Method and device for monitoring pipe body characteristics of oil and gas pipeline and medium

Abstract

The invention discloses an oil and gas pipeline body characteristic monitoring method and device and a medium, and the method comprises the steps: obtaining first ground object image information and first welding line image information in a construction period, and extracting first ground object coordinates of all ground objects and first welding line coordinates of a welding line; according to the first ground object coordinates and the first weld joint coordinates, first distances and relative positions between the weld joints and the ground objects are determined; acquiring second ground object image information of the ground objects in the operation period, and extracting second ground object coordinates of the ground objects in the second ground object image information; the second ground feature image information and the first ground feature image information have common ground feature features; determining a second welding seam coordinate of the welding seam according to the second ground object coordinate and the first distance and the relative position between the welding seam and each ground object; and determining the deviation of the welding seam according to the second welding seam coordinate and the first welding seam coordinate, and ensuring that the deviation is within a preset deviation range. By means of the method, alignment of pipe body characteristics is achieved, and reliability is improved.

Description

Technical Field

[0001] This invention relates to the technical field of oil and gas pipelines, and in particular to a method, device, and medium for monitoring the characteristics of oil and gas pipeline bodies. Background Technology

[0002] As a core infrastructure for energy transmission, the dynamic monitoring of the full life-cycle status of key pipe features such as welds and joints in oil and gas pipelines is the core of safe operation and maintenance.

[0003] Currently, there is a lack of capability for dynamic monitoring of key features such as welds throughout their entire lifecycle. This is especially true after pipelines are buried deep underground during their operational phase, making it difficult to trace the location and historical evolution of pipe features. Traditional methods rely on establishing a correlation between fixed ground features and pipeline features. When these features change or disappear, the alignment benchmark is lost, leading to interruptions in tracking pipe features across different periods and failing to meet high-precision requirements such as weld defect detection. Summary of the Invention

[0004] This invention provides a method, device, and medium for monitoring the characteristics of oil and gas pipelines. By recognizing the common features between the second and first ground feature image information acquired during the construction and operation phases, the method achieves the correlation of ground feature features and enables weld alignment even when ground feature features change or disappear, thereby improving the reliability and continuity of monitoring.

[0005] In a first aspect, the present invention provides a method for monitoring the characteristics of an oil and gas pipeline, comprising:

[0006] During the construction period, the first ground feature image information and the first weld seam image information of the pipeline weld seam are acquired, and the first ground feature coordinates of each ground feature in the first ground feature image information and the first weld seam coordinates of the weld seam in the first weld seam image information are extracted.

[0007] Based on the coordinates of each first feature and the coordinates of the first weld, determine the first distance and relative position between the weld and each feature;

[0008] During the operation period, second-feature image information of ground features is acquired, and the coordinates of the second-features of each ground feature in the second-feature image information are extracted; the second-feature image information and the first-feature image information have common ground feature features;

[0009] The second weld coordinates are determined based on the second feature coordinates and the first distance and relative position between the weld and each feature.

[0010] Based on the coordinates of the second weld and the first weld, the deviation of the weld is determined to ensure that the deviation is within the preset deviation range.

[0011] Optionally, both the coordinates of the first feature and the coordinates of the first weld are geodetic coordinates;

[0012] Based on the coordinates of each first feature and the coordinates of the first weld, determine the first distance and relative position between the weld and each feature, including:

[0013] Convert both the coordinates of the first ground feature and the coordinates of the first weld seam into spatial coordinates;

[0014] Based on the spatial coordinates of each feature and the spatial coordinates of the weld, determine the first distance and relative position between the weld and each feature.

[0015] Optionally, in addition to acquiring the second feature image information of the ground features during the operation period, it also includes:

[0016] Ensure that the operating route of the image acquisition unit during the operation period is the same as that of the image acquisition unit during the construction period.

[0017] Optionally, while acquiring the first ground feature image information and the first weld seam image information of the pipeline weld seam during the construction period, the following may also be included:

[0018] Image time for acquiring the first ground feature image information and the first weld seam image information;

[0019] After determining the first distance and relative position between the weld and each of the first features and the first weld coordinates, the process also includes:

[0020] The first ground feature image information, the first weld seam image information, the first distance and relative position between the weld seam and each ground feature, and the image time are stored to obtain the correlation matrix.

[0021] Optionally, in addition to acquiring the second feature image information of the ground features during the operation period, it also includes:

[0022] Image time for acquiring second ground feature image information;

[0023] After acquiring the second feature image information of the ground features during the operation period and extracting the second feature coordinates of each ground feature from the second feature image information, the process also includes:

[0024] By comparing the first and second ground feature image information, the changes in ground feature features are determined, and the correlation matrix is ​​updated when ground feature features change.

[0025] Optionally, by comparing the first and second ground feature image information, the changes in ground feature features can be determined, including:

[0026] When adding new ground features, extract the coordinates and image time of the second ground feature from the second ground feature image information of the new ground feature, and update the correlation matrix.

[0027] Optionally, by comparing the first and second ground feature image information, the changes in ground feature features can be determined, including:

[0028] The correlation matrix is ​​updated when the features of ground objects decrease.

[0029] Optional, also includes:

[0030] Obtain weld depth parameters during the construction and operation phases;

[0031] Based on the weld burial depth data, first ground feature image information, and second ground feature image information, the changes in the soil cover thickness at the top of the pipeline are determined and stored to obtain the full-process monitoring relationship of the oil and gas pipeline body characteristics.

[0032] Secondly, the present invention provides a monitoring device for the characteristics of an oil and gas pipeline, comprising:

[0033] The first coordinate determination module is used to acquire the first ground feature image information and the first weld seam image information of the pipeline weld seam during the construction period, and extract the first ground feature coordinates of each ground feature in the first ground feature image information and the first weld seam coordinates of the weld seam in the first weld seam image information.

[0034] The location determination module is used to determine the first distance and relative position between the weld and each of the first features and the first weld coordinates.

[0035] The second feature coordinate determination module is used to acquire second feature image information of features during the operation period and extract the second feature coordinates of each feature in the second feature image information; the second feature image information and the first feature image information have common feature features;

[0036] The third coordinate determination module is used to determine the second feature coordinates of the weld based on the second feature coordinates and the first distance and relative position between the weld and various features.

[0037] The deviation determination module is used to determine the deviation of the weld seam based on the second feature coordinates and the first coordinates, so as to ensure that the deviation is within the preset deviation range.

[0038] Thirdly, the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the aforementioned method for monitoring the characteristics of oil and gas pipeline bodies.

[0039] The technical solution of this invention involves acquiring first ground feature image information and first weld seam image information of pipeline welds during the construction phase, extracting the first ground feature coordinates of each feature in the first ground feature image information and the first weld seam coordinates of the weld seam in the first weld seam image information; determining the first distance and relative position between the weld seam and each feature based on the first ground feature coordinates and the first weld seam coordinates; acquiring second ground feature image information during the operation phase, extracting the second ground feature coordinates of each feature in the second ground feature image information; recognizing common ground feature features between the second ground feature image information and the first ground feature image information; determining the second weld seam coordinates of the weld seam based on the second ground feature coordinates and the first distance and relative position between the weld seam and each feature; and determining the weld seam deviation based on the second weld seam coordinates and the first weld seam coordinates to ensure that the deviation is within a preset deviation range. By utilizing the above method, the association of ground feature features is achieved through the common ground feature features between the second ground feature image information and the first ground feature image information acquired during the construction and operation phases. Furthermore, weld seam alignment can still be achieved even when ground feature features change or disappear, improving the reliability and continuity of monitoring.

[0040] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a flowchart of a method for monitoring the characteristics of an oil and gas pipeline provided in an embodiment of the present invention;

[0043] Figure 2 A flowchart of another method for monitoring the characteristics of an oil and gas pipeline body provided in an embodiment of the present invention;

[0044] Figure 3 A flowchart of another method for monitoring the characteristics of an oil and gas pipeline body provided in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram illustrating the changes in pipe characteristics at different times and stages, as provided in an embodiment of the present invention.

[0046] Figure 5 This is a schematic diagram of the structure of a monitoring device for the characteristics of an oil and gas pipeline provided in an embodiment of the present invention. Detailed Implementation

[0047] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0048] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0049] In one embodiment, Figure 1 This is a flowchart of a method for monitoring the characteristics of an oil and gas pipeline body according to an embodiment of the present invention. This embodiment is applicable to situations where continuous and reliable monitoring of pipeline body characteristics can still be achieved even when ground features change or disappear. This method can be executed by a monitoring device for oil and gas pipeline body characteristics, which can be implemented in hardware and / or software and can be configured in a storage medium. Figure 1 As shown, the method includes:

[0050] S110. During the construction period, acquire the first ground feature image information and the first weld seam image information of the pipeline weld seam, and extract the first ground feature coordinates of each ground feature in the first ground feature image information and the first weld seam coordinates of the weld seam in the first weld seam image information.

[0051] The construction period refers to the stage immediately after the pipeline is built but before it is operational. During this time, all ground features and weld characteristics can be accurately measured. Ground features, or surface objects, refer to visible, identifiable, and relatively fixed physical markers on the earth's surface. Examples include, but are not limited to, mileage markers, cathodic protection markers, signposts, warning signs, utility poles, or other fixed structures. A weld is the joint formed at the welded connection between two sections of pipeline. Each long-distance pipeline is constructed from a section of steel pipe, and each weld point is a weld. Each weld has a unique number, such as W100250 (W stands for weld, and 100250 is the location or serial number). In this embodiment, in addition to acquiring image information of welds, image information of pipeline features such as joints can also be acquired. This embodiment uses pipeline welds as an example for illustration; image information can also be acquired from other pipeline features (such as joints) and subsequently aligned. The specific method is the same as for welds and will not be repeated here.

[0052] Specifically, during the construction phase, both the ground features and the weld seam are located on the ground surface. Therefore, the first ground feature image information and the first weld seam image information can be obtained. The acquisition methods can include, but are not limited to, image acquisition modules, cameras, drones, etc., depending on the actual situation and are not restricted here. After obtaining the first ground feature image information and the first weld seam image information, features are extracted from the images, and the coordinates of each feature are determined. That is, the first ground feature coordinates of each feature are extracted from the first ground feature image information. For example, if feature 1 is a kilometer marker and feature 2 is a warning sign, the first coordinates of each kilometer marker and warning sign are determined. Similarly, the first weld seam coordinates of the weld seam are extracted from the first weld seam image information. Both the first ground feature coordinates and the first weld seam coordinates can be spatial coordinates or geodetic coordinates, or geodetic coordinates can be determined first and then converted to spatial coordinates; there are no restrictions here.

[0053] S120. Based on the coordinates of each first feature and the coordinates of the first weld, determine the first distance and relative position between the weld and each feature.

[0054] Specifically, after extracting the coordinates of the first feature and the first weld seam for each feature, the first distance and relative position between each feature and the weld seam are determined based on these coordinates. For example, if the first weld seam coordinates are (x1, y1, z1) and the first feature coordinates of feature 1 are (a1, b1, c1), then the first distance between the weld seam and feature 1 (mileage marker) is... Feature 1 is located 45° southeast of the weld. Similarly, the first distance and relative position between the weld and feature 2 can be determined.

[0055] S130. During the operation period, acquire the second feature image information of the ground features, and extract the second feature coordinates of each ground feature in the second feature image information.

[0056] Among them, the second ground feature image information and the first ground feature image information share common ground feature features.

[0057] Specifically, after the construction phase, the pipeline enters the operational phase. At this time, the welds are underground and invisible. Therefore, only the second feature image information of the ground features is acquired, and the coordinates of the second features of each ground feature in the second feature image information are extracted. The acquisition method may include, but is not limited to, image acquisition modules, cameras, drones, etc., which can be determined according to the actual situation and are not limited here. For example, ground features during the operational phase include milestones, trees, etc.

[0058] It should be noted that the second ground feature image information and the first ground feature image information share common ground feature features. In other words, the first ground feature image information and the second ground feature image information may or may not have different ground feature features, but they must have the same ground feature features or different stages of the same ground feature feature, such as the growth period and maturity period of a tree. In this embodiment, to ensure the stability and continuity of ground feature growth, the ground feature features in the ground feature image information extracted from two adjacent images are identified and matched. It is necessary to ensure that at least 3 common ground feature features are extracted from every two adjacent images, preferably the 3 most stable and least variable ground feature features.

[0059] Furthermore, the construction and operation phases may be further subdivided into stages, such as construction phase T1, construction phase T2, operation phase T3, and operation phase T4. Therefore, when acquiring ground feature images, at least one image of the ground feature should be acquired at each stage to ensure the continuity and reliability of ground feature monitoring. The frequency of image feature acquisition can be determined based on the dynamic rate of change of the environment along the pipeline. Through a high-frequency differentiated aerial survey plan, it can be ensured that any two adjacent ground feature images contain sufficient common feature points. For example, in plain areas where vegetation changes cyclically due to seasonal influences, images can be taken once a month. This interval ensures that ground feature features (such as mileage markers and vegetation) have not changed significantly when adjacent images are taken. In mountainous areas, during periods of active geological disasters, more frequent shooting is required, with a shooting frequency of once every 15 days. High-frequency acquisition can capture the transitional state of ground feature changes. For example, after a small-scale landslide, newly exposed soil areas can be used as transitional common features, forming new feature combinations with existing valve wells and warning signs, avoiding feature chain breaks when aligning across phases.

[0060] S140. Determine the second weld coordinates of the weld based on the second feature coordinates and the first distance and relative position between the weld and each feature.

[0061] Specifically, after obtaining the second coordinates of each feature during the operation period, based on the second coordinates of features with common features, and the first distance and relative position between the weld and each feature determined by the common features and weld during the construction period, the second weld coordinates underground can be deduced through logical operations.

[0062] S150. Determine the weld deviation based on the coordinates of the second weld and the first weld to ensure that the deviation is within the preset deviation range.

[0063] Specifically, after determining the coordinates of the second weld and the first weld, the deviation of the weld coordinates is obtained by subtracting the second weld coordinates (obtained during the operation period) from the first weld coordinates (obtained during the construction period). When the deviation is within a preset deviation range (±0.1m or other values), it indicates that the weld coordinate deviation is within the normal range, the selection of common ground features is reliable, and the alignment process of the weld coordinates has been achieved. When the deviation is outside the preset deviation range (e.g., greater than 0.1m), it indicates that the interval between ground feature acquisitions is too large. The frequency of image acquisition can be increased, such as from once a month to once every two weeks or every 10 days. The second weld coordinates are then recalculated based on common ground features until the deviation between the second and first weld coordinates is within the preset deviation range.

[0064] The technical solution of this invention involves acquiring first ground feature image information and first weld seam image information of pipeline welds during the construction phase, extracting the first ground feature coordinates of each feature in the first ground feature image information and the first weld seam coordinates of the weld seam in the first weld seam image information; determining the first distance and relative position between the weld seam and each feature based on the first ground feature coordinates and the first weld seam coordinates; acquiring second ground feature image information during the operation phase, extracting the second ground feature coordinates of each feature in the second ground feature image information; recognizing common ground feature features between the second ground feature image information and the first ground feature image information; determining the second weld seam coordinates of the weld seam based on the second ground feature coordinates and the first distance and relative position between the weld seam and each feature; and determining the weld seam deviation based on the second weld seam coordinates and the first weld seam coordinates to ensure that the deviation is within a preset deviation range. By utilizing the above method, the association of ground feature features is achieved through the common ground feature features between the second ground feature image information and the first ground feature image information acquired during the construction and operation phases. Furthermore, weld seam alignment can still be achieved even when ground feature features change or disappear, improving the reliability and continuity of monitoring.

[0065] In another specific embodiment, Figure 2This is a flowchart of another method for monitoring the characteristics of an oil and gas pipeline provided by an embodiment of the present invention. This embodiment refines the specific implementation of S120 in the above embodiment, which involves determining the first distance and relative position between the weld and each of the first features based on their coordinates and the first weld coordinates, as follows:

[0066] Convert both the coordinates of the first ground feature and the coordinates of the first weld seam into spatial coordinates;

[0067] Based on the spatial coordinates of each feature and the spatial coordinates of the weld, determine the first distance and relative position between the weld and each feature.

[0068] Furthermore, in S130, while acquiring the second feature image information of the ground features during the operation period, the following steps were added:

[0069] Ensure that the operating route of the image acquisition unit during the operation period is the same as that of the image acquisition unit during the construction period.

[0070] Furthermore, after determining the weld deviation based on the second weld coordinates and the first weld coordinates in S150 to ensure that the deviation is within the preset deviation range, the following steps are added:

[0071] Obtain weld depth parameters during the construction and operation phases;

[0072] Based on the weld burial depth data, first ground feature image information, and second ground feature image information, the changes in the soil cover thickness at the top of the pipeline are determined and stored to obtain the full-process monitoring relationship of the oil and gas pipeline body characteristics.

[0073] For details not covered in this embodiment, please refer to the above embodiments, which will not be repeated here.

[0074] refer to Figure 2 As shown, the method includes:

[0075] S210. During the construction period, acquire the first ground feature image information and the first weld seam image information of the pipeline weld seam, and extract the first ground feature coordinates of each ground feature in the first ground feature image information and the first weld seam coordinates of the weld seam in the first weld seam image information.

[0076] S220. Convert both the coordinates of the first ground feature and the coordinates of the first weld seam into spatial coordinates.

[0077] S230. Based on the spatial coordinates of each feature and the spatial coordinates of the weld, determine the first distance and relative position between the weld and each feature.

[0078] In this embodiment, both the coordinates of the first feature and the coordinates of the first weld are geodetic coordinates. Geodetic coordinates represent the location of a point on the ground using longitude (L), latitude (B), and height (H), i.e., (L, B, H). Longitude L is the east-west angle relative to the prime meridian (range -180° to +180°), latitude B is the north-south angle relative to the equator (range -90° to +90°), and height H is the distance (in meters) from the point along the normal direction of the reference ellipsoid. The coordinates can be obtained through, but are not limited to, WGS-84 (used by GPS), CGCS2000 (China 2000 National Geodetic Coordinate System), or GRS80, etc., and are not limited here. Preferably, this embodiment uses RTK measurement technology to obtain the coordinates of the first feature and the first weld through CGCS2000. Spatial coordinates refer to the coordinates in the Earth-Centered, Earth-Fixed (ECEF) spatial rectangular coordinate system, denoted by (X,Y,Z).

[0079] Specifically, when acquiring the first ground feature image information and the first weld seam image information, a UAV equipped with a Beidou POS system can be used. This POS system supports CGCS2000 coordinate system output. The POS system is used to acquire the first ground feature image information and the first weld seam image information of each ground feature along a preset flight route. The first ground feature coordinates of each ground feature feature in the first ground feature image information and the second ground feature coordinates of the weld seam in the first weld seam image information are extracted. According to the actual situation, the attitude angles (such as roll / pitch / heading angles) of each ground feature and weld seam are also extracted. After obtaining the coordinates of the first feature and the first weld, since both coordinates are geodetic coordinates (L, B, H), for example, the four features are: M100 (Lm, Bm, Hm), P100 (Lp, Bp, Hp), V100 (Lv, Bv, Hv), S100 (Ls, Bs, Hs), and the weld W100250 (located at K100+250) has coordinates (L1, B1, H1). It is necessary to convert these geodetic coordinates to spatial coordinates. This conversion can be done using a preset conversion formula. For example, the semi-major axis of the reference ellipsoid is 'a', the flattening is 'f', and the square of the first eccentricity is 'e'. 2 =2f−f 2 Calculate the radius of curvature N of the trochanteric circle: Then, based on the radius of curvature N of the ramusoidal circle, determine the spatial coordinates of each feature and weld, such as X=(N+H)cosB×cosL, Y=(N+H)cosB×cosL, Z=[N(1-e 2 [H]sinB. Of course, other methods can be used for transformation, as long as the final spatial coordinates are obtained; no specific restrictions are imposed here.

[0080] Optionally, after converting the coordinates of each first feature and the first weld into spatial coordinates, the first distance between each feature and the weld can be obtained using the Euclidean formula based on the spatial coordinates of the features and the weld. Furthermore, when determining the relative positions of each feature and the weld, the relative positional relationship can be determined based on the first distance, the elevation difference between the weld and each feature, azimuth angle, and other information. This provides a reliable basis for subsequently deducing the specific location of the weld based on the relative positional relationship.

[0081] S240. During the operation period, acquire the second feature image information of the ground features, and extract the second feature coordinates of each ground feature in the second feature image information.

[0082] Optionally, while acquiring second-level ground feature image information during the operation period, the method also includes ensuring that the operating route of the image acquisition unit during the operation period is the same as that of the image acquisition unit during the construction period.

[0083] It should be noted that after acquiring the first ground feature image information and the first weld seam image information through the image acquisition unit during the construction phase, the image acquisition unit's operating route is strictly controlled. That is, the route throughout the entire operation is precisely controlled using parameters or other methods to prevent route deviation. Furthermore, when acquiring the second ground feature information during the operation phase, the operating route of the image acquisition unit during the operation phase is ensured to be the same as that during the construction phase. In this embodiment, a fixed shooting route and flight altitude are set for the image acquisition unit. The image acquisition unit may include, but is not limited to, drones, cameras, etc. The same drone and the same flight parameter settings (such as flight altitude and route) are used for each shooting session (e.g., during the construction and operation phases) to precisely control the shooting route and angle, ensuring consistent image resolution across multiple periods and avoiding feature extraction deviations due to scale differences.

[0084] S250. Determine the second weld coordinates of the weld based on the second feature coordinates and the first distance and relative position between the weld and each feature.

[0085] S260. Determine the weld deviation based on the coordinates of the second weld and the first weld to ensure that the deviation is within the preset deviation range.

[0086] S270. Obtain weld depth parameters during the construction and operation phases.

[0087] S280. Based on the weld burial depth data, the first ground feature image information, and the second ground feature image information, determine and store the changes in the soil cover thickness at the top of the pipeline to obtain the full-process monitoring relationship of the oil and gas pipeline body characteristics.

[0088] The weld depth parameter is the vertical distance (in meters) from the top of the pipe to the ground surface at the location of the weld. It does not represent the burial depth of the pipe center, but rather the burial depth of the pipe top, because the soil cover thickness equals the burial depth of the pipe top.

[0089] Specifically, during the construction phase, the coordinates of the first ground features are measured using a total station or GNSS-RTK. Based on these coordinates, the surface elevation during construction can be determined. Alternatively, before backfilling, the actual elevation of the pipe top can be measured directly using an RTK measuring instrument. Subtracting the actual pipe top elevation from the surface elevation yields the soil cover thickness during construction. During the operation phase, the pipeline is buried underground, making direct measurement impossible. Therefore, indirect methods are needed. For example, assuming the pipeline has not settled (i.e., the pipe top elevation remains constant), the current surface elevation can be determined by obtaining the coordinates of the second ground features during operation. Subtracting this from the actual pipe top elevation gives the soil cover thickness during operation. Comparing the soil cover thickness during construction and operation, a positive subtraction indicates a decrease in soil cover thickness, while a negative subtraction indicates an increase. A decrease in soil cover thickness indicates a risk of pipeline exposure, requiring further determination of preventative measures to ensure pipeline safety. In other words, based on the coordinates and elevations of surface features in multiple images from different stages of operation, and combined with the elevation benchmark of the top of the pipe during construction, the changes in the soil cover thickness can be calculated in real time to determine the impact of land leveling, settlement, etc. on the burial depth, so that timely measures can be taken.

[0090] It should be noted that this embodiment will store the first ground feature image information, first ground feature coordinates, first weld seam image information, first weld seam coordinates, second ground feature image information, second ground feature coordinates, and overburden thickness acquired at each stage of the construction and operation periods in the form of tables or charts, establishing a full-process monitoring relationship of oil and gas pipeline body characteristics. This allows for the rapid acquisition of any image or coordinate at any stage in subsequent phases, achieving full-process monitoring, and also enabling the rapid identification of problem points and timely implementation of corresponding measures when anomalies occur.

[0091] The technical solution of this invention converts both the coordinates of the first ground feature and the coordinates of the first weld into spatial coordinates; based on the spatial coordinates of the ground feature and the weld, the first distance and relative position between the weld and each ground feature are determined; the operating route of the image acquisition unit during the operation period is the same as that of the image acquisition unit during the construction period; weld burial depth parameters during the construction and operation periods are acquired; based on the weld burial depth data, the image information of the first ground feature, and the image information of the second ground feature, the changes in the soil cover thickness at the top of the pipeline are determined and stored to obtain the full-process monitoring relationship of the oil and gas pipeline body characteristics. Using the above method, the accurate determination of the positional relationship between the weld and each ground feature is achieved, ensuring the full-process monitoring of the pipeline body characteristics, providing a basis for timely identification of problem points in case of subsequent anomalies, and improving efficiency.

[0092] In another specific embodiment, Figure 3 This is a flowchart of another method for monitoring the characteristics of oil and gas pipeline bodies provided by an embodiment of the present invention. In addition to obtaining the first ground feature image information and the first weld seam image information of the pipeline weld during the construction period in S110 of the above embodiment, the following steps are added:

[0093] Image time for acquiring the first ground feature image information and the first weld seam image information;

[0094] Furthermore, after determining the first distance and relative position between the weld and each of the first features and the first weld coordinates in S120, the following steps are added:

[0095] The first ground feature image information, the first weld seam image information, the first distance and relative position between the weld seam and each ground feature, and the image time are stored to obtain the correlation matrix.

[0096] Furthermore, in S130, while acquiring the second feature image information of the ground features during the operation period, the following steps were added:

[0097] Image time for acquiring second ground feature image information;

[0098] Furthermore, after obtaining the second feature image information of the ground features during the operation period in S130, and extracting the second feature coordinates of each ground feature from the second feature image information, the following steps are added:

[0099] By comparing the first and second ground feature image information, the changes in ground feature features are determined, and the correlation matrix is ​​updated when ground feature features change.

[0100] For details not covered in this embodiment, please refer to the above embodiments, which will not be repeated here.

[0101] refer to Figure 3 As shown, the method includes:

[0102] S310. During the construction period, while acquiring the first ground feature image information and the first weld seam image information of the pipeline weld seam, acquire the image time of the first ground feature image information and the first weld seam image information, and extract the first ground feature coordinates of each ground feature in the first ground feature image information and the first weld seam coordinates of the weld seam in the first weld seam image information.

[0103] Specifically, during the construction period, when the image acquisition unit acquires the first ground feature image information and the first weld seam image information, it simultaneously acquires the time corresponding to the acquisition time of the first ground feature image information and the first weld seam image information, i.e., the image time. This image time can be accurate to the day, such as February 10, 2024, or accurate to the second, such as 16:54:30 on February 10, 2024, or even accurate to the microsecond level. The specific time can be determined according to the actual situation, which will not be elaborated here.

[0104] S320. Based on the coordinates of each first feature and the coordinates of the first weld, determine the first distance and relative position between the weld and each feature.

[0105] S330. Store the first ground feature image information, the first weld seam image information, the first distance and relative position between the weld seam and each ground feature, and the image time to obtain the correlation matrix.

[0106] The correlation matrix is ​​a chart or matrix obtained by organizing the images, coordinates, and times of various features acquired at different stages of the construction period, as well as the images, coordinates, and times of welds, according to different stages.

[0107] Specifically, during construction phase T1, the first-feature image information, coordinates, and time of each feature are acquired and stored in tabular form, resulting in a graphical representation of the features in phase T1. The graphical information for welds is the same and will not be repeated. In phase T2, the first-feature image information, coordinates, and time of each feature are again acquired and stored in tabular form, resulting in a graphical representation of the features in phase T2. This process continues until all feature and weld information for all phases is stored, thus obtaining the correlation matrix between each phase.

[0108] It should be noted that during different stages of the construction period, if new ground features are added, the image information, coordinates, and time of the new features need to be synchronously updated in the correlation matrix. Similarly, if some ground features disappear, the information in the correlation matrix also needs to be updated to confirm feature changes in real time.

[0109] S340. While acquiring the image information of the second ground features during the operation period, acquire the image time of the second ground feature image information and extract the coordinates of the second ground features of each ground feature in the second ground feature image information.

[0110] Specifically, during the operation period, when the image acquisition unit acquires the second ground feature image information of the ground feature, it also acquires the time corresponding to the acquisition time of the second ground feature image information, i.e., the image time. This image time can be accurate to the day, such as February 10, 2024, or to the second, such as 16:54:30 on February 10, 2024, or even to the microsecond level. The specific time can be determined according to the actual situation, which will not be elaborated here.

[0111] S350. Compare the first and second ground feature image information to determine the changes in ground feature features, and update the correlation matrix when ground feature features change.

[0112] This step can be further refined as follows: when adding new ground features, extract the coordinates and image time of the second ground feature from the second ground feature image information of the newly added ground feature, and update the correlation matrix; when the number of ground features decreases, update the correlation matrix.

[0113] Specifically, when acquiring second-level ground feature image information at different stages of the operation period, the first-level ground feature image information can be compared with the second-level ground feature image information to confirm changes in ground feature characteristics and update the association matrix in a timely manner. If, after comparison, it is determined that new ground features (such as tee boxes, trees, houses, etc.) exist in the second-level ground feature image information, and the different stages of the same ground feature do not belong to the new ground feature, then the second-level ground feature coordinates and image time of the new ground feature are extracted, and the image information, coordinates, and time of the new ground feature are updated in the association matrix. Similarly, if, after comparison, it is determined that a ground feature has disappeared or decreased, the image, coordinates, and time information corresponding to the decreased ground feature also need to be deleted from the association matrix to update the association matrix.

[0114] S360. Determine the second weld coordinates based on the second feature coordinates and the first distance and relative position between the weld and each feature.

[0115] S370. Determine the weld deviation based on the coordinates of the second weld and the first weld to ensure that the deviation is within the preset deviation range.

[0116] The technical solution of this invention enables the establishment and updating of the correlation matrix at different stages of construction and operation, accurately reflects the changes and evolution of the surrounding environment, and realizes full-process monitoring of pipe characteristics.

[0117] In another specific embodiment, Figure 4 This is a schematic diagram illustrating the changes in pipe characteristics at different times and stages, as provided in an embodiment of the present invention. Figure 4 As shown, it can be seen that:

[0118] Step 1: During the pre-construction surveying phase of T1, construction positioning design stakes or reference stakes, such as Feature 3, are laid out along the pipeline route based on the design drawings. Layout surveying is carried out and benchmark feature acquisition is performed. RTK measurement technology is used to accurately obtain the coordinates of design stakes and reference stakes, such as Feature 3. Aerial photography of the pipeline route is carried out using drones to obtain the original topographic images before construction. The geodetic 2000 coordinates of ground object features (Feature 1: trees, Feature 2: large pond, Feature 3: reference stake) in the images are extracted and recorded. The positional relationship between the pipeline design route and ground features is recorded to provide a benchmark for feature alignment in the subsequent construction phase.

[0119] Step Two: During construction phase T2, when the pipeline is visible, use drones to conduct aerial photography along the pipeline route. Simultaneously, employ RTK surveying technology to accurately obtain the geodetic coordinates of the pipeline weld locations and the geodetic coordinates of ground features (Feature 4: trees, Feature 5: pond, Feature 6: small mound, Feature 7: reference stake). Construct a "weld-feature" correlation matrix, recording the coordinates and relative positions of the weld and each ground feature. After converting the geodetic coordinates to spatial coordinates, calculate the spatial distance between each feature and the weld using the spatial coordinate distance formula, establish location associations, and store the data in the geographic information database.

[0120] For example, given the weld coordinates (B, L, H) and feature 4 coordinates (B1, L1, H1), we can transform them to obtain the weld spatial coordinates (x, y, z) and feature 4 spatial coordinates (x1, y1, z1). Therefore, the straight-line distance between the weld and feature 4 (trees) is L1. Similarly, if the spatial coordinates of feature 5 are (x2, y2, z2), then the straight-line distance between the weld and feature 5 (pond) is L2. The calculation method for other features is the same.

[0121] Step 3: During construction phase T3, i.e., the ground backfilling period, the pipeline is still visible. Drone aerial photography and RTK surveying are conducted again to obtain the ground features (Feature 8: a larger mound of earth, Feature 9: a signpost, Feature 10: a utility pole, Feature 11: a tree, Feature 12: a small pond) and the coordinates of the weld. Compare the ground features of T2 and T3 to identify features with common relationships (e.g., Features 6 and 8 are both mounds of earth, Features 4 and 11 are both trees, belonging to different stages of the same type of ground feature; Features 5 and 12 are both bodies of water, representing a change from a small pond to a larger pond). Again based on the Geodetic 2000 coordinate system, the geodetic coordinates of the newly added Features 9 and 10 are obtained and converted to spatial coordinates. The spatial distance to the weld is calculated, and the spatial relationship between the ground features and the weld is updated. Simultaneously, the coordinate correspondence between common ground features of T1 and T2 (e.g., Features 6 and 8, Features 4 and 11) is established, forming a "transfer chain" of ground features.

[0122] Step 4: During the operational phase T4, the pipeline is buried deep underground and invisible. A drone is used to conduct aerial photography along the pipeline route to obtain the coordinates of ground features (Feature 13: flowers on a mound, Feature 14: signpost, Feature 15: utility pole, Feature 16: marker, Feature 17: warning light). Utilizing the common inheritance relationships between T3 and T4 features (e.g., features 9 and 14 are both signs, and features 8 and 13 are spatially inherited), the geodetic coordinates of these features are obtained based on the Geodetic 2000 coordinate system. By combining the spatial distance relationships between features in T3 (e.g., features 8, 9, and 10) and the weld seam, and the geodetic coordinates of the corresponding inherited features in T4 (features 13, 14, and 15), the coordinates are first converted to spatial coordinates. Then, the spatial coordinates of the weld seam are deduced using distance formulas. Finally, the coordinates are converted back to Geodetic 2000 coordinates, achieving precise positioning of the weld seam when it is invisible in phase T3. Simultaneously, the image information, coordinates, and time of newly added features (such as feature 16 and feature 17) are added to the correlation matrix, and the correlation matrix is ​​updated.

[0123] Step 5: During the operational phase T5, the ground features change further. Another drone aerial survey is conducted to obtain the geodetic coordinates of the ground features (Feature 18: Mountain, Feature 19: Sign, Feature 20: Utility Pole, Feature 21: Landmark, Feature 22: House, Feature 23: Warning Light). Compare the ground features from T4 and T5 (e.g., Features 21 and 16 are both landmarks, Features 15 and 20 are both utility poles, Features 13 and 18 are both hilly areas, Features 17 and 23 are both warning lights). Using the preliminary weld location results from T4, and considering the inheritance relationship between the T5 and T4 ground features, further optimize the weld coordinates. The specific method is the same as the previous step and will not be repeated here. Compare the located weld coordinates with those from the previous phase (e.g., the weld coordinates measured by RTK in T2). If the deviation exceeds the preset deviation range (e.g., greater than 0.1 meters), re-select the ground features and optimize the association model until the deviation requirement is met.

[0124] In another specific embodiment, the present invention provides another method for monitoring the characteristics of oil and gas pipeline bodies, the method comprising:

[0125] Step 1: Taking the cross-period positioning and alignment of pipe features in section K100-K101 of a long-distance oil pipeline as an example, during the construction period (February 2025), a UAV equipped with a Beidou POS system (supporting CGCS2000 coordinate system output) is used to plan parallel flight paths along both sides of the pipeline centerline. The flight altitude is 80m. The POS system records the CGCS2000 coordinates (longitude L, latitude B, elevation H) and attitude angles (roll / pitch / heading angle) of each ground feature in each image. The time is synchronized with Beidou time (accurate to the microsecond level). Image maps are acquired, and ground feature features are extracted from the image maps and their coordinates are obtained, such as ground feature features: M100 (Lm, Bm, Hm), P100 (Lp, Bp, Hp), V100 (Lv, Bv, Hv), S100 (Ls, Bs, Hs). Simultaneously, a Beidou RTK measuring instrument is used to collect the coordinates of the weld seam. For example, the coordinates of weld W100250 (located at K100+250) are (L1, B1, H1). Import the image POS data, weld coordinates, and feature coordinates into the database, and establish a connection through "image file name-timestamp-feature ID". For example, the image "Pipe_20250210_K100_001.tif" is associated with the RTK coordinates of W100250 and the geodetic coordinates of M100, P100, V100, and S100.

[0126] Step 2: Calculate the spatial distance between the weld and each feature. Convert the CGCS2000 geodetic coordinates (L, B, H) to spatial rectangular coordinates (X, Y, Z) using a coordinate transformation formula. Then, use the Euclidean distance formula in the spatial rectangular coordinate system to calculate the three-dimensional spatial distance between the weld and each feature. For example, calculate the spatial distances O-M100, O-P100, O-V100, and O-S100 between W100250 and four features M100 (Lm, Bm, Hm), P100 (Lp, Bp, Hp), V100 (Lv, Bv, Hv), and S100 (Ls, Bs, Hs). Construct a "pipe body feature - feature feature" correlation matrix and create a data table in the spatiotemporal database, as shown in Table 1.

[0127] Table 1

[0128]

[0129] Step 3: During the operational phase (March 2025), use the same drone, with the same flight path and altitude, to acquire imagery and record the coordinates and timestamps of features in each image. Compare the images from February 2024 (construction phase) and March 2024 (operation phase) to identify three common feature characteristics that exist across phases: M100, V100, and S100. Obtain the coordinates of the corresponding common feature characteristics in the March imagery. Using the March feature coordinates as a benchmark, and combining the spatial distances (O-M100, O-V100, O-S100) in the correlation matrix, establish a spatial distance constraint equation to reverse-engineer the CGCS2000 coordinates of weld W100250 in the March imagery, thus aligning the weld from the construction phase (February) to the operational phase (March). Compare the weld coordinates reverse-engineered in March with the RTK measured weld coordinates from February, calculate the deviation, and if the deviation is within the preset deviation range, the alignment is considered effective.

[0130] Step 4: During the operation period (April 2025), measurements were conducted using the same method. Comparing the March and April images, it was found that S100 was removed, and a new pipeline marker S101 was added. M100 and V100 showed no significant positional changes. The coordinates of S101 and its spatial distance O-S101 to W100250 were obtained using the method described above, and the correlation matrix was updated. The April image data, the inverse coordinates of W100250, and the correlation information of the newly added feature S101 were incorporated into the spatiotemporal database to construct a time series of W100250 coordinates from February to March to April. Referring to Table 2, this achieved accurate cross-period positioning of W100250 from the construction period (February) to the operation period (March and April). Even with changes in feature characteristics (such as the removal of S100), alignment accuracy can still be maintained by adding transitional feature points, verifying the stability and reliability of this method in dynamic environments.

[0131] Table 2

[0132]

[0133] In another specific embodiment, the present invention provides a method for end-to-end monitoring, the method comprising:

[0134] Step 1: Taking the characteristic burial depth calculation and tee repair of a long-distance oil pipeline K100-K101 section as an example, in addition to obtaining the weld coordinates and ground object coordinates in the above embodiment, further obtain the burial depth data of the pipeline at various periods. At the same time, during the UAV image recognition process, focus on the extraction and recognition of key features of the pipe section (tee).

[0135] Step 2: By analyzing the elevation changes of surface features in multiple imagery periods, the dynamic changes in the soil cover thickness at the top of the pipe are inferred, allowing for real-time monitoring of the impact of land leveling on burial depth. A positive soil cover thickness indicates that the pipe is covered by soil, while a negative value indicates that the pipe is exposed.

[0136] Step 3: Acquire images of the area surrounding W100250 before and after repair. Identify the newly added feature tee T1001 at W100250, obtain the coordinates of T1001, and calculate the spatial distance between T1001 and the surrounding welds. Automatically associate it with the two welds W100250 and W100260 that are closest to it. The system automatically writes the information of T1001 into the maintenance database to update the association matrix.

[0137] Step 4: Overlay each image in the GIS platform, mark the key differences between the periods, mark the changes in the burial depth of the pipe and the environmental conditions at position W100250, and visually display the changes in burial depth and environment by comparing the overlay images, which helps to analyze the relationship between changes in burial depth and the natural environment.

[0138] Based on the same inventive concept Figure 5 This is a schematic diagram of a monitoring device for oil and gas pipeline body characteristics provided in an embodiment of the present invention. This device is used to perform the aforementioned monitoring method. (Refer to...) Figure 5 As shown, the device includes:

[0139] The first coordinate determination module 110 is used to acquire the first ground feature image information and the first weld seam image information of the pipeline weld seam during the construction period, and extract the first ground feature coordinates of each ground feature in the first ground feature image information and the first weld seam coordinates of the weld seam in the first weld seam image information.

[0140] The location determination module 120 is used to determine the first distance and relative position between the weld and each of the first features and the first weld coordinates.

[0141] The second coordinate determination module 130 is used to acquire second ground feature image information of ground features during the operation period and extract the second ground feature coordinates of each ground feature in the second ground feature image information; the second ground feature image information and the first ground feature image information have common ground feature features;

[0142] The third coordinate determination module 140 is used to determine the second feature coordinates of the weld based on the second feature coordinates and the first distance and relative position between the weld and various features.

[0143] The deviation determination module 150 is used to determine the deviation of the weld seam based on the second feature coordinates and the first coordinates, so as to ensure that the deviation is within the preset deviation range.

[0144] The monitoring device for oil and gas pipeline body characteristics provided in this embodiment of the invention can execute the monitoring method for oil and gas pipeline body characteristics provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0145] Optionally, the location determination module 120 is further configured to: convert both the coordinates of the first feature and the coordinates of the first weld into spatial coordinates; and determine the first distance and relative position between the weld and each feature based on the spatial coordinates of the features and the spatial coordinates of the weld.

[0146] Optionally, the second coordinate determination module 130 is also configured to ensure that the running route of the image acquisition unit during the operation period is the same as that of the image acquisition unit during the construction period.

[0147] Optionally, the first coordinate determination module 110 is further configured to: acquire the image time of the first ground feature image information and the first weld seam image information;

[0148] Optionally, the device further includes a storage module for storing the first ground feature image information, the first weld seam image information, the first distance and relative position between the weld seam and each ground feature, and the image time, to obtain an association matrix.

[0149] Optionally, the second coordinate determination module 130 is also configured to: acquire the image time of the second ground feature image information.

[0150] Optionally, the storage module is also configured to: compare the first and second ground feature image information to determine the changes in ground feature features, and update the correlation matrix when ground feature features change.

[0151] Optionally, the storage module is also configured to: when adding new ground features, extract the coordinates and image time of the second ground feature from the second ground feature image information of the newly added ground feature, and update the correlation matrix. When the number of ground features decreases, update the correlation matrix.

[0152] Optionally, the device also includes: a monitoring module for acquiring weld depth parameters during the construction and operation periods; and for determining and storing the changes in the soil cover thickness at the top of the pipeline based on the weld depth data, first ground feature image information, and second ground feature image information, so as to obtain the full-process monitoring relationship of the oil and gas pipeline body characteristics.

[0153] Based on the same inventive concept, the present invention provides a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute the above-described method for monitoring the characteristics of oil and gas pipeline bodies.

[0154] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0155] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0156] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0157] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0158] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0159] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for monitoring the characteristics of an oil and gas pipeline body, characterized in that, include: During the construction period, first ground feature image information and first weld seam image information of pipeline weld seam are acquired, and the first ground feature coordinates of each ground feature in the first ground feature image information and the first weld seam coordinates of the weld seam in the first weld seam image information are extracted. Based on the coordinates of each of the first ground features and the coordinates of the first weld, determine the first distance and relative position between the weld and each of the ground features; During the operation period, second ground feature image information of ground features is acquired, and the coordinates of the second ground features of each ground feature in the second ground feature image information are extracted; the second ground feature image information and the first ground feature image information have common ground feature features; The second weld coordinates of the weld are determined based on the second feature coordinates and the first distance and relative position between the weld and each feature. The deviation of the weld is determined based on the second weld coordinates and the first weld coordinates to ensure that the deviation is within a preset deviation range.

2. The monitoring method according to claim 1, characterized in that, Both the coordinates of the first feature and the coordinates of the first weld are geodetic coordinates. Based on the coordinates of each of the first ground features and the coordinates of the first weld, the first distance and relative position between the weld and each of the ground features are determined, including: Convert both the coordinates of the first ground feature and the coordinates of the first weld seam into spatial coordinates; Based on the spatial coordinates of each of the ground features and the spatial coordinates of the weld, the first distance and relative position between the weld and each of the ground features are determined.

3. The monitoring method according to claim 1, characterized in that, Both the first ground feature image information and the first weld seam image information are acquired through the image acquisition unit; Acquiring secondary feature image information of ground features during the operation period also includes: Ensure that the operating route of the image acquisition unit during the operation period is the same as that of the image acquisition unit during the construction period.

4. The monitoring method according to claim 1, characterized in that, Acquiring first-level ground feature image information and first-level weld seam image information of pipeline welds during the construction period also includes: The image time for acquiring the first ground feature image information and the first weld seam image information; After determining the first distance and relative position between the weld and each of the first ground features based on the coordinates of each of the first ground features and the coordinates of the first weld, the method further includes: The first ground feature image information, the first weld seam image information, the first distance and relative position between the weld seam and each of the ground features, and the image time are stored to obtain an association matrix.

5. The monitoring method according to claim 4, characterized in that, Acquiring secondary feature image information of ground features during the operation period also includes: The image time at which the second ground feature image information is acquired; After acquiring the second feature image information of the ground features during the operation period and extracting the second feature coordinates of each ground feature from the second feature image information, the process also includes: By comparing the first and second ground feature image information, the changes in the ground feature features are determined, and the correlation matrix is ​​updated when the ground feature features change.

6. The monitoring method according to claim 5, characterized in that, Comparing the first and second ground feature image information to determine the changes in the ground feature features includes: When adding new ground features, the coordinates and image time of the second ground feature in the second ground feature image information of the newly added ground feature are extracted, and the correlation matrix is ​​updated.

7. The monitoring method according to claim 5, characterized in that, Comparing the first and second ground feature image information to determine the changes in the ground feature features includes: When the ground features decrease, the correlation matrix is ​​updated.

8. The monitoring method according to claim 1, characterized in that, Also includes: Obtain weld depth parameters during the construction and operation phases; Based on the weld burial depth data, the first ground feature image information, and the second ground feature image information, the change in the soil cover thickness at the top of the pipeline is determined and stored to obtain the full-process monitoring relationship of the oil and gas pipeline body characteristics.

9. A monitoring device for the characteristics of an oil and gas pipeline body, characterized in that, include: The first coordinate determination module is used to acquire the first ground feature image information and the first weld seam image information of the pipeline weld seam during the construction period, and extract the first ground feature coordinates of each ground feature in the first ground feature image information and the first weld seam coordinates of the weld seam in the first weld seam image information. The location determination module is used to determine the first distance and relative position between the weld and each of the first ground features based on the coordinates of each of the first ground features and the coordinates of the first weld. The second feature coordinate determination module is used to acquire second feature image information of features during the operation period and extract the second feature coordinates of each feature in the second feature image information; the second feature image information and the first feature image information have common feature features; The third coordinate determination module is used to determine the second coordinates of the weld seam based on the second feature coordinates and the first distance and relative position between the weld seam and each feature seam. The deviation determination module is used to determine the deviation of the weld seam based on the second feature coordinates and the first coordinates, so as to ensure that the deviation is within a preset deviation range.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for monitoring the characteristics of the oil and gas pipeline body as described in any one of claims 1-8.

Images