An inspection method, device, system and storage medium based on a fused map

Abstract

The present application provides an inspection method, device, system and storage medium based on a fused map, relating to the technical field of project management. The method includes: obtaining first information and second information from an inspection device, where the first information is used to indicate the position of the inspection device, and the second information is used to indicate the information collected by the inspection device from a monitoring object; determining the spatial distance between the monitoring object and the rail transit according to the first information and the second information; marking the spatial distance on a first model of a first fused map, where the first fused map and the first model are pre-generated, and the first model refers to a three-dimensional model of the rail transit. The problem that due to the complex structure of the rail transit, it is not intuitive enough to display the inspection results in the form of text information or two-dimensional image information, and more effective information cannot be displayed is solved.

Description

Technical Field

[0001] This application relates to the field of project management, and in particular, to an inspection method, device, system, and storage medium based on a fused map. Background Art

[0002] With the steady development of the economy, the number of projects such as line renovation, road maintenance, and building construction has gradually increased. Inevitably, the operating areas of some projects are relatively close to rail transit, which may pose a threat to the safe operation of rail transit. Therefore, it is necessary to monitor and inspect the monitoring objects on rail transit to ensure the safe operation of rail transit.

[0003] Currently, inspection equipment is used to monitor and inspect monitoring objects, and the inspection results are presented in the form of text information or two-dimensional image information. However, due to the complex structure of rail transit, presenting the inspection results in the form of text information or two-dimensional image information is not intuitive enough and cannot display more effective information. Summary of the Invention

[0004] This application provides an inspection method, device, system, and storage medium based on a fused map to solve the problem that due to the complex structure of rail transit, presenting the inspection results in the form of text information or two-dimensional image information is not intuitive enough and cannot display more effective information.

[0005] In a first aspect, this application provides an inspection method based on a fused map, and the method includes:

[0006] Obtain first information and second information from the inspection equipment, where the first information is used to indicate the position of the inspection equipment, and the second information is used to indicate the information collected by the inspection equipment from the monitoring object;

[0007] Determine the spatial distance between the monitoring object and the rail transit according to the first information and the second information;

[0008] Mark the spatial distance on a first model of a first fused map, where the first fused map and the first model are pre-generated, and the first model refers to a three-dimensional model of the rail transit.

[0009] In a possible design, the monitoring object includes multiple monitoring points;

[0010] Marking the spatial distance on a first model of a first fused map includes:

[0011] On the first fused map, mark the spatial distance between each monitoring point and the first model respectively.

[0012] In a possible design, the spatial distance includes a first distance, a second distance, a third distance, and a fourth distance;

[0013] The first distance refers to the straight-line distance between the corresponding monitoring point and the rail transit;

[0014] The second distance refers to the projected distance of the corresponding first distance in the horizontal axis direction;

[0015] The third distance refers to the projected distance of the corresponding first distance in the vertical axis direction;

[0016] The fourth distance refers to the projected distance of the corresponding first distance in the vertical axis direction;

[0017] The horizontal axis, vertical axis, and vertical axis are respectively one axis of the geographic coordinate system;

[0018] On the first fusion map, the spatial distances between each monitoring point and the first model are respectively marked, including:

[0019] On the first fusion map, the first distance, and / or the second distance, third distance, and fourth distance between each monitoring point and the first model are respectively marked.

[0020] In a possible design, after obtaining the first information and the second information from the inspection device, the method further includes:

[0021] Determine the inspection trajectory of the inspection device according to the first information;

[0022] Mark the inspection trajectory on the first fusion map.

[0023] In a possible design, after marking the spatial distance on the first model of the first fusion map, the method further includes:

[0024] Reduce the resolution of the first fusion map to obtain a second fusion map;

[0025] Send the second fusion map to the display device for the display device to display the second fusion map.

[0026] In a possible design, before obtaining the first information and the second information from the inspection device, the method further includes:

[0027] Obtain a second model, the second model includes third information, the second model is obtained by three-dimensional modeling and point cloud scanning, and the third information is used to indicate the set of mapping coordinates of the second model mapped on the plane coordinate system;

[0028] Perform lightweight processing on the second model to obtain a first model, and the first model includes third information;

[0029] Determine a first area and a second area in a planar map according to third information, where the planar map is pre-generated, the coordinate set of the first area on the planar coordinate system is the same as the mapped coordinate set, and the second area is the area outside the first area in the planar map area;

[0030] Replace the map of the first area with a first model;

[0031] Fuse the first model and the map of the second area to obtain a first fused map.

[0032] In a possible design, after fusing the first model and the map of the second area to obtain a first fused map, the method further includes:

[0033] Obtain dynamic information of a monitoring object, where the dynamic information is used to indicate the impact level of the monitoring object in each time period. The impact level includes a first level and a second level. At the first level, the impact of the monitoring object on the safe operation of the rail transit is higher than that at the second level;

[0034] Formulate an inspection task according to the dynamic information. The inspection task includes multiple inspection time periods, and the impact level corresponding to each inspection time period is the first level;

[0035] In each inspection time period, send the inspection task to the inspection device, so that the inspection device can collect second information from the monitoring object.

[0036] In a second aspect, the present application provides an inspection device based on a fused map, including:

[0037] An information acquisition module, configured to acquire first information and second information from an inspection device. The first information is used to indicate the position of the inspection device, and the second information is used to indicate the information collected by the inspection device from a monitoring object;

[0038] A distance determination module, configured to determine the spatial distance between the monitoring object and the rail transit according to the first information and the second information;

[0039] A distance annotation module, configured to annotate the spatial distance on the first model of the first fused map, where the first fused map and the first model are pre-generated, and the first model refers to a three-dimensional model of the rail transit.

[0040] In a third aspect, the present application provides an inspection system based on a fused map, including:

[0041] An inspection device, configured to collect information from a monitoring object;

[0042] A display device, configured to display a second fused map;

[0043] A data processing server for implementing the inspection method based on the fusion map in the first aspect of the invention content.

[0044] In a fourth aspect, the present application provides a computer-readable storage medium storing computer-executable instructions, which are used to implement the inspection method based on the fusion map in the first aspect of the invention content when executed by a processor.

[0045] In a fifth aspect, the present application provides a computer program product including a computer program, which is used to implement the inspection method based on the fusion map in the first aspect of the invention content when executed by a processor.

[0046] An inspection method, device, system and storage medium based on a fusion map provided by the present application obtain first information and second information from an inspection device, determine the spatial distance between a monitoring object and a rail transit according to the first information and the second information, and mark the spatial distance on a first model of a first fusion map. The following technical effects are achieved: by means of the first model of the first fusion map, the spatial distance between the three-dimensional model of the monitoring object and the first model is displayed, solving the problem that due to the complex structure of the rail transit, it is not intuitive enough to display the inspection results in the form of text information or two-dimensional image information and it is impossible to display more effective information; by means of the three-dimensional coordinates of the inspection device in the geographic coordinate system and the spatial distance between the monitoring object and the inspection device, the three-dimensional coordinates of the monitoring object in the geographic coordinate system are determined, and then the spatial distance between the monitoring object and the rail transit is determined, solving the problem of determining the spatial distance between the monitoring object and the rail transit; by means of the inspection device collecting information from the monitoring object and obtaining the first information indicating the position of the inspection device and the second information indicating the collected information from the inspection device, the problems of data collection and acquisition are solved. Description of the Drawings

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0048] Figure 1 It is a schematic diagram of the system architecture of the inspection method based on the fusion map provided by the embodiments of the present application;

[0049] Figure 2 It is a framework diagram of the application scenario of the inspection method based on the fusion map provided by the embodiments of the present application;

[0050] Figure 3Flow schematic of the inspection method based on the fused map provided by the embodiment of the present application Figure 1 ;

[0051] Figure 4 Flow schematic of the inspection method based on the fused map provided by the embodiment of the present application Figure 2 ;

[0052] Figure 5 Schematic diagram of the principle for marking spatial distance provided by the embodiment of the present application;

[0053] Figure 6 Flow schematic of the inspection method based on the fused map provided by the embodiment of the present application Figure 3 ;

[0054] Figure 7 Flow schematic of the inspection method based on the fused map provided by the embodiment of the present application Figure 4 ;

[0055] Figure 8 Structural schematic diagram of the inspection device based on the fused map provided by the embodiment of the present application.

[0056] Reference numerals:

[0057] 110 - Inspection device; 120 - Data processing server; 130 - Display device;

[0058] 210 - Subway track; 220 - Subway protection area; 230 - Foundation pit; 240 - Beidou positioning terminal; 250 - Total station; 260 - 5G base station;

[0059] 300 - Inspection device based on the fused map; 310 - Information acquisition module; 320 - Distance determination module; 330 - Distance marking module. Detailed implementation manners

[0060] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of the devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0061] In the embodiments of the present application, terms such as "first" and "second" are used to distinguish identical or similar items with basically the same functions and roles. Those skilled in the art can understand that terms such as "first" and "second" do not limit the quantity and execution order, and "first", "second", etc. do not necessarily mean different. It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner. In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more.

[0062] It should be noted that "when... " in the embodiments of the present application can be at the instant when a certain situation occurs, or within a period of time after a certain situation occurs. The embodiments of the present application do not make specific limitations in this regard. In addition, a patrol inspection method based on a fusion map provided in the embodiments of the present application is only an example, and the patrol inspection method based on the fusion map may also include more or less content.

[0063] To facilitate a clear description of the technical solutions in the embodiments of the present application, the following briefly introduces some terms and technologies involved in the embodiments of the present application:

[0064] Rail transit: It is a type of transportation vehicle or transportation system that travels on a specific track. Rail transit includes traditional railways (ordinary railways, intercity railways, and suburban railways), subways, light rails, and tramcars, etc.

[0065] Spatial distance: It is a vector. The magnitude of the spatial distance refers to the straight-line distance between two objects, and the direction of the spatial distance points from one object to another object.

[0066] Geographic Coordinate System (GCS): It is a three-dimensional coordinate system. The geographic coordinate system uses a three-dimensional sphere to define the positions on the earth's surface, and is a coordinate system for realizing the reference of points on the earth's surface through longitude and latitude.

[0067] Plane coordinate system: It is a two-dimensional coordinate system. Two number axes that are perpendicular to each other and have a common origin on the same plane form a plane coordinate system.

[0068] Three-dimensional modeling: It is a process of establishing a three-dimensional model using mapping software.

[0069] Point cloud scanning (scan-to-BIM): It is a process of scanning a dataset of points in space. Point cloud scanning can obtain the position information, color information, object reflection surface intensity information, etc. of the points, and is usually carried out by a 3D scanner.

[0070] To ensure the safe operation of rail transit on the line, it is necessary to ensure the safety of the surrounding environment along the rail transit. Various activities within the surrounding environment along the line must not pose a threat to the safe operation of rail transit. This surrounding environment along the line is called the protection area.

[0071] With the steady development of the economy, the number of projects such as line renovation, road maintenance, and building construction has gradually increased. Inevitably, the working areas of some projects are relatively close to the rail transit, and a part of the working areas fall within the protection area of the rail transit. During the operation of the projects, it may cause the structural deformation of the rail transit to exceed the standard, seriously threatening the safe operation of the rail transit. Therefore, it is necessary to monitor and inspect the rail transit and its protection area, especially to monitor and inspect the objects whose working areas fall within the protection area of the rail transit to ensure the safe operation of the rail transit.

[0072] Currently, the monitoring object is monitored and inspected through inspection equipment, and the inspection results are displayed in the form of text information or two-dimensional image information, so that technicians can judge whether the monitoring object affects the safe operation of the rail transit according to the distance information. Among them, displaying the inspection results in the form of text information means that through forms such as text messages, messages, or notifications, the inspection trajectory of the inspection equipment and the distance information between the monitoring object and the rail transit are prompted; displaying the inspection results in the form of two-dimensional image information means that on a two-dimensional plane map, the inspection trajectory of the inspection equipment and the distance information between the monitoring object and the rail transit are marked.

[0073] However, the internal structure of the rail transit is complex and its location is different. For example, some rail transits are above the ground (such as high-speed rails), some are below the ground (such as subways), and some are on bridges (such as light rails). Displaying the inspection results in the form of text information or two-dimensional image information, due to the limited display area, cannot reflect the three-dimensional structure of the rail transit and the spatial position relationship between the monitoring object and the rail transit, resulting in the display of the inspection results not being intuitive enough and unable to display more effective information.

[0074] During the inspection process, there are already mature inspection devices for rail transit inspections. However, these inspection devices usually need to be carried by inspection personnel, and the inspection personnel and the inspection devices are combined to inspect the monitored objects. Since the monitored objects are densely distributed, huge in volume, and require long-term inspections, this inspection method results in a large consumption of human and material resources. At the same time, affected by factors such as the project progress, there will also be missed inspections, delays, and certain safety hazards during the inspection process.

[0075] Based on this, the embodiments of the present application provide an inspection method, device, system, and storage medium based on a fusion map, which can be used in the technical field of project management and aims to solve the above technical problems in the prior art.

[0076] Figure 1 It is a schematic diagram of the system architecture of the inspection method based on a fusion map provided by the embodiments of the present application. It should be noted that Figure 1 The example shown is only an example of the system architecture to which the embodiments of the present application can be applied to help those skilled in the art understand the technical content of the present application, but it does not mean that the embodiments of the present application cannot be used in other devices, systems, environments, or scenarios.

[0077] As Figure 1 shown, the system architecture includes: an inspection device 110, a data processing server 120, and a display device 130. The data processing server 120 is wirelessly communicatively connected to the inspection device 110, and the connection method can be through a 3rd Generation Mobile Communication Technology (3G) network, a 4th Generation Mobile Communication Technology (4G) network, or a 5th Generation Mobile Communication Technology (5G), etc.; the data processing server 120 is communicatively connected to the display device 130 either wired or wirelessly. The wired communication connection method can be through a Universal Serial Bus (USB) bus, a High Definition Multimedia Interface (HDMI) bus, or a network cable, etc., and the wireless communication connection method can be through a 4G network, a 5G network, Wireless Fidelity (WiFi), or Bluetooth, etc.

[0078] The inspection device 110 can be a combination of multiple devices. For example, the inspection device 110 can include a positioning terminal and a ranging instrument. Among them, the positioning terminal is used for satellite positioning, and the positioning system used can be the Beidou Navigation Satellite System (BDS), the Global Positioning System (GPS), the Galileo Satellite Navigation System (GSNS), etc.; the ranging instrument is used for measuring distance, and the ranging instrument can be an Electronic Total Station, an infrared radar, a millimeter-wave radar, etc. The inspection device 110 can also be a customized multi-functional device. For example, the inspection device 110 can be a drone that supports positioning and shooting, or a remote sensing satellite. The inspection device 110 inspects the rail transit and its protected areas, and collects information from them; at the same time, the inspection device 110 transmits the collected information to the data processing server 120, so that the data processing server 120 can analyze the inspection situation of the rail transit according to the transmitted data.

[0079] The rail transit inspected by the inspection device 110 can be various types of transportation tools or transportation systems. The rail transit can be a transportation tool or transportation system with tracks such as subways, high-speed rails, or light rails; in some cases, the inspection device 110 can also be a transportation tool or transportation system without tracks such as roads, rivers, or bridges. When these transportation tools or transportation systems have protected areas, the protected areas are also part of the rail transit. For example, for the subway in some areas, its protected area is within 50 meters outside the periphery of the underground station and tunnel. The station, tunnel, and protected area of the subway together form the area of the rail transit of the subway.

[0080] The data processing server 120 can be a server that provides various service supports (for example only). The data processing server 120 can be equipped with a variety of software or systems that provide service support, such as Building Information Modeling (BIM) software that provides three-dimensional modeling service support, Geographic Information System (GIS) that provides map service support, and an integrated management system that provides operation and maintenance service support. The BIM software of the data processing server 120 can build a three-dimensional model of rail transit; the GIS system of the data processing server 120 can build a fused map based on the information collected by the inspection equipment 110, and can also send the fused map to the display device 130 so that the display device 130 can display the fused map; the integrated management system of the data processing server 120 can specify inspection tasks based on the inspection object and push inspection tasks to the inspection equipment 110 at regular intervals. Among them, different inspection equipment 110 collect different types of information, and the data processing server 120 processes the collected information in a targeted manner according to the type of information collected. For example, when the inspection device 110 is a positioning terminal and a ranging instrument, the type of information collected is location information and text information indicating distance information, and the data processing server 120 directly marks the location information and distance information on the fused map; when the inspection device 110 is a drone or a remote sensing satellite, the type of information collected is location information and image information, and the data processing server 120 first determines the distance information based on the image information, and then marks the location information and distance information on the fused map.

[0081] The display device 130 may be any type of display device, such as a cathode ray tube (CRT), a liquid crystal display (LCD), a light emitting diode (LED), or a plasma display panel (PDP). The display device 130 may display the fused map sent by the data processing server 120 on its own screen, thereby achieving a three-dimensional visualization of the rail transit inspection situation.

[0082] Figure 2 This is a framework diagram of an application scenario of the inspection method based on fusion maps provided in the embodiment of the present application. Figure 2As shown in the figure, the subway track 210 is located below the ground surface, and subways are running on the subway track 210. The current construction progress of a certain project is the excavation of the foundation pit 230. Since the area of the foundation pit 230 overlaps with the area of the subway protection zone 220 (the construction party of the project has submitted the excavation plan of the foundation pit 230 to the subway operator in advance), when the foundation pit 230 is over-excavated, the deformation of the subway track 210 may exceed the design value. In this case, the excavation of the foundation pit 230 is inspected to ensure the safe operation of the subway. Among them, the overlap of the two areas means that the two areas have an intersection area.

[0083] During the inspection process, the inspectors use the Beidou positioning terminal 240 and the total station 250 (i.e., the inspection device 110) to inspect the foundation pit 230. Among them, the Beidou positioning terminal 240 obtains the current position through Beidou satellite positioning, and the total station 250 conducts precise engineering measurement on the foundation pit 230. During the measurement, the Beidou positioning terminal 240 transmits the current position information, and the total station 250 transmits the precise engineering measurement results through the 5G base station 260 (i.e., the access network), via the bearer network and the core network, to the data processing server 120 (the data processing server 120 is a server equipped with a GIS system, and the GIS system pre-stores a fused map, a geographic coordinate system, and a plane coordinate system). The data processing server 120 marks the inspection trajectories of the Beidou positioning terminal 240 and the total station 250 on the fused map according to the current position information and the precise engineering measurement results, as well as the spatial distance between the foundation pit 230 and the subway track 210, and displays the marked fused map through the display device 130.

[0084] Figure 3 The flow chart of the inspection method based on the fused map provided by the embodiment of the present application Figure 1 As Figure 3 shown, the method includes:

[0085] S101. Obtain the first information and the second information from the inspection device;

[0086] Specifically, the data processing server obtains the first information and the second information from the inspection device. The first information is used to indicate the position of the inspection device, and the second information is used to indicate the information collected by the inspection device from the monitoring object. Taking Figure 2 the application scenario framework diagram shown as an example, the data processing server obtains the first information from the Beidou positioning terminal. The first information is obtained by the Beidou positioning terminal through Beidou satellite positioning, and the first information is the three-dimensional coordinates of the Beidou positioning terminal in the geographic coordinate system. The data processing server obtains the second information from the total station. The second information is obtained by the total station through precise engineering measurement of the foundation pit, and the second information is the spatial distance between the monitoring object and the inspection device. It should be noted that the spatial distance is a vector, including the angle of the foundation pit relative to the total station and the straight-line distance between the foundation pit and the total station.

[0087] The data processing server can obtain the first information and the second information from the inspection device in real time, where the first information refers to the position of the inspection device at the current moment, and the second information refers to the information collected by the inspection device from the monitored object at the current moment. When the second information is not collected at the current moment, the second information is empty information, or the inspection device does not upload the second information; the first information and the second information can also be obtained from the inspection device at regular intervals, where the first information refers to the position of the inspection device at each moment in the current time period, and the second information refers to the information collected by the inspection device from the monitored object in the current time period. When the second information is not collected in the current time period, the second information is empty information, or the inspection device does not upload the second information; the first information and the second information can also be obtained from the inspection device after the inspection is completed, where the first information refers to the position of the inspection device at each moment during the inspection process, and the second information refers to the information collected from the monitored object during the inspection process.

[0088] S102: Determine the spatial distance between the monitored object and the rail transit based on the first information and the second information;

[0089] Specifically, the process for the data processing server to determine the spatial distance between the monitored object and the rail transit is as follows:

[0090] First, the data processing server determines the three-dimensional coordinates (x1, y1, z1) of the inspection device in the geographic coordinate system based on the first information;

[0091] Secondly, the data processing server determines the coordinate difference (Δx, Δy, Δz) of the monitored object compared to the inspection device based on the second information;

[0092] Again, the data processing server determines the three-dimensional coordinates (x2, y2, z2) of the monitored object in the geographic coordinate system based on (x1, y1, z1) and (Δx, Δy, Δz), where x2 = x1 + Δx, y2 = y1 + Δy, z2 = z1 + Δz.

[0093] Finally, the data processing server determines the spatial distance between the monitored object and the rail transit based on (x2, y2, z2), wherein the three-dimensional coordinates of each surface point of the rail transit in the geographic coordinate system are pre-stored.

[0094] It should be noted that in the rail transit including the protection area of rail transit (such as Figure 2 The spatial distance between the monitoring object and the rail transit, specifically the distance between the monitoring object and the rail transit itself (such as Figure 2 The spatial distance between the subway tracks 210).

[0095] In other embodiments, the data processing server first determines (Δx, Δy, Δz) according to the second information, and then determines (x1, y1, z1) according to the first information.

[0096] In other embodiments, the inspection device processes the first information and the second information to determine the spatial distance. Alternatively, the inspection device processes a part of the first information and the second information to obtain an intermediate result, and the data processing server processes the other part of the first information and the second information and determines the spatial distance according to the intermediate result.

[0097] S103. Mark the spatial distance on the first model of the first fusion map;

[0098] Specifically, the first fusion map and the first model are pre-generated. The first model refers to a three-dimensional model of rail transit. Taking the application scenario framework diagram shown as an example, the first model specifically refers to a three-dimensional model of the subway track and the subway protection area. The first model can be generated during the design stage of the subway track or when the subway track needs to be inspected. Among them, the first model is generated by BIM software, and the three-dimensional coordinates of each model point of the first model in the geographic coordinate system are stored in the data processing server. The first fusion map refers to a map including the first model. On the two-dimensional plane map, the map area corresponding to the area of the first model is replaced with the first model to obtain the first fusion map. It can be understood that the first fusion map is a splicing of a plane map and a three-dimensional model, and the area where the rail transit is located is displayed in the form of a three-dimensional model to intuitively display the inspection results and thus display more effective information. Figure 2 The data processing server marks the spatial distance on the first model according to the spatial distance between the monitoring object and the rail transit. The marking process of the spatial distance is as follows:

[0099] First, a three-dimensional model of the monitoring object is generated on the first fusion map. The three-dimensional model of the monitoring object can be a simple model, that is, a model with only several monitoring points, or a complete model, that is, a model established according to technical drawings. It should be noted that the three-dimensional model of the monitoring object is generated before the inspection;

[0100] Secondly, several monitoring points of the monitoring object are marked on the three-dimensional model of the monitoring object. The monitoring points are arranged on the surface of the monitoring object in advance according to relevant standards of engineering construction. The monitoring points refer to the observation points that can reflect the change characteristics of the monitoring object.

[0101] Finally, the spatial distance between the monitoring points and the rail transit is marked. Specifically, the spatial distance is marked by means of contrast color, establishing auxiliary lines or other methods to achieve an intuitive display of the spatial distance in the first fusion map.

[0102] Finally, mark the spatial distance between the monitoring points and the rail transit. Specifically, mark the spatial distance by means of contrast color, establishing auxiliary lines or other methods to achieve an intuitive display of the spatial distance in the first fusion map.

[0103] In other embodiments, the inspection device inspects the entire process of rail transit to check whether there is an overlapping area between the unreported construction operation area and the rail transit area within the area of the rail transit and / or the protection area of the rail transit.

[0104] In other embodiments, the data processing server marks the spatial distance through other algorithms.

[0105] A patrol inspection method based on a fusion map provided in this embodiment obtains first information and second information from a patrol inspection device, determines the spatial distance between a monitoring object and rail transit according to the first information and the second information, and marks the spatial distance on a first model of a first fusion map. The following technical effects are achieved: By means of the first model of the first fusion map, the spatial distance between the three-dimensional model of the monitoring object and the first model is displayed, solving the problem that due to the complex structure of rail transit, it is not intuitive enough to display the patrol inspection results in the form of text information or two-dimensional image information and it is impossible to display more effective information; By means of the three-dimensional coordinates of the patrol inspection device in the geographic coordinate system and the spatial distance between the monitoring object and the patrol inspection device, the three-dimensional coordinates of the monitoring object in the geographic coordinate system are determined, and then the spatial distance between the monitoring object and the rail transit is determined, solving the problem of determining the spatial distance between the monitoring object and the rail transit; By means of the patrol inspection device collecting information from the monitoring object and obtaining the first information indicating the position of the patrol inspection device and the second information indicating the collected information from the patrol inspection device, the problems of data collection and acquisition are solved.

[0106] Figure 4 It is a flow diagram of the patrol inspection method based on a fusion map provided in an embodiment of the present application. Figure 2 As Figure 4 shown, on the basis of the Figure 3 embodiment, the patrol inspection method based on a fusion map is described in detail. A patrol inspection method based on a fusion map provided in this embodiment includes:

[0107] S201. Obtain first information and second information from a patrol inspection device;

[0108] After executing S201, S202 can be executed first and then S204, or S204 can be executed first and then S202, or S202 and S204 can be executed simultaneously.

[0109] S202. Determine the spatial distance between the monitoring object and the rail transit according to the first information and the second information;

[0110] S201-S202 is similar to S101-S102, and will not be elaborated in this embodiment.

[0111] S203. On the first fusion map, mark the first distance, and / or the second distance, the third distance, and the fourth distance between each monitoring point and the first model respectively;

[0112] Specifically, the monitoring object includes multiple monitoring points. The monitoring points can reflect the actual state and its change trend of the monitoring object to the greatest extent and can meet the monitoring requirements. The data processing server marks the spatial distance on the first model of the first fusion map, that is, on the first fusion map, mark the spatial distance between each monitoring point and the first model respectively. The coordinates of the map points of the first fusion map are the three-dimensional coordinates of the geographic coordinate system. The horizontal axis, the vertical axis, and the vertical axis are each an axis of the geographic coordinate system, where the horizontal axis is the x-axis, the vertical axis is the y-axis, and the vertical axis is the z-axis.

[0113] Figure 5 It is a schematic diagram of the principle for marking the spatial distance provided by the embodiment of the present application. As Figure 5 shown, on the first fusion map, the i-th monitoring point A is marked i (monitoring point A i is at the center of the circle), and the model point B on the first model with the shortest straight-line distance to A i (monitoring point B i is at the center of the circle). In the geographic coordinate system, the spatial distance between A i and B i includes the first distance, the second distance, the third distance, and the fourth distance; the first distance refers to the straight-line distance between the corresponding monitoring point and the rail transit, that is, the straight-line distance L i between A i and B i ; the second distance refers to the projection distance of the corresponding first distance in the horizontal axis direction, that is, the projection distance L i of L on the x-axis, L i ; the third distance refers to the projection distance of the corresponding first distance in the vertical axis direction, that is, the projection distance L ix of L on the y-axis, L i ; the fourth distance refers to the projection distance of the corresponding first distance in the vertical axis direction, that is, the projection distance L iy of L on the z-axis, L i ; iz .

[0114] On the first fusion map, j monitoring points are marked, where j is a positive integer not less than i. The data processing server marks the model point with the shortest straight-line distance to each monitoring point respectively, as well as the first distance, the second distance, the third distance, and the fourth distance between the j-th monitoring point and the corresponding model point.

[0115] In other embodiments, the data processing server marks the first distance between the j-th monitoring point and the corresponding model point, or marks the second distance, the third distance, and the fourth distance between the j-th monitoring point and the corresponding model point.

[0116] After executing S203, execute S206.

[0117] S204. Determine the inspection trajectory of the inspection device according to the first information;

[0118] Specifically, the data processing server determines the three-dimensional coordinates (x t , y t , z t ) of the inspection device in the geographic coordinate system at the t-th moment according to the first information. The inspection trajectory of the inspection device is a discrete curve composed of multiple (x t , y t , z t ) within the time period T.

[0119] S205. Mark the inspection trajectory on the first fused map;

[0120] Specifically, the data processing server marks the inspection trajectory on the first fused map. The curve form of the inspection trajectory can be a discrete curve, a smooth curve after fitting the discrete curve, or other forms of curves. The marking time of the inspection trajectory can be to mark the inspection trajectory in real time, mark the inspection trajectory of the time period every once in a while, or mark the inspection trajectory during the inspection after the inspection is completed.

[0121] After executing S205, execute S206.

[0122] S206. Reduce the resolution of the first fused map to obtain the second fused map;

[0123] Specifically, the data processing server reduces the resolution of the first fused map to obtain the second fused map, so as to improve the fluency and accuracy of the data processing server in processing the integrated map. The method of reducing the resolution of the first fused map can be a digital-analog separation method, a resampling method, an aggregation method, etc.

[0124] S207. Send the second fused map to the display device so that the display device can display the second fused map;

[0125] Specifically, the data processing server sends the second fused map to the display device. Since the resolution of the second fused map is lower than that of the first fused map, the transmission speed of the second fused map is faster than that of the first fused map.

[0126] The display device displays a second fusion map on the display screen, as well as the spatial distances and inspection trajectories marked on the second fusion map, so that technicians can determine whether the monitored object affects the safe operation of the rail transit according to the spatial distances and inspection trajectories.

[0127] In other embodiments, the data processing server sends the second fusion map from the GIS system to the integrated management system, so that the integrated management system can complete the analysis, processing, and display of the data.

[0128] In a possible design, Figure 6 is a flowchart of the inspection method based on the fusion map provided by the embodiments of the present application. Figure 3 As Figure 6 shown, based on the Figure 5 embodiment, the acquisition of the first fusion map is described in detail. For an inspection method based on the fusion map provided in this embodiment, before S201, the method further includes:

[0129] S301. Obtain a second model, where the second model includes third information, and the second model is obtained through 3D modeling and point cloud scanning;

[0130] Specifically, the second model is obtained through 3D modeling and point cloud scanning. Technicians use BIM software (BIM software is installed on the data processing server) and point cloud scanning to perform high-precision and rapid modeling of the rail transit on the data processing server to obtain the second model. The specific process is as follows:

[0131] First, technicians use BIM software to establish a 3D model of the rail transit. The 3D model can be a simple structure model, and the simple structure model includes the structural information on the model surface; it can also be a complete structure model, and the complete structure model includes the structural information on the model surface and inside; it can also be a complete model, and the complete model includes structural information and material information.

[0132] Second, technicians obtain the point coordinates of the points on the surface of the rail transit through point cloud scanning. The point coordinates are 3D coordinates, and the coordinate system where the point coordinates are located can be a geographic coordinate system, a relative coordinate system constructed by point cloud scanning, or other coordinate systems. In addition, point cloud scanning will also obtain other point information on the surface points of the rail transit, such as color information and object reflection surface intensity information, etc.

[0133] Finally, technicians import the point cloud scanning results into BIM software, so that BIM software can establish a second model according to the initial 3D model of the rail transit and the point coordinates of the points on the surface of the rail transit. The point coordinates of the points on the model surface of the second model correspond to the point coordinates of the points on the surface of the rail transit.

[0134] The second model further includes third information, which is used to indicate the set of mapping coordinates of the second model mapped on a plane coordinate system. The mapping coordinates are two-dimensional coordinates, that is, the point coordinates of the model surface points of the second model are mapped on the plane coordinate system.

[0135] In other embodiments, the technician first obtains the point coordinates of the surface points of the rail transit through point cloud scanning, and then establishes an initial three-dimensional model of the rail transit through BIM software.

[0136] In other embodiments, the second model can also be a two-dimensional model marked with elevation. For example, when the rail transit is a high-speed rail laid on the ground surface, the structure of the rail transit is simple, and the two-dimensional model can intuitively display the inspection results.

[0137] In other embodiments, the BIM software is installed on an external server, and the technician establishes the second model on the external server.

[0138] In other embodiments, the second model can be pre-established and stored in the external server, and the data processing server directly calls the second model from the external server.

[0139] S302. Perform lightweight processing on the second model to obtain a first model, and the first model includes third information;

[0140] Specifically, on the premise of meeting requirements such as lossless model information and model accuracy, the data processing server performs lightweight processing on the second model to obtain a processed high-precision lightweight three-dimensional model, that is, the first model, for the geometric high-precision roaming, dynamic observation, low-error positioning and high-precision measurement of the first model. The method of lightweight processing can be occlusion culling technology, model entity faceting technology or levels of detail (LOD) technology, etc. The first model only includes the structural information on the model surface, and does not include the structural information, material information and other point information inside the model.

[0141] In other embodiments, the technician performs lightweight processing on the second model on the external server to obtain a first model, and imports the first model from the external server into the data processing server equipped with a GIS system.

[0142] S303. Determine a first area and a second area in the plane map according to the third information;

[0143] Specifically, the data processing server sends the first model and the third information to the GIS system. The data processing server determines the set of mapping coordinates of the second model mapped on the plane coordinate system according to the third information, and then determines the first area corresponding to the set of mapping coordinates in the plane map through the GIS system. The plane map is pre-generated, and the plane map includes the map of the area where the rail transit is located, that is, the map of the first area. The set of coordinates of the first area on the plane coordinate system is the same as the set of mapping coordinates. The plane map also includes the map of the area around the rail transit, that is, the map of the second area. The second area refers to the area outside the first area in the area of the plane map.

[0144] S304. Replace the map of the first area with the first model;

[0145] Specifically, the data processing server highly accurately integrates the first model with the GIS system. According to the third information of the first model, through the precise conversion between the three-dimensional model and the plane map in the plane coordinate system and the geographic coordinate system, the map of the first area is replaced with the first model.

[0146] S305. Integrate the first model and the map of the second area to obtain the first integrated map;

[0147] Specifically, after the data processing server replaces the map of the first area with the first model, the map stored in the GIS system includes the first model and the map of the second area. The data processing server integrates the first model and the map of the second area to obtain the first integrated map, so as to achieve the precise matching and positioning of the three-dimensional model and the plane map under the influence of the earth's curvature.

[0148] In a possible design, Figure 7 is the process schematic of the inspection method based on the integrated map provided by the embodiment of the present application Figure 4 . As Figure 7 shown, on the basis of the Figure 6 embodiment, this embodiment details the information collected by the inspection device from the monitoring object. A method for inspecting based on an integrated map provided in this embodiment, after S305, the method further includes:

[0149] S401. Obtain the dynamic information of the monitoring object. The dynamic information is used to indicate the influence level of the monitoring object in each time period, where the influence level includes the first level and the second level;

[0150] Specifically, the data processing server sends the dynamic information to the integrated management system. The form of the dynamic information can be in text form, where each construction task and its corresponding impact level for each time period are recorded in the text; it can also be in the form of a data table, with each row representing a time period, and the construction task and its corresponding impact level for that time period are recorded in each row; or it can be in other forms not specified.

[0151] At the first level, the impact of the monitoring object on the safe operation of the rail transit is higher than that at the second level; that is, compared with the time periods with the second-level impact level, the monitoring object is more likely to affect the safe operation of the rail transit during the time periods with the first-level impact level.

[0152] In other embodiments, the operator submits the review materials to the operator for the operator to conduct technical review and impact prediction on the review materials, and formulate dynamic information based on the results of the impact prediction. Among them, the result of the impact prediction is the impact level of the monitoring object for each time period, and the review materials include but are not limited to construction drawings and construction progress, etc.

[0153] When the impact level of the monitoring object in at least one time period is at the first level, it means that there is a monitoring object in the project. In this case, the operator submits the monitoring materials to the operator, and the monitoring materials include but are not limited to safety assessment reports and monitoring plans, etc.; when the impact level of the monitoring object in each time period is at the second level, it means that there is no monitoring object in the project.

[0154] The technician or the data processing system compares the monitoring materials with the first fusion map, specifically comparing whether the monitoring area described in the monitoring materials overlaps with the area of the first model in the first fusion map; when the areas of the two overlap, the comparison passes, and the data processing system can perform subsequent data processing based on the monitoring materials; when the areas of the two do not overlap, the comparison fails, and the operator needs to resubmit the review materials and monitoring materials.

[0155] S402. Formulate inspection tasks according to the dynamic information. The inspection tasks include multiple inspection time periods, and the impact level corresponding to each inspection time period is at the first level;

[0156] Specifically, the data processing server formulates a dynamic data table or a dynamic data curve according to the dynamic information. When formulating the dynamic data table, filter out the time periods with the first-level impact level as the inspection time periods; when formulating the dynamic data curve, mark the auxiliary line, and the curve above (or below) the auxiliary line corresponds to the first-level impact level, and the corresponding time period is the inspection time period.

[0157] During the inspection time periods, the monitoring object may affect the safe operation of the rail transit. The data processing server formulates inspection tasks based on multiple inspection time periods and factors such as the project progress of these inspection time periods in the monitoring materials.

[0158] In other embodiments, technicians formulate inspection tasks based on dynamic information and monitoring data.

[0159] S403. During each inspection period, send the inspection task to the inspection device so that the inspection device can collect the second information from the monitoring object;

[0160] Specifically, a period of time (such as one day, one hour, or ten minutes) before each inspection period, the data processing server sends the inspection task to the inspection device; after receiving the inspection task pushed by the data processing server, the inspection device conducts inspections on the rail transit during the inspection period and collects the second information from the monitoring object.

[0161] The inspection task may also include an inspection map and inspection regulations. The inspection map refers to a local map of the first fusion map going to the monitoring object and around the monitoring object, and the inspection regulations refer to the regulations on the information to be collected from the monitoring object. The inspection device conducts inspections on the monitoring object according to the inspection task.

[0162] Take Figure 2 the application scenario framework diagram shown as an example. The data processing server sends the inspection task to the communication device of the inspection personnel (such as a mobile phone or a computer, etc.). The inspection task includes the inspection period, the inspection map, and the inspection regulations. Among them, the inspection period is from 10:00 to 12:00, and the inspection regulations are the monitoring of several monitoring points. The inspection personnel carry a Beidou positioning terminal and a total station, and go to the foundation pit according to the inspection map to monitor the above-mentioned several monitoring points within the required period.

[0163] In other embodiments, the data processing system sends the inspection task to an intelligent inspection device (such as a drone or a remote sensing satellite, etc.), and the intelligent inspection device automatically collects the second information from the monitoring object.

[0164] In other embodiments, the first fusion map and the second fusion map are marked with the impact level corresponding to the inspection period.

[0165] An inspection method based on a fusion map provided in this embodiment determines the spatial distance between a monitoring object and a rail transit by obtaining first information and second information from an inspection device, and marks the spatial distance on a first model of a first fusion map. The following technical effects are achieved: By means of the first model of the first fusion map, the spatial distance between the three-dimensional model of the monitoring object and the first model is displayed, solving the problem that due to the complex structure of the rail transit, it is not intuitive enough to display the inspection results in the form of text information or two-dimensional image information and it is impossible to display more effective information; By means of the three-dimensional coordinates of the inspection device in the geographic coordinate system and the spatial distance between the monitoring object and the inspection device, the three-dimensional coordinates of the monitoring object in the geographic coordinate system are determined, and then the spatial distance between the monitoring object and the rail transit is determined, solving the problem of determining the spatial distance between the monitoring object and the rail transit; By means of the inspection device collecting information from the monitoring object and obtaining the first information indicating the position of the inspection device and the second information indicating the collected information from the inspection device, the problem of data collection and acquisition is solved; By means of the inspection task indicating the inspection period, inspection map and inspection regulations, the inspection device collects information from the monitoring object according to the inspection task, improving the inspection efficiency and solving the problems of missed inspection, delay and certain safety hazards during the inspection process; By means of BIM software and point cloud scanning, a lightweight first model of the rail transit is established, solving the problem of complicated three-dimensional model data of the rail transit; By means of a display device displaying a second fusion map, as well as the inspection trajectory, spatial distance and influence level marked on the second fusion map, it is convenient to display the inspection results more intuitively.

[0166] In the embodiments of the present invention, the electronic device or the main control device can be divided into functional modules according to the above method examples. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional module. It should be noted that the division of modules in the embodiments of the present invention is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0167] Figure 8 It is a schematic structural diagram of an inspection device based on a fusion map provided in an embodiment of the present application. As Figure 8 shown, the inspection device 300 based on a fusion map provided in an embodiment of the present application includes:

[0168] An information acquisition module 310, configured to obtain first information and second information from an inspection device, where the first information is used to indicate the position of the inspection device, and the second information is used to indicate the information collected by the inspection device from a monitoring object;

[0169] A distance determination module 320, configured to determine a spatial distance between a monitored object and a rail transit according to first information and second information;

[0170] A distance annotation module 330, configured to annotate the spatial distance on a first model of a first fused map, where the first fused map and the first model are pre-generated, and the first model refers to a three-dimensional model of a rail transit.

[0171] In a possible design, the monitored object includes a plurality of monitoring points;

[0172] The distance annotation module 330 is further configured to respectively annotate the spatial distances between each monitoring point and the first model on the first fused map.

[0173] In a possible design, the spatial distance includes a first distance, a second distance, a third distance, and a fourth distance;

[0174] The first distance refers to the straight-line distance between the corresponding monitoring point and the rail transit;

[0175] The second distance refers to the projection distance of the corresponding first distance in the horizontal axis direction;

[0176] The third distance refers to the projection distance of the corresponding first distance in the vertical axis direction;

[0177] The fourth distance refers to the projection distance of the corresponding first distance in the vertical axis direction;

[0178] The horizontal axis, the vertical axis, and the vertical axis are respectively an axis of a geographic coordinate system;

[0179] The distance annotation module 330 is further configured to respectively annotate the first distance, and / or the second distance, the third distance, and the fourth distance between each monitoring point and the first model on the first fused map.

[0180] In a possible design, the inspection device 300 based on a fused map further includes: a trajectory determination module;

[0181] The trajectory determination module is configured to determine an inspection trajectory of an inspection device according to the first information;

[0182] The distance annotation module 330 is further configured to annotate the inspection trajectory on the first fused map.

[0183] In a possible design, the inspection device 300 based on a fused map further includes: a map processing module and a map sending module;

[0184] The map processing module is configured to reduce the resolution of the first fused map to obtain a second fused map;

[0185] A map sending module, configured to send the second fused map to a display device, so that the display device can display the second fused map.

[0186] In a possible design, the inspection device 300 based on the fused map further includes: a model acquisition module, a lightweight processing module, a region determination module, a map replacement module, and a map fusion module;

[0187] The model acquisition module is configured to acquire a second model, where the second model includes third information, and the second model is obtained through 3D modeling and point cloud scanning. The third information is used to indicate a set of mapping coordinates of the second model mapped on a plane coordinate system;

[0188] The lightweight processing module is configured to perform lightweight processing on the second model to obtain a first model, where the first model includes the third information;

[0189] The region determination module is configured to determine a first region and a second region in a plane map according to the third information, where the plane map is pre-generated. The set of coordinates of the first region on the plane coordinate system is the same as the set of mapping coordinates, and the second region is the region outside the first region in the plane map region;

[0190] The map replacement module is configured to replace the map of the first region with the first model;

[0191] The map fusion module is configured to fuse the first model and the map of the second region to obtain a first fused map.

[0192] In a possible design, the inspection device 300 based on the fused map further includes: an influence acquisition module, a task formulation module, and a task sending module;

[0193] The influence acquisition module is configured to acquire dynamic information of a monitoring object. The dynamic information is used to indicate the influence level of the monitoring object at each time period. The influence level includes a first level and a second level. At the first level, the influence of the monitoring object on the safe operation of rail transit is higher than that at the second level;

[0194] The task formulation module is configured to formulate an inspection task according to the dynamic information. The inspection task includes multiple inspection time periods, and the influence level corresponding to each inspection time period is the first level;

[0195] The task sending module is configured to send the inspection task to the inspection device at each inspection time period, so that the inspection device can collect second information from the monitoring object.

[0196] An inspection device based on the fused map provided in this embodiment can execute an inspection method based on the fused map in the above embodiment. The implementation principle and technical effects are similar, and will not be elaborated here in this embodiment.

[0197] Based on Figure 1 the system architecture schematic diagram, a patrol inspection system based on a fused map will be described in detail. As Figure 1 shown, the patrol inspection system based on the fused map includes:

[0198] A patrol inspection device 110, configured to collect information from monitored objects;

[0199] A display device 130, configured to display the second fused map;

[0200] A data processing server 120, configured to implement a patrol inspection method based on a fused map in the above embodiment. The implementation principle and technical effects are similar, and will not be elaborated here in this embodiment.

[0201] This application also provides a computer-readable storage medium. Computer-executable instructions are stored in the computer-readable storage medium. When the computer-executable instructions are executed by a processor, they are used to implement a patrol inspection method based on a fused map in the above embodiment.

[0202] In the specific implementation of the foregoing patrol inspection method based on a fused map, each module may be implemented as a processor.

[0203] The above-mentioned readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disc. The readable storage medium may be any available medium accessible by a general-purpose or special-purpose computer.

[0204] An exemplary readable storage medium is coupled to a processor, so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium may also be a component of the processor. The processor and the readable storage medium may be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium may also exist as discrete components in an electronic device or a main control device.

[0205] This application also provides a computer program product. When the computer program is executed by a processor, it is used to implement a patrol inspection method based on a fused map in the above embodiment.

[0206] The computer program is stored in a readable storage medium. At least one processor can read the computer program from the readable storage medium, and at least one processor executes the computer program to implement the solution provided in any of the above embodiments.

[0207] Those of ordinary skill in the art can understand that all or part of the steps for implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps including the above method embodiments; and the foregoing storage medium includes: various media such as ROM, RAM, magnetic disk, or optical disc that can store program codes.

[0208] So far, the technical solutions of the present application have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A patrol inspection method based on a fused map, characterized in that, The method includes: Obtaining first information and second information from an inspection device, where the first information is used to indicate the location of the inspection device, and the second information is used to indicate the information collected by the inspection device from a monitoring object; Determining the spatial distance between the monitoring object and the rail transit according to the first information and the second information; the spatial distance includes a first distance, a second distance, a third distance, and a fourth distance; On a first fusion map, respectively marking the first distance, and / or the second distance, the third distance, and the fourth distance between each monitoring point and a first model, where the first fusion map and the first model are pre-generated, and the first model refers to a three-dimensional model of the rail transit; the monitoring object includes multiple monitoring points; The spatial distance includes a first distance, a second distance, a third distance, and a fourth distance; The first distance refers to the straight-line distance between the corresponding monitoring point and the rail transit; The second distance refers to the projection distance of the corresponding first distance in the horizontal axis direction; The third distance refers to the projection distance of the corresponding first distance in the vertical axis direction; The fourth distance refers to the projection distance of the corresponding first distance in the vertical axis direction; The horizontal axis, the vertical axis, and the vertical axis are respectively an axis of a geographic coordinate system; Before obtaining the first information and the second information from the inspection device, the method further includes: Obtaining a second model, where the second model includes third information, and the second model is obtained through three-dimensional modeling and point cloud scanning, and the third information is used to indicate the set of mapping coordinates of the second model mapped on a plane coordinate system; Performing lightweight processing on the second model to obtain the first model, where the first model includes the third information; Determining a first region and a second region in a plane map according to the third information, where the plane map is pre-generated, the set of coordinates of the first region on the plane coordinate system is the same as the set of mapping coordinates, and the second region is the region of the plane map other than the first region; Replacing the map of the first region with the first model; Fusing the first model and the map of the second region to obtain the first fusion map; Reducing the resolution of the first fusion map to obtain a second fusion map; Wherein, the first fusion map and the second fusion map are marked with the influence level of the corresponding monitoring object on the safe operation of the rail transit for each inspection period.

2. The method according to claim 1, wherein After obtaining the first information and the second information from the inspection device, the method further includes: Determining the inspection trajectory of the inspection device according to the first information; Marking the inspection trajectory on the first fusion map.

3. The method according to claim 2, wherein After marking the spatial distance on the first model of the first fusion map, the method further includes: Reducing the resolution of the first fusion map to obtain a second fusion map; Sending the second fusion map to a display device so that the display device can display the second fusion map.

4. The method according to claim 1, characterized in that After fusing the first model and the map of the second region to obtain the first fusion map, the method further includes: Obtain the dynamic information of the monitored object, where the dynamic information is used to indicate the impact level of the monitored object in each time period. The impact level includes a first level and a second level. At the first level, the impact of the monitored object on the safe operation of the rail transit is higher than that at the second level; Formulate an inspection task according to the dynamic information. The inspection task includes multiple inspection time periods, and the impact level corresponding to each inspection time period is the first level; In each inspection time period, send the inspection task to the inspection device, so that the inspection device can collect the second information from the monitored object.

5. An inspection device based on a fused map, characterized in that, The device includes: An information acquisition module, configured to acquire first information and second information from an inspection device. The first information is used to indicate the position of the inspection device, and the second information is used to indicate the information collected by the inspection device from a monitored object; A distance determination module, configured to determine the spatial distance between the monitored object and the rail transit according to the first information and the second information; A distance annotation module, configured to annotate the spatial distance on a first model of a first fusion map, where the first fusion map and the first model are pre-generated, and the first model refers to a three-dimensional model of the rail transit; The monitored object includes multiple monitoring points; The distance annotation module is further configured to annotate the spatial distance between each monitoring point and the first model on the first fusion map; The spatial distance includes a first distance, a second distance, a third distance, and a fourth distance; The first distance refers to the straight-line distance between the corresponding monitoring point and the rail transit; The second distance refers to the projection distance of the corresponding first distance in the horizontal axis direction; The third distance refers to the projection distance of the corresponding first distance in the vertical axis direction; The fourth distance refers to the projection distance of the corresponding first distance in the vertical axis direction; The horizontal axis, the vertical axis, and the vertical axis are respectively an axis of a geographic coordinate system; The distance annotation module is specifically configured to annotate the first distance, and / or the second distance, the third distance, and the fourth distance between each monitoring point and the first model on the first fusion map; A model acquisition module, configured to acquire a second model, where the second model includes third information, and the second model is obtained through three-dimensional modeling and point cloud scanning. The third information is used to indicate the set of mapping coordinates of the second model mapped on a plane coordinate system; A lightweight processing module, configured to perform lightweight processing on the second model to obtain the first model, and the first model includes the third information; A region determination module, configured to determine a first region and a second region in a plane map according to the third information, where the plane map is pre-generated. The set of coordinates of the first region on the plane coordinate system is the same as the set of mapping coordinates, and the second region is the region of the plane map outside the first region; A map replacement module, configured to replace the map of the first region with the first model; A map fusion module, configured to fuse the map of the first model and the second area to obtain the first fused map; A map processing module, configured to reduce the resolution of the first fused map to obtain a second fused map; Wherein, the first fused map and the second fused map are marked with the influence level of each inspection period corresponding to the monitored object on the safe operation of the rail transit.

6. An inspection system based on a fused map, characterized in that, The system includes: An inspection device, configured to collect information from the monitored object; A display device, configured to display the second fused map; A data processing server, configured to implement the inspection method based on the fused map according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, Computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to implement the inspection method based on the fused map according to any one of claims 1 to 4.

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