Oil and gas pipelines, including crude oil pipelines, finished product pipelines and natural gas pipelines, have the characteristics of large geographical spans, large spans of construction years, and frequent safety accidents, and the total mileage of pipelines continues to increase. The need to strengthen pipeline safety patrol and management is even greater urgent. Oil and gas pipelines are generally distributed in a linear shape, and what needs to be paid attention to is the changes in the pipeline itself and the very limited area around it. Because the pipeline as a whole is very huge. Conventional means, no matter the naked eye or the sensor system, are difficult to directly observe comprehensively and in detail, so macroscopic monitoring, especially remote sensing means, is an effective means of monitoring. Commonly used remote sensing methods mainly include satellites, manned aircraft, and unmanned aerial vehicles. Among them, the satellite imaging resolution is low, and at the same time, the slewing period is usually long, so it cannot cover the whole day for monitoring, and it is also difficult to carry out emergency monitoring for sudden situations. The risk of manned flight is high, the cost of inspection is high, and the operation process is cumbersome, so it is not easy to apply to real-time monitoring. Now the use of drone inspections has gradually become an application trend in the oil and gas industry at home and abroad.