Step 260: performing coordinate system one processing according to the key positioning data in combination with the pipeline coordinate data to obtain data to be rendered.

[0101] Step 270: In the pipeline three-dimensional model, real-time pipeline detection rendering is performed using the data to be rendered to obtain holographic projection data containing real-time pipeline data.

[0102] The real-time pipeline data is pipeline data acquired when the mobile station performs pipeline inspection on the target pipeline, and the real-time pipeline data includes pipeline location information, buried depth information and maintenance record information.

[0103] A unified description of steps 260 to 270 is given as follows:

[0104] In actual implementation, this embodiment uses engines such as Unity3D to obtain pipeline positioning and pipeline sensor data from the client system in the form of a data interface, and then unifies the coordinate system of the two to perform pipeline rendering and data processing. Specifically, this embodiment combines key positioning data and pipeline coordinate data to perform coordinate system one processing, including coordinate system transformation, and after unifying the coordinate system, obtains the data to be rendered, and at this time, the data to be rendered includes the real-time position. Then, on this basis, the Unity3D engine is used to render the data to be rendered into the pipeline three-dimensional model to obtain holographic projection data containing real-time pipeline data. Therefore, this embodiment uses the Unity3D engine to dynamically merge the real-time positioning data with the pre-built three-dimensional pipeline model, and then a holographic image display can be performed to provide intuitive and real-time pipeline space information.

[0105] In actual implementation, refer to Figure 3 , Figure 4 as well as Figure 5 The mixed reality (MR) device of the pipeline inspection system can be composed of MR glasses (such as XREALMR glasses, which are responsible for displaying the three-dimensional pipeline model and positioning data to the user in the form of holographic images) and portable computing devices (such as lightweight portable computers, mobile terminals, etc., which are responsible for running MR applications and processing positioning data). The software system can include a data interface and processing module (for reading RTK data, preprocessing and real-time differential operations), a three-dimensional modeling and display module (for using the Unity3D engine to combine the processed data with the pipeline three-dimensional model and display it on MR glasses) and a user interaction module (allowing users to interact through MR glasses, such as viewing detailed information, editing data, etc.).

[0106] The mobile station transmits high-precision positioning data to the portable computing device through a serial port or wireless interface, and then the portable computing device runs the data interface and processing module to perform data preprocessing and real-time differential operations. Specifically, the data interface and processing module reads the RTK data and sensor coordinates sent by the mobile station and the client system, and transmits them to the 3D modeling and display module. The 3D modeling and display module generates a real-time pipeline model in Unity3D based on the received data, and exchanges data with the MR glasses through the user interaction module.

[0107] In actual processing, the software system of the computing device cleans, converts the format and preliminarily analyzes the received RTK data to ensure the accuracy and consistency of the data; the real-time differential operation module uses the preset positioning algorithm to calculate the position based on the preprocessed data and generate three-dimensional coordinates corresponding to the actual pipeline position. In addition, the computing device can also connect to the customer's system through the API to obtain the high-precision coordinates of the pipeline and the real-time data of the sensor.

[0108] Step 280: Generate a projection instruction according to the holographic projection data.

[0109] The projection instruction is used to control the target display device to display the holographic projection data in the holographic projection interactive interface, and the displayed data includes a real-time pipeline model and related data, and the target display device includes mixed reality glasses.

[0110] Specifically, the target display device refers to a device with virtual-reality display capabilities. Preferably, in this embodiment, the target display device can be MR glasses; the real-time pipeline model refers to a virtual pipeline model that matches the actual environment, which can be understood as rendering real-time positioning data based on the three-dimensional model of the pipeline. When the user uses the target display device, the pipeline model and real-time positioning status can be displayed, including the three-dimensional coordinates corresponding to the actual pipeline position. In addition, the target display device can also display relevant data, including but not limited to the specific location, burial depth, maintenance records and other information of the pipeline.

[0111] In the related technologies, the existing pipeline inspection system has certain barriers in terms of software and hardware integration, especially in the seamless connection of high-precision positioning data with display devices, and lacks a unified solution. Some systems require additional portable computing devices to support, which increases the burden on maintenance personnel and the complexity of operation. In addition, the weight and wearing comfort of hardware equipment are also a major challenge for existing systems, especially during long-term on-site inspections. Equipment that is too heavy or uncomfortable may affect work efficiency and user experience.

[0112] To solve the above problems, this embodiment uses portable devices such as MR glasses and combines them with computing devices to realize real-time pipeline display. In a specific implementation, MR glasses can communicate with computing devices through NRSDK to receive three-dimensional data for holographic display. In this embodiment, the real-time generated three-dimensional pipeline model and pipeline data can be displayed in the form of holographic projection through MR glasses. In order to control the MR glasses to display the real-time pipeline model and related data, the holographic projection data can be used to generate projection instructions. The projection instructions can carry the displayed data. Through the projection instructions, the MR glasses are made to display the real-time pipeline model and related data.

[0113] Therefore, this embodiment realizes the dynamic generation of a virtual pipeline model that matches the actual environment. The three-dimensional modeling results and the sensor data of the pipeline can be subsequently transmitted to the MR glasses through the user interaction module. The MR glasses superimpose them in the user's field of view in the form of a holographic image, realizing the seamless integration of virtual and reality.

[0114] For example, refer to Figure 5 and Figure 6As shown, the portable computing device can transmit the processed data to the MR glasses via a wireless connection (such as Wi-Fi) or a wired connection (such as through a USB interface, etc.).

[0115] Step 290: obtaining the inspection operation of the target object in the holographic projection interactive interface.

[0116] The inspection operation includes viewing operation, marking operation and editing operation.

[0117] Step 300: Process the displayed relevant data according to the inspection operation, and update the real-time pipeline model and the relevant data.

[0118] A unified description of step 290 to step 300 is given as follows:

[0119] In the specific implementation, refer to Figure 7 and Figure 8 During the inspection process, users can use MR glasses to display the interactive interface through the user interaction module to view the specific location, burial depth, maintenance records and other information of the pipeline, and perform multiple inspection-related operations. For example, during the user selection process, Figure 8 The editing function module shown is used to modify one or more items. After the modification is completed, the real-time pipeline model and related pipeline information displayed by the MR glasses can be updated and corrected accordingly.

[0120] Furthermore, in this embodiment, the data of all interactive operations can be synchronized to the portable computing device in real time through the software system to ensure the consistency and real-time performance of the data.

[0121] As a result, this embodiment realizes intuitive data display and interaction, including holographic projection display and real-time data update. For holographic projection display, this embodiment combines MR glasses technology to display the three-dimensional pipeline model and real-time positioning data in the form of holographic images, providing intuitive and clear spatial information, helping maintenance personnel to quickly understand the actual situation of the pipeline and reduce operational errors. For real-time data update, the pipeline inspection system in this embodiment ensures dynamic matching of the pipeline model with the actual position through real-time differential calculation and data synchronization, improves the real-time and accuracy of the data, and enhances the convenience and efficiency of on-site operations.

[0122] Optionally, after the real-time pipeline model and the related data are updated, the method may further include: obtaining the pipeline update model and related update data after the data is updated; uploading the pipeline update model and related update data to the target server to perform real-time recording and synchronization of inspection data.

[0123] In a specific implementation, the relevant updated data may include but is not limited to: all inspection data and operation records, etc. This embodiment can store the inspection data and operation records in real time in a portable computing device, and can selectively upload them to a cloud server for subsequent data analysis and management, and realize data recording and synchronization.

[0124] Taking the actual pipeline inspection process as an example, the actual pipeline inspection process mainly includes four parts: system integration and configuration, pipeline inspection operation process, process conditions and operation steps, and system maintenance and upgrade.

[0125] System integration and configuration mainly include the following points:

[0126] Hardware equipment preparation: In this example, you can purchase Beidou K823 GNSS module, XREALMR glasses, portable computing devices (configuration parameters meet the needs of real-time data processing), radio stations or 4G communication modules, and then ensure that all devices have the necessary interfaces and power supply; Base station deployment: Select multiple base station installation points with known locations to ensure a wide field of view and good signal reception. Install Beidou GNSS receivers and communication modules at each base station to ensure that differential correction data can be sent stably; Mobile station installation: Integrate Beidou GNSS modules and communication modules into inspection equipment to ensure that the equipment can receive differential data from the base station during movement. Connect portable computing devices to ensure smooth data transmission; Software system installation and configuration: Install RTK data interface and processing software, Unity3D engine and the patented customized 3D modeling and display module on the portable computing device. Configure communication parameters to ensure stable data transmission between the base station and the mobile station; MR glasses setup: Install and configure XREALMR glasses to ensure that they communicate normally with the portable computing device via Wi-Fi or wired connection. Deploy customized MR applications, load pipeline 3D models and real-time data processing modules; System calibration and testing: Start the system, perform preliminary calibration, start the portable computing device and MR glasses, load pipeline 3D models and positioning algorithms, initialize the RTK positioning module, and ensure normal communication between the base station and the mobile station, including ensuring accurate transmission of differential correction data between the Beidou GNSS module and the base station. Conduct a trial run in the actual inspection environment to verify positioning accuracy and data display effects, and adjust system parameters to optimize performance.

[0127] The pipeline inspection operation process mainly includes the following points:

[0128] Inspection preparation: The inspectors wear MR glasses and carry inspection equipment with integrated RTK modules. Start the portable computing device and MR application to load the three-dimensional model of the pipeline of the current inspection route; Real-time positioning and data display: The system obtains the location of the inspection equipment in real time through the Beidou + RTK positioning module and maps it to the three-dimensional pipeline model. MR glasses display the connection between the virtual pipeline and the actual location in real time, and the inspectors can intuitively see the specific location, burial depth and related information of the pipeline; Data recording and management: During the inspection, the system automatically records the inspection path, positioning data and operation log, and synchronizes them to the portable computing device in real time. The inspectors can view detailed information, mark problem points or enter maintenance records through the interactive interface of MR glasses; Data synchronization and analysis: After the inspection is completed, the portable computing device uploads all data to the cloud server for subsequent data analysis and management. Managers can view inspection reports and generate analysis charts through the cloud platform to make further pipeline maintenance decisions.

[0129] The process conditions and operation steps mainly include the following points:

[0130] Hardware installation process: Ensure that all electronic components are correctly connected according to the technical drawings, and are welded and fixed firmly to avoid loosening or damage during on-site inspections. Configure the power management module to ensure stable power supply for each device to avoid equipment failure due to unstable voltage; Software configuration process: Install the necessary software dependency libraries and drivers to ensure the normal operation of the RTK data interface and processing module. Configure the three-dimensional modeling parameters in Unity3D to ensure that the pipeline model accurately matches the actual position; Operation steps: ① System startup: Turn on the portable computing device and MR glasses, and start the RTK positioning module and MR application. ② Equipment calibration: Perform equipment position calibration to ensure accurate initial positioning. ③ Start inspection: The inspectors conduct on-site inspections according to the predetermined route, and the system provides high-precision positioning and holographic data display in real time. ④ Data recording: During the inspection, the system automatically records all relevant data and provides a real-time interactive operation interface. ⑤ End of inspection: After the inspection is completed, turn off the system equipment and upload and back up the data.

[0131] System maintenance and upgrades mainly include the following points:

[0132] Regular calibration: Regularly calibrate the positioning modules of the base station and mobile station to ensure the stability of high-precision positioning; Software update: Based on usage feedback and technological progress, regularly update the RTK data interface, 3D modeling module and MR application to improve system performance and user experience; Hardware maintenance: Regularly check the connection status and function of all hardware components, and replace damaged or aging parts in time to ensure the long-term stable operation of the system.

[0133] It can be seen that the technical solution of this application, on the basis of realizing a high-precision and wide-coverage positioning system, real-time data processing and three-dimensional holographic display, also realizes the following: ① Highly integrated and portable system design, optimized software and hardware integration: The integrated design between the RTK positioning module, portable computing device and MR glasses is optimized, reducing the dependence on additional equipment, achieving the compactness and portability of the system, and improving the user's operating comfort and work efficiency. Lightweight and comfortable wearing design: The lightweight MR glasses and portable computing device design are adopted to ensure that the wearing comfort and work convenience of maintenance personnel are improved during long-term inspections. ② Economical and efficient implementation plan: Flexible RTK access and hardware selection: By evaluating multiple RTK access solutions and optimizing hardware selection, a cost-effective solution is provided while ensuring high performance, which meets the needs of different budgets and application environments. Network RTK and radio station dual mode support: The system supports flexible switching between radio station mode and network RTK mode, and selects the optimal positioning data transmission method according to the actual inspection environment and infrastructure conditions, reducing long-term operating costs. ③. User-friendly interactive interface and data management: MR glasses interactive module: An intuitive user interactive interface is designed to allow maintenance personnel to view, annotate and edit inspection data through MR glasses, simplify the operation process and improve data management efficiency. Real-time data synchronization and cloud integration: Real-time recording and synchronization of inspection data are realized, and data upload to the cloud server is supported to facilitate subsequent data analysis and management, enhancing the overall functionality and scalability of the system. ④. System scalability and adaptability: Modular design: Each functional module (such as positioning module, data processing module, three-dimensional display module, etc.) adopts a modular design to facilitate system maintenance and functional expansion, and adapt to future technological development and changes in application needs.

[0134] In summary, the embodiment of the present application utilizes the acquired differential correction data and combines it with high-precision real-time satellite data to perform real-time differential operations to obtain mobile station positioning information, and then decodes the mobile station positioning information according to a preset format to obtain high-precision positioning information in plain text, performs data preprocessing on the high-precision positioning information to obtain key positioning data, and then on this basis, combines the pipeline coordinate data of the target pipeline to perform coordinate system one processing to obtain data to be rendered, and in the pipeline three-dimensional model, uses the data to be rendered to perform real-time pipeline detection rendering to obtain holographic projection data containing real-time pipeline data, and then generates a projection instruction based on the holographic projection data, obtains the inspection operation of the target object in the holographic projection interactive interface, processes the displayed related data based on the inspection operation, and updates the real-time pipeline model and the related data. This application innovatively integrates Beidou + RTK positioning technology and MR glasses to provide a high-precision, wide-coverage, real-time interactive and highly portable pipeline inspection solution, which not only significantly improves the positioning accuracy and coverage, but also realizes real-time and intuitive display of data and efficient on-site operation through portable hardware design and optimized software integration, thereby improving the efficiency, accuracy and user experience of pipeline inspection. It has significant technological advancement and broad application prospects, and solves the problems of operational errors and inefficiency caused by the lack of intuitive spatial information support in existing pipeline inspection methods.

[0135] It should be noted that, for the purpose of simple description, the method embodiments are expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present application are not limited to the described order of actions, because according to the embodiments of the present application, certain steps may be performed in other orders or simultaneously.

[0136] like Fig. 9 As shown, the embodiment of the present application also provides a pipeline inspection system 900 integrating mixed reality and high-precision real-time positioning, including:

[0137] Satellite signal receiver and communication module 910, used to obtain differential correction data and high-precision real-time satellite data, the differential correction data is the positioning data of the reference station in the RTK system;

[0138] The positioning module 920 is used to perform decoding and positioning processing based on the differential correction data and the high-precision real-time satellite data to obtain high-precision positioning information, where the high-precision positioning information is real-time positioning information when the mobile station performs pipeline inspection on the target pipeline;

[0139] The data processing module 930 is used to perform three-dimensional rendering according to the high-precision positioning information, in combination with the acquired pipeline coordinate data and the pre-built three-dimensional pipeline model, to obtain holographic projection data, wherein the holographic projection data includes real-time pipeline data of the target pipeline;

[0140] The display module 940 is used to perform pipeline holographic projection display and pipeline inspection according to the holographic projection data, and to perform pipeline data operations through holographic projection during the pipeline inspection process.

[0141] Optionally, the satellite signal receiver and communication module 910 includes:

[0142] The positioning data acquisition submodule is used to obtain the original positioning data of the Beidou satellite through at least two virtual reference stations, and obtain high-precision real-time satellite data;

[0143] The differential correction submodule is used to perform differential correction according to the original positioning data to obtain differential correction data.

[0144] Optionally, the positioning module 920 includes:

[0145] A sub-module for performing a real-time differential operation based on the differential correction data and the high-precision real-time satellite data to obtain the mobile station positioning information;

[0146] The decoding operation submodule is used to perform decoding operation on the mobile station positioning information according to a preset format to obtain high-precision positioning information in plain code.

[0147] Optionally, the data processing module 930 includes:

[0148] A pipeline 3D model building submodule is used to obtain a pre-built pipeline 3D model of a target pipeline;

[0149] The pipeline coordinate data acquisition submodule is used to acquire the pipeline coordinate data of the target pipeline through the data interface;

[0150] A data preprocessing submodule, used to perform data preprocessing based on the high-precision positioning information to obtain key positioning data;

[0151] A coordinate system one submodule, used to perform coordinate system one processing according to the key positioning data in combination with the pipeline coordinate data to obtain data to be rendered;

[0152] The detection and rendering submodule is used to perform real-time pipeline detection and rendering in the pipeline three-dimensional model using the data to be rendered to obtain holographic projection data containing real-time pipeline data; wherein the real-time pipeline data is the pipeline data obtained when the mobile station performs pipeline inspection on the target pipeline, and the real-time pipeline data includes pipeline location information, burial depth information and maintenance record information.

[0153] Optionally, the data preprocessing submodule includes:

[0154] A data cleaning and format conversion unit, used to perform data cleaning and format conversion according to the high-precision positioning information to obtain positioning data in a target format;

[0155] The parsing and extracting unit is used to parse and extract the positioning data in the target format to obtain key positioning data, wherein the key positioning data includes position coordinates.

[0156] Optionally, the display module 940 includes:

[0157] A projection instruction generation submodule, used to generate a projection instruction according to the holographic projection data, wherein the projection instruction is used to control a target display device to display the holographic projection data in a holographic projection interactive interface, wherein the displayed data includes a real-time pipeline model and related data, and the target display device includes mixed reality glasses;

[0158] An inspection operation acquisition submodule is used to acquire the inspection operation of the target object in the holographic projection interactive interface, wherein the inspection operation includes a viewing operation, a marking operation, and an editing operation;

[0159] The display processing submodule is used to process the displayed related data according to the inspection operation and update the real-time pipeline model and the related data.

[0160] Optionally, the pipeline inspection system 900 integrating mixed reality and high-precision real-time positioning further includes:

[0161] An update data acquisition module is used to acquire the pipeline update model and related update data after the data is updated;

[0162] The synchronization module is used to upload the pipeline update model and related update data to the target server to perform real-time recording and synchronization of inspection data.

[0163] It should be noted that the pipeline inspection system integrating mixed reality and high-precision real-time positioning provided in the embodiments of the present application can execute the pipeline inspection method integrating mixed reality and high-precision real-time positioning provided in any embodiment of the present application, and has the corresponding functions and beneficial effects of the execution method.

[0164] In a specific implementation, the above-mentioned pipeline inspection system integrating mixed reality and high-precision real-time positioning can be integrated into a device, so that the device can use differential correction data and high-precision satellite data for high-precision positioning, and perform pipeline inspection based on high-precision positioning information, pipeline coordinate data and three-dimensional pipeline model display holographic projection. As an electronic device, it realizes pipeline inspection with mixed reality and high-precision real-time positioning, thereby efficiently operating data and reducing the error rate of data operation. The electronic device can be composed of two or more physical entities, or it can be composed of one physical entity, such as the electronic device can be a personal computer (PC), a computer, a server, etc., and the embodiment of the present application does not impose specific restrictions on this.

[0165] like Fig.10 As shown, an embodiment of the present application provides an electronic device, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114; the memory 113 is used to store computer programs; the processor 111 is used to implement the steps of the pipeline inspection method integrating mixed reality and high-precision real-time positioning provided by any of the aforementioned method embodiments when executing the program stored in the memory 113. Exemplarily, the steps of the pipeline inspection method integrating mixed reality and high-precision real-time positioning may include the following steps: obtaining differential correction data and high-precision real-time satellite data, wherein the differential correction data is the positioning data of the base station in the RTK system; performing decoding and positioning processing based on the differential correction data and the high-precision real-time satellite data to obtain high-precision positioning information, wherein the high-precision positioning information is the real-time positioning information when the mobile station performs pipeline inspection on the target pipeline; performing three-dimensional rendering based on the high-precision positioning information, combining the acquired pipeline coordinate data and a pre-constructed three-dimensional pipeline model, to obtain holographic projection data, wherein the holographic projection data includes the real-time pipeline data of the target pipeline; performing pipeline holographic projection display and pipeline inspection based on the holographic projection data, and performing pipeline data operations through holographic projection during the pipeline inspection.

[0166] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the pipeline inspection method integrating mixed reality and high-precision real-time positioning as provided in any of the aforementioned method embodiments are implemented.

[0167] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0168] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A pipeline inspection method integrating mixed reality and high-precision real-time positioning, characterized in that: include: Acquire differential correction data and high-precision real-time satellite data, wherein the differential correction data is the positioning data of the reference station in the RTK system; Decoding and positioning processing is performed according to the differential correction data and the high-precision real-time satellite data to obtain high-precision positioning information, wherein the high-precision positioning information is real-time positioning information when the mobile station performs pipeline inspection on the target pipeline; According to the high-precision positioning information, three-dimensional rendering is performed in combination with the acquired pipeline coordinate data and the pre-constructed three-dimensional pipeline model to obtain holographic projection data, wherein the holographic projection data includes real-time pipeline data of the target pipeline; According to the holographic projection data, pipeline holographic projection display and pipeline inspection are performed, and pipeline data operations are performed through holographic projection during the pipeline inspection.

2. The method according to claim 1, characterized in that Obtain differential correction data and high-precision real-time satellite data, including: Obtain the original positioning data of Beidou satellites through at least two virtual reference stations, and obtain high-precision real-time satellite data; A differential correction is performed according to the original positioning data to obtain differential correction data.

3. The method according to claim 1, characterized in that Decoding and positioning processing is performed according to the differential correction data and the high-precision real-time satellite data to obtain high-precision positioning information, including: Performing real-time differential calculation based on the differential correction data in combination with the high-precision real-time satellite data to obtain mobile station positioning information; According to a preset format, the mobile station positioning information is decoded to obtain clear code high-precision positioning information.

4. The method according to claim 1, characterized in that: According to the high-precision positioning information, the acquired pipeline coordinate data and the pre-built three-dimensional pipeline model are combined to perform three-dimensional rendering to obtain holographic projection data, including: Obtaining a pre-built three-dimensional pipeline model of the target pipeline, and obtaining pipeline coordinate data of the target pipeline through a data interface; Performing data preprocessing according to the high-precision positioning information to obtain key positioning data; According to the key positioning data, coordinate system one processing is performed in combination with the pipeline coordinate data to obtain data to be rendered; In the pipeline three-dimensional model, real-time pipeline detection rendering is performed using the data to be rendered to obtain holographic projection data containing real-time pipeline data; The real-time pipeline data is pipeline data acquired when the mobile station performs pipeline inspection on the target pipeline, and the real-time pipeline data includes pipeline location information, buried depth information and maintenance record information.

5. The method according to claim 4, characterized in that Data preprocessing is performed based on the high-precision positioning information to obtain key positioning data, including: Performing data cleaning and format conversion according to the high-precision positioning information to obtain positioning data in a target format; The positioning data in the target format is parsed and extracted to obtain key positioning data, wherein the key positioning data includes position coordinates.

6. The method according to claim 1, characterized in that According to the holographic projection data, pipeline holographic projection display and pipeline inspection are performed, and pipeline data operations are performed through holographic projection during the pipeline inspection, including: Generate a projection instruction according to the holographic projection data, wherein the projection instruction is used to control a target display device to display the holographic projection data in a holographic projection interactive interface, wherein the displayed data includes a real-time pipeline model and related data, and the target display device includes mixed reality glasses; Obtaining an inspection operation of a target object in the holographic projection interactive interface, wherein the inspection operation includes a viewing operation, a marking operation, and an editing operation; The displayed relevant data is processed according to the inspection operation, and the real-time pipeline model and the relevant data are updated.

7. The method according to claim 6, characterized in that After updating the real-time pipeline model and the related data, the method further includes: Obtain the pipeline update model and related update data after data update; The pipeline update model and related update data are uploaded to the target server to perform real-time recording and synchronization of inspection data.

8. A pipeline inspection system integrating mixed reality and high-precision real-time positioning, characterized in that: include: Satellite signal receiver and communication module, used to obtain differential correction data and high-precision real-time satellite data, the differential correction data is the positioning data of the base station in the RTK system; A positioning module, used to perform decoding and positioning processing based on the differential correction data and the high-precision real-time satellite data to obtain high-precision positioning information, wherein the high-precision positioning information is real-time positioning information when the mobile station performs pipeline inspection on the target pipeline; A data processing module, configured to perform three-dimensional rendering according to the high-precision positioning information, in combination with the acquired pipeline coordinate data and a pre-built three-dimensional pipeline model, to obtain holographic projection data, wherein the holographic projection data includes real-time pipeline data of the target pipeline; The display module is used to perform pipeline holographic projection display and pipeline inspection according to the holographic projection data, and to perform pipeline data operations through holographic projection during the pipeline inspection.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor is used to implement the steps of the pipeline inspection method integrating mixed reality and high-precision real-time positioning as described in any one of claims 1 to 7 when executing the program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the pipeline inspection method integrating mixed reality and high-precision real-time positioning are implemented as described in any one of claims 1 to 7.

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