Storage, pipeline inspection video augmented reality display method, device and equipment

Abstract

The present invention discloses a memory, an inspection video augmented reality display method, device and equipment, wherein the method comprises: determining the geographic coordinate data of preset key points and the geographic coordinate data of a specific area according to the pipeline routing data in the inspection area; obtaining the video data and lens information of the drone; extracting frames from the video data to obtain a specific video frame, and obtaining the position and attitude measurement system POS data of the specific video frame; calculating the ground resolution, and calculating the four-corner geographic coordinates of the image in the specific video frame; determining the position of the pipeline or the specific area in the image of the specific video frame according to the four-corner geographic coordinates, as well as the geographic coordinate data of the preset key points and the geographic coordinate data of the specific area; adding a preset mark to the position of the pipeline or the specific area in the video data. The present invention reduces the difficulty of pipeline management personnel in identifying the inspection object, thereby reducing the difficulty of the inspection operation and improving the efficiency and effect of the inspection operation.

Description

Technical Field

[0001] The present invention relates to the field of pipeline management, and in particular to a storage device, a pipeline inspection video augmented reality display method, a device and equipment. Background Art

[0002] With the continuous deepening of oil and gas development, the transportation of oil and natural gas pipelines (i.e. oil and gas pipelines) has become the main way of oil and gas gathering and transportation. The oil and gas pipelines in service are spread all over the country, covering well site gathering and transportation pipelines, urban gas pipelines, long-distance transmission pipelines, etc. Oil and gas pipelines generally use metal pipes and are mostly buried underground, so corrosion is inevitable.

[0003] If oil and gas pipelines leak due to corrosion, it will cause environmental pollution, economic losses and even major safety accidents. Oil and gas pipeline companies will conduct daily inspections of oil and gas pipelines. Traditional manual pipeline inspections are inefficient and difficult to inspect in complex areas such as rivers and hillsides. At present, the use of drones to replace humans in oil and gas pipeline inspections is being gradually implemented by various oil and gas pipeline companies.

[0004] After research, the inventor found that when using drones for oil and gas pipeline inspections, it is not easy for pipeline managers to intuitively distinguish key information such as pipeline locations and high-consequence areas from the flight screen because the oil and gas pipelines are buried underground and the "three piles and one sign" marked on the ground are not obvious in the drone shooting screen. In particular, when using fixed-wing or composite-wing drones for high-altitude and high-speed inspections, the circling of the aircraft and the change in flight angle will further increase the difficulty for pipeline managers to identify the location of the pipeline, making drone inspections of oil and gas pipelines more difficult and prone to missed inspections and false inspections.

[0005] The information disclosed in this background technology section is only intended to enhance the understanding of the overall background of the invention and should not be regarded as an acknowledgment or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the invention

[0006] The purpose of the present invention is to reduce the difficulty for pipeline management personnel to identify the pipeline location of oil and gas pipelines, thereby reducing the difficulty of drone inspection operations of oil and gas pipelines and improving the efficiency and effectiveness of drone inspection operations.

[0007] The present invention provides a pipeline inspection video augmented reality display method, comprising the steps of:

[0008] Determine the geographic coordinate data of preset key points and the geographic coordinate data of specific areas based on the pipeline routing data of the oil and gas pipelines in the inspection area;

[0009] Acquire video data collected by the drone and lens information of the drone;

[0010] Extracting frames from the video data to obtain specific video frames, and obtaining position and posture measurement system POS data of the specific video frames;

[0011] Calculating the ground resolution according to the POS data of the specific video frame, and calculating the four-corner geographic coordinates of the image in the specific video frame;

[0012] Determine the position of the pipeline or the specific area in the image of the specific video frame according to the four-corner geographic coordinates, the geographic coordinate data of the preset key point and the geographic coordinate data of the specific area;

[0013] A preset mark is added at the position of the pipeline or the specific area in the video data.

[0014] In the present invention, the key points include inflection points of pipelines within the inspection area;

[0015] The specific area includes a high consequence area within the inspection area.

[0016] In the present invention, the lens information includes:

[0017] The focal length, lens resolution and photosensitive element size of the video acquisition device of the drone.

[0018] In the present invention, after calculating the ground resolution, the method further includes:

[0019] Perform image orthorectification on the image in the specific video frame.

[0020] In the present invention, the method of orthorectification of the image includes:

[0021] One of collinear equations, inverse digital differentiation, direct digital differentiation, improved polynomials, rational functions and neural networks, and any combination thereof.

[0022] In the present invention, determining the position of the pipeline or the specific area in the image of the specific video frame includes:

[0023] The geographic coordinate data of the pipeline section is calculated according to the geographic coordinate data of two adjacent inflection points.

[0024] In the present invention, the preset identifier includes:

[0025] Word logo and / or graphic logo.

[0026] In the present invention, adding a preset mark to the position of the pipeline or the specific area in the video data includes:

[0027] According to the frame extraction frequency, the same preset mark is added to the same position in a preset number of video frames in the video data.

[0028] In another aspect of the present invention, there is also provided an inspection video augmented reality display device, comprising:

[0029] Position identification unit, used to determine the pipeline route, key points and geographic coordinate data of specific areas of the oil and gas pipeline in the inspection area;

[0030] A data acquisition unit, used to acquire video data collected by the drone and lens information of the drone;

[0031] A frame extraction unit, used for extracting frames from the video data to obtain a specific video frame, and obtaining position and posture measurement system POS data of the specific video frame;

[0032] A resolution calculation unit, used to calculate the ground resolution according to the POS data of the specific video frame, and calculate the four-corner geographic coordinates of the image in the specific video frame;

[0033] A position determination unit, used to determine the position of the pipeline or the specific area in the image of the specific video frame according to the four-corner geographic coordinates, the geographic coordinate data of the preset key point and the geographic coordinate data of the specific area;

[0034] The identification adding unit is used to add a preset identification at the position of the pipeline or the specific area in the video data.

[0035] The present invention also includes:

[0036] The image orthorectification unit is used to perform image orthorectification on the image in the specific video frame.

[0037] In the present invention, the position determination unit includes:

[0038] The pipe section calculation module is used to calculate the geographical coordinate data of the pipe section of the pipeline according to the geographical coordinate data of two adjacent inflection points.

[0039] In another aspect of the present invention, a memory is provided, comprising a software program, wherein the software program is suitable for a processor to execute the steps of the above pipeline inspection video augmented reality display method.

[0040] On the other hand, an embodiment of the present invention further provides a pipeline inspection video augmented reality display device, which includes a computer program stored in a memory, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the methods described in the above aspects and achieves the same technical effects.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] In the present invention, firstly, the geographic coordinate data of a specific position in the pipeline structure of the oil and gas pipeline and the geographic coordinate data of a specific area such as a high consequence area are determined according to the inspection objects and inspection positions that need to be focused on during the inspection; then, the four-corner geographic coordinates of the image in the video frame are calculated according to the video data collected by the drone and the lens information of the drone; combined with the geographic coordinate data of the specific position in the structure of the pipeline and the geographic coordinate data of the specific area, the specific positions of the inspection objects and inspection positions that need to be focused on by the pipeline management personnel in the video can be determined according to the four-corner geographic coordinates of the image; then, through layer overlay and other methods, the identification of the pipeline or the high consequence area and other positions that need to be paid attention to is added to the corresponding position in the video; so that the pipeline management personnel can easily identify the inspection objects and inspection positions that need to be focused on from the video when performing the oil and gas pipeline inspection operation according to the video data, thus greatly reducing the difficulty of the pipeline management personnel to identify the inspection objects such as the oil and gas pipeline position and the specific area, thereby reducing the difficulty of the drone inspection operation of the oil and gas pipeline and improving the efficiency and effect of the drone inspection operation.

[0043] In order to reduce the amount of storage of geographic coordinate data of inspection objects and inspection locations that need to be observed in particular among the inspection objects, and to improve the computational efficiency in determining the position of a pipeline or a specific area in an image of a specific video frame, further, in an embodiment of the present invention, the turning points of the pipelines within the inspection area can be used as key points, and the geographic coordinates of each pipe section in the pipeline can be calculated based on the geographic coordinate data of each adjacent turning point.

[0044] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, and to make the above and other purposes, technical features and advantages of the present invention easier to understand, one or more preferred embodiments are listed below and described in detail with the accompanying drawings as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a step diagram of the inspection video augmented reality display method described in the present invention;

[0046] Figure 2 It is a structural schematic diagram of the inspection video augmented reality display device described in the present invention;

[0047] Figure 3 It is a structural schematic diagram of the inspection video augmented reality display device described in the present invention. DETAILED DESCRIPTION

[0048] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation modes.

[0049] Unless explicitly stated otherwise, throughout the specification and claims, the term “comprise” or variations such as “include” or “comprising”, etc., will be understood to include the stated elements or components but not to exclude other elements or components.

[0050] In this document, the terms "first", "second", etc. are used to distinguish two different elements or parts, and are not used to limit a specific position or relative relationship. In other words, in some embodiments, the terms "first", "second", etc. can also be interchangeable.

[0051] Embodiment 1

[0052] In order to reduce the difficulty for pipeline managers to identify pipeline locations, etc., thereby reducing the difficulty of drone inspections of oil and gas pipelines and improving the efficiency and effectiveness of drone inspections, such as Figure 1 As shown, in an embodiment of the present invention, a method for displaying inspection video augmented reality is provided, comprising the steps of:

[0053] S11, determining the geographic coordinate data of the preset key points and the geographic coordinate data of the specific area according to the pipeline route data of the oil and gas pipelines in the inspection area;

[0054] The embodiment of the present invention is a remote inspection solution based on drone video acquisition. Specifically, a drone equipped with a video acquisition device acquires video data of the inspection area through video acquisition, and pipeline management personnel can realize drone inspection operations by watching videos. In practical applications, the video data used for drone inspection operations can be real-time acquisition data or offline video data stored in a preset processing device.

[0055] There may be changes in direction or branches in the oil and gas pipeline. In the embodiment of the present invention, the location where the direction is changed or the branch is set is called an inflection point. Since the position of the oil and gas pipeline in the video data of the drone may change easily after passing the inflection point, the inflection point is used as a key point in the embodiment of the present invention. The geographic coordinate data of each inflection point can be obtained based on the pipeline routing data of the oil and gas pipeline.

[0056] During the inspection operation, pipeline management personnel are also required to pay attention to some specific areas such as high consequence areas. Therefore, in the embodiment of the present invention, geographic coordinate data of these specific areas also need to be obtained.

[0057] S12, obtaining video data collected by the drone and lens information of the drone;

[0058] The embodiment of the present invention is a remote inspection solution based on drone video acquisition. In order to correspond the video data image with the actual geographic coordinates, the embodiment of the present invention obtains the drone's lens information while acquiring the video data, including focal length, lens resolution, photosensitive element size and other information.

[0059] S13, extracting frames from the video data to obtain a specific video frame, and obtaining position and posture measurement system POS data of the specific video frame;

[0060] In order to calculate the ground resolution based on the image (specific video frame) in the video data, it is necessary to obtain the position and attitude measurement system POS data corresponding to the specific video frame, that is, the position and POS data of the drone's video acquisition device when the video frame is obtained.

[0061] It should be noted that, in the embodiment of the present invention, the specific video frame refers to the video frame obtained when the video data is extracted; in addition, those skilled in the art can set the interval of frame extraction according to the speed of picture changes in the video data and the computing power of the computing processing equipment, and no specific limitation is made here.

[0062] S14, calculating the ground resolution according to the POS data of the specific video frame, and calculating the four-corner geographic coordinates of the image in the specific video frame;

[0063] By calculating the ground resolution, the four-corner geographic coordinates of the image in a specific video frame can be further calculated, so that the image in the video data can have a corresponding relationship with the actual geographic coordinates.

[0064] Preferably, in order to further improve the accuracy of the corresponding relationship between the image in the video frame and the actual geographic coordinates, in the embodiment of the present invention, after calculating the ground resolution, the step of image orthorectification can be further included; specifically, the specific method of image orthorectification can be to use one of collinear equations, inverse digital differentials, forward digital differentials, improved polynomials, rational functions and neural networks, and any combination thereof. In this way, in scenarios where the operating processing performance is sufficient or the positioning accuracy of enhanced display elements is required to be high, the positioning accuracy of the image for a specific video frame can be improved by image orthorectification.

[0065] S15, determining the position of the pipeline or the specific area in the image of the specific video frame according to the four-corner geographic coordinates, the geographic coordinate data of the preset key point and the geographic coordinate data of the specific area;

[0066] In the embodiment of the present invention, the geographic coordinate data of the key point and the geographic coordinate data of the specific area have been determined, and then the specific position of the pipeline or the specific area in the image of the specific video frame can be calculated and determined based on the four-corner geographic coordinates of the specific video frame. In practical applications, it can be first determined whether the geographic coordinates of the key point or the geographic coordinates of the specific area exist in the image of the video frame, and when the judgment result is yes, the specific position of the pipeline or the specific area in the image of the specific video frame is further determined.

[0067] Preferably, in order to reduce the storage quantity of the geographic coordinate data of the inspection objects and inspection positions that need to be observed in the inspection objects, and to improve the calculation efficiency when determining the position of the pipeline or specific area in the image of a specific video frame, further, in the embodiment of the present invention, the turning points of the pipeline in the inspection area can be used as key points, and the geographic coordinates of each pipe section in the pipeline can be calculated based on the geographic coordinate data of the two adjacent turning points. Specifically, since the pipe section between two adjacent turning points in the oil and gas pipeline is generally a straight line, the geographic coordinate data of the pipe section between the two adjacent turning points can be calculated based on the geographic coordinate data of the two adjacent turning points, and then the specific position of the corresponding pipe section in the image of the specific video frame can be calculated.

[0068] S16: Add a preset mark at the position of the pipeline or the specific area in the video data.

[0069] After determining the specific location of the pipeline or specific area in the image of a specific video frame, the identification of the pipeline or high consequence area and other locations requiring attention can be added to the corresponding position in the video by means of layer overlay or other methods; thereby, in the video finally presented to the pipeline management personnel, the corresponding identification can be displayed at the pipeline or high consequence area and other locations requiring attention to remind the pipeline management personnel.

[0070] In practical applications, the preset mark may be a text mark or a graphic mark, for example, it may be the name of a high consequence area, or a line segment covering a pipe section of an oil and gas pipeline.

[0071] In summary, in the embodiment of the present invention, firstly, according to the inspection objects and inspection positions that need to be focused on during the inspection, the geographic coordinate data of the specific position in the pipeline structure of the oil and gas pipeline, as well as the geographic coordinate data of specific areas such as the high consequence area, are determined; then, the four-corner geographic coordinates of the image in the video frame are calculated according to the video data collected by the drone and the lens information of the drone; combined with the geographic coordinate data of the specific position in the structure of the pipeline and the geographic coordinate data of the specific area, the specific positions of the inspection objects and inspection positions that need to be focused on by the pipeline management personnel in the video can be determined according to the four-corner geographic coordinates of the image; then, through layer overlay and other methods, the identification of the pipeline or the high consequence area and other positions that need to be paid attention to is added to the corresponding position in the video; so that when the pipeline management personnel perform the oil and gas pipeline inspection operation according to the video data, they can easily identify the inspection objects and inspection positions that need to be focused on from the video, thus greatly reducing the difficulty of the pipeline management personnel to identify the inspection objects such as the oil and gas pipeline position and the specific area, thereby reducing the difficulty of the drone inspection operation of the oil and gas pipeline and improving the efficiency and effect of the drone inspection operation.

[0072] Embodiment 2

[0073] In another aspect of the embodiment of the present invention, a pipeline inspection video augmented reality display device is also provided. Figure 2 The structure diagram of the pipeline inspection video augmented reality display device provided by the embodiment of the present invention is shown. The pipeline inspection video augmented reality display device is Figure 1 The device corresponding to the pipeline inspection video augmented reality display method described in the corresponding embodiment, that is, the device is implemented by means of a virtual device Figure 1 In the pipeline inspection video augmented reality display method in the corresponding embodiment, each virtual module constituting the pipeline inspection video augmented reality display device can be executed by an electronic device, such as a network device, a terminal device, or a server. Specifically, the inspection video augmented reality display device in the embodiment of the present invention includes:

[0074] Position identification unit 01, used to determine the pipeline route, key points and geographic coordinate data of specific areas within the inspection area;

[0075] The data acquisition unit 02 is used to acquire the video data collected by the drone and the lens information of the drone;

[0076] The frame extraction unit 03 is used to extract frames from the video data to obtain specific video frames, and obtain the position and posture measurement system POS data of the specific video frame;

[0077] A resolution calculation unit 04, used to calculate the ground resolution according to the POS data of the specific video frame, and calculate the four-corner geographic coordinates of the image in the specific video frame;

[0078] A position determination unit 05, configured to determine the position of the pipeline or the specific area in the image of the specific video frame according to the four-corner geographic coordinates, the geographic coordinate data of the preset key point and the geographic coordinate data of the specific area;

[0079] The identification adding unit 06 is used to add a preset identification at the position of the pipeline or the specific area in the video data.

[0080] Furthermore, in the embodiment of the present invention, an image orthorectification unit (not shown in the figure) may be further included, which is used to perform image orthorectification on the image in the specific video frame.

[0081] In the embodiment of the present invention, the position determination unit 05 may further include a pipe section calculation module (not shown in the figure) for calculating the geographical coordinate data of the pipe section of the pipeline according to the geographical coordinate data of two adjacent inflection points.

[0082] Since the working principle and beneficial effects of the pipeline inspection video augmented reality display device in the embodiment of the present invention have been Figure 1 The corresponding pipeline inspection video augmented reality display method is also recorded and explained, so they can be referenced by each other and will not be repeated here.

[0083] Embodiment 3

[0084] In an embodiment of the present invention, a memory is further provided, wherein the memory includes a software program, and the software program is suitable for the processor to execute Figure 1 The corresponding steps in the pipeline inspection video augmented reality display method.

[0085] The embodiments of the present invention can be implemented by means of a software program, that is, by writing a program for implementing Figure 1 The corresponding software program (and instruction set) for each step in the pipeline inspection video augmented reality display method is stored in a storage device, and the storage device is arranged in a computer device, so that the software program can be called by the processor of the computer device to achieve the purpose of the embodiment of the present invention.

[0086] Embodiment 4

[0087] In an embodiment of the present invention, a pipeline inspection video augmented reality display device is also provided. The memory included in the pipeline inspection video augmented reality display device includes a corresponding computer program product. When the program instructions included in the computer program product are executed by a computer, the computer can execute the pipeline inspection video augmented reality display method described in the above aspects and achieve the same technical effect.

[0088] Figure 3Schematic diagram of the hardware structure of the pipeline inspection video augmented reality display device as an electronic device according to an embodiment of the present invention. Figure 3 As shown, the device includes one or more processors 610, a bus 630, and a memory 620. Taking one processor 610 as an example, the device may also include: an input device 640, and an output device 650.

[0089] The processor 610, the memory 620, the input device 640 and the output device 650 may be connected via a bus or other means. Figure 3 The example of connecting through bus is taken in the following.

[0090] The memory 620 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs, non-transitory computer executable programs, and modules. The processor 610 executes various functional applications and data processing of the electronic device by running the non-transitory software programs, instructions, and modules stored in the memory 620, that is, the processing method of the above method embodiment is implemented.

[0091] The memory 620 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data, etc. In addition, the memory 620 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 620 may optionally include a memory remotely arranged relative to the processor 610, and these remote memories may be connected to the processing device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0092] The input device 640 can receive input digital or character information and generate signal input. The output device 650 can include a display device such as a display screen.

[0093] The one or more modules are stored in the memory 620, and when executed by the one or more processors 610, perform:

[0094] Determine the geographic coordinate data of preset key points and the geographic coordinate data of specific areas based on the pipeline routing data within the inspection area;

[0095] Acquire video data collected by the drone and lens information of the drone;

[0096] Extracting frames from the video data to obtain specific video frames, and obtaining position and posture measurement system POS data of the specific video frames;

[0097] Calculating the ground resolution according to the POS data of the specific video frame, and calculating the four-corner geographic coordinates of the image in the specific video frame;

[0098] Determine the position of the pipeline or the specific area in the image of the specific video frame according to the four-corner geographic coordinates, the geographic coordinate data of the preset key point and the geographic coordinate data of the specific area;

[0099] A preset mark is added at the position of the pipeline or the specific area in the video data.

[0100] The above product can execute the method provided by the embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method. For technical details not described in detail in this embodiment, please refer to the method provided by the embodiment of the present invention.

[0101] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0102] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0103] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0104] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage device, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage device includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), ReRAM, MRAM, PCM, NAND Flash, NOR Flash, Memristor, disk or optical disk and other media that can store program codes.

[0105] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pipeline inspection video augmented reality display method, characterized in that: Includes steps: Determine the geographic coordinate data of preset key points and the geographic coordinate data of specific areas based on the pipeline routing data of the oil and gas pipelines in the inspection area; Acquire video data collected by the drone and lens information of the drone; Extracting frames from the video data to obtain specific video frames, and obtaining position and posture measurement system POS data of the specific video frames; Calculating the ground resolution according to the POS data of the specific video frame, and calculating the four-corner geographic coordinates of the image in the specific video frame; Determine the position of the pipeline or the specific area in the image of the specific video frame according to the four-corner geographic coordinates, the geographic coordinate data of the preset key point and the geographic coordinate data of the specific area; A preset mark is added at the position of the pipeline or the specific area in the video data.

2. The pipeline inspection video augmented reality display method according to claim 1, characterized in that: The key points include turning points of pipelines within the inspection area; The specific area includes a high consequence area within the inspection area.

3. The pipeline inspection video augmented reality display method according to claim 1, characterized in that: The lens information includes: The focal length, lens resolution and photosensitive element size of the video acquisition device of the drone.

4. The pipeline inspection video augmented reality display method according to claim 1, characterized in that: After calculating the ground resolution, the following steps are also included: Perform image orthorectification on the image in the specific video frame.

5. The pipeline inspection video augmented reality display method according to claim 4, characterized in that: The method of orthorectification of the image includes: One of collinear equations, inverse digital differentiation, direct digital differentiation, improved polynomials, rational functions and neural networks, and any combination thereof.

6. The pipeline inspection video augmented reality display method according to claim 1, characterized in that: The determining the position of the pipeline or the specific area in the image of the specific video frame includes: The geographic coordinate data of the pipeline section is calculated according to the geographic coordinate data of two adjacent inflection points.

7. The pipeline inspection video augmented reality display method according to claim 1, characterized in that: The preset identifier includes: Word logo and / or graphic logo.

8. The pipeline inspection video augmented reality display method according to claim 1, characterized in that: The adding a preset mark to the position of the pipeline or the specific area in the video data includes: According to the frame extraction frequency, the same preset mark is added to the same position in a preset number of video frames in the video data.

9. A pipeline inspection video augmented reality display device, characterized in that: include: Position identification unit, used to determine the pipeline route, key points and geographic coordinate data of specific areas of the oil and gas pipeline in the inspection area; A data acquisition unit, used to acquire video data collected by the drone and lens information of the drone; A frame extraction unit, used for extracting frames from the video data to obtain a specific video frame, and obtaining position and posture measurement system POS data of the specific video frame; A resolution calculation unit, used to calculate the ground resolution according to the POS data of the specific video frame, and calculate the four-corner geographic coordinates of the image in the specific video frame; A position determination unit, used to determine the position of the pipeline or the specific area in the image of the specific video frame according to the four-corner geographic coordinates, the geographic coordinate data of the preset key points and the geographic coordinate data of the specific area; The identification adding unit is used to add a preset identification at the position of the pipeline or the specific area in the video data.

10. The pipeline inspection video augmented reality display device according to claim 9, characterized in that: Also includes: The image orthorectification unit is used to perform image orthorectification on the image in the specific video frame.

11. The pipeline inspection video augmented reality display device according to claim 9, characterized in that: The position determination unit comprises: The pipe section calculation module is used to calculate the geographical coordinate data of the pipe section of the pipeline according to the geographical coordinate data of two adjacent inflection points.

12. A memory, characterized in that: It comprises a software program, wherein the software program is suitable for a processor to execute the steps of the pipeline inspection video augmented reality display method as claimed in any one of claims 1 to 8.

13. A pipeline inspection video augmented reality display device, characterized in that: comprising a bus, a processor and a memory as claimed in claim 12; The bus is used to connect the memory and the processor; The processor is configured to execute an instruction set in the memory.

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