A highway inspection method, a trajectory deviation correction method and an inspection system

Abstract

The present invention belongs to the technical field of highway management, and particularly relates to a highway inspection method, a trajectory deviation correction method and an inspection system. The inspection method includes: after obtaining the initial point of the inspection terminal during the current inspection, the inspection platform screens out standby road sections to be inspected and within the search distance from the initial point of the inspection terminal from the road network database; the inspection platform obtains the inspection points of the inspection terminal during the inspection in chronological order, and according to the distances between the inspection points and the initial point of the inspection terminal, corresponding road section coordinate points are taken as direction angle calculation points on each standby road section; the inspection platform calculates the direction angles of each inspection point and the direction angles of the direction angle calculation points on each standby road section respectively; the inspection platform determines the inspection road section of the current inspection terminal during the current inspection respectively according to the similarity between the direction angles of each inspection point and the direction angles of the corresponding direction angle calculation points on each standby road section during the current inspection. The present invention can improve the inspection efficiency and reduce the work burden of inspection.

Description

Technical Field

[0001] The present invention belongs to the technical field of highway management, and particularly relates to a highway inspection method, a trajectory deviation correction method and an inspection system. Background Art

[0002] Highway inspection is to detect various risks along the highway, give warnings in a timely manner, and assist in highway maintenance. For example, detecting potential safety hazards of bridges, slopes, and tunnels, cleaning scattered road debris in a timely manner, giving warnings in a timely manner for large potholes on the road surface, jointly warning traffic police for behaviors such as illegal parking and reversing on the highway, persuading pedestrians from entering the highway, capturing and driving away animals inside the highway, stopping the destruction of highway facilities, and providing assistance to drivers and passengers in case of vehicle breakdowns, traffic jams and other problems when necessary.

[0003] The work content of highway inspection is complex and cumbersome, but it is very important for vehicle driving safety. At present, the main way of highway inspection is to delimit respective inspection areas for inspectors, and the inspectors conduct 1-2 rounds of inspections on the highway sections in their respective inspection areas every day, and some sections even need to be inspected on foot.

[0004] However, with the expansion of highway construction scale and the increase in the number of highways, the overall workload of highway inspection has become even more huge. Even with the assistance of intelligent devices such as drones to reduce the work burden of inspectors, the work intensity of inspectors is still very high. Therefore, how to further improve the inspection efficiency and reduce the work burden of inspection has become an urgent problem to be solved in the field of highway management. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and provide a highway inspection method, which can further improve the inspection efficiency and reduce the work burden of inspection.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A highway inspection method includes the following steps:

[0008] S1. Start this inspection. After the inspection platform obtains the initial point of the inspection terminal, it screens out the standby sections to be inspected and within the search distance from the initial point of the inspection terminal from the inspection section information in the road network database and feeds them back to the inspection terminal; if there is only one standby section, the current standby section is the inspection section for this inspection of the current inspection terminal, and execute S5, otherwise execute S2;

[0009] S2. The inspection platform obtains the inspection points of the inspection terminal during the inspection in chronological order, and takes the corresponding section coordinate points on each standby section as the direction angle calculation points according to the distances between the inspection points and the initial point of the inspection terminal;

[0010] S3. The inspection platform calculates the direction angles of each inspection point and the direction angles of the direction angle calculation points on each alternate road section respectively.

[0011] S4. The inspection platform determines the inspection road section of the current inspection terminal for the current inspection respectively according to the similarity degree between the direction angles of each inspection point and the direction angles of the corresponding direction angle calculation points on each alternate road section in the current inspection.

[0012] S5. After the inspection of the current inspection road section by the inspection terminal, it returns to S1 again to start the next inspection until the end of this round of inspection and there is no alternate road section to be inspected in the road network database.

[0013] One round of inspection includes more than one inspection, and different road sections are inspected each time.

[0014] Preferably, S1 specifically further includes the following sub-steps:

[0015] S11. When starting the current inspection, the inspection platform obtains the initial point P0 of the inspection terminal in the geographic coordinate system, and records the coordinate point of the initial point P0 of the inspection terminal as (P0 lon , P0 lat ), where P0 lon represents the longitude of P0, and P0 lat represents the latitude of P0;

[0016] S12. The inspection platform retrieves the information of the road sections to be inspected stored in the road network database, and filters out the road section coordinate points within the search distance D from the initial point P0 of the inspection terminal and belonging to the inspection area corresponding to the current inspection terminal through the distance calculation method between two coordinate points in the geographic coordinate system.

[0017] S13. The inspection platform takes the road sections corresponding to the road section coordinate points filtered out in S12 as the alternate road sections for the current inspection and feeds them back to the inspection terminal.

[0018] Preferably, S14 is further included after S13:

[0019] S14. When there is only 1 alternate road section for the current inspection fed back by the inspection platform, the current alternate road section is the inspection road section for the current inspection in this round of inspection, and the inspection terminal goes to the corresponding inspection road section; when there are more than 1 alternate road sections for the current inspection fed back by the inspection platform, the inspection terminal selects 1 alternate road section from the current alternate road sections and goes there.

[0020] Preferably, in S12, the inspection platform filtering the road section coordinate points further includes the following content:

[0021] The search distance D = [d0 + k(Δd)],

[0022] Wherein, d0 represents the initial distance and d0≥0, Δd represents the increasing distance and Δd≥0, k is the increasing coefficient and k is a non - negative integer.

[0023] If the inspection platform cannot screen out the road section coordinate points within the search distance D from the initial point P0 of the inspection terminal and belonging to the inspection area corresponding to the current inspection terminal under the current search distance D, then k is incremented by 1 to obtain a new search distance D until the inspection platform screens out the road section coordinate points within the search distance D from the initial point P0 of the inspection terminal and belonging to the inspection area corresponding to the current inspection terminal, and then S13 is executed.

[0024] Preferably, S2 specifically further includes the following sub - steps:

[0025] S21, after the inspection platform continues to obtain the inspection points of the inspection terminal during this inspection in chronological order, the distances between each inspection point and the initial point P0 of the inspection terminal are calculated respectively by the distance calculation method between two coordinate points in the geographic coordinate system.

[0026] S22, if there is only one corresponding road section coordinate point for a standby road section among the road section coordinate points screened out in S12, then the current road section coordinate point is the starting point A0 of the current standby road section.

[0027] If there are more than 1 road section coordinate points for a standby road section among the road section coordinate points screened out in S12, then the road section coordinate point closest to the initial point P0 of the inspection terminal is taken as the starting point A0 of the current standby road section.

[0028] The inspection platform takes the corresponding road section coordinate points on each standby road section during this inspection as the direction angle calculation points according to the distances between each inspection point and the initial point P0 of the inspection terminal, and the angle between the ray from the starting point A0 of the standby road section to any direction angle calculation point on the current standby road section and the ray from the initial point P0 of the inspection terminal to the corresponding inspection point is an acute angle.

[0029] Preferably, S3 specifically further includes the following sub - steps:

[0030] S31, the inspection platform calculates the direction angles of each inspection point and the initial point P0 of the inspection terminal relative to the north pole direction respectively during this inspection:

[0031]

[0032] Wherein, Pn represents the nth inspection point during this inspection, n is a positive integer, θ P0-Pn represents the direction angle of the inspection point Pn of this inspection relative to the initial point P0 of the inspection terminal of this inspection, Pn lon represents the longitude of Pn, Pn lat represents the latitude of Pn, P0lon represents the longitude of P0, P0 lat represents the latitude of P0;

[0033] The inspection platform respectively calculates the azimuth angles of the azimuth calculation points on each alternate section relative to the starting point A0 of the current alternate section with respect to the North Pole direction during this inspection:

[0034]

[0035] where Am represents the m-th azimuth calculation point on the current alternate section A, and θ A0-Am represents the azimuth angle of the azimuth calculation point Am relative to the starting point A0 of the current alternate section, Am lon represents the longitude of Am, Am lat represents the latitude of Am, A0 lon represents the longitude of A0, A0 lat represents the latitude of A0;

[0036] S32. The inspection platform respectively converts the azimuth angles of each inspection point and the initial point P0 of the inspection terminal relative to the North Pole direction into standard azimuth angles within the four quadrants, hereinafter simply referred to as the standard azimuth angles of the inspection points:

[0037] When Pn lon ≥P0 lon and Pn lat >P0 lat or when Pn lon >P0 lon and Pn lat ≥P0 lat then the inspection point Pn is in the first quadrant, and the standard azimuth angle θ of the inspection point Pn [P0-Pn] =θ P0-Pn ,

[0038] When Pn lon <P0 lon and Pn lat >P0 lat then the inspection point Pn is in the second quadrant, and the standard azimuth angle θ of the inspection point Pn [P0-Pn] =θ P0-Pn +360°,

[0039] When Pn lon ≤P0 lon and Pn lat <P0 lat or when Pn lon <P0 lon and Pn lat ≤P0 lat then the inspection point Pn is in the third quadrant, and the standard azimuth angle θ of the inspection point Pn [P0-Pn]= 180° - θ P0-Pn ,

[0040] When Pn lon > P0 lon and Pn lat < P0 lat at that time, the inspection point Pn is located in the fourth quadrant, and the standard direction angle θ of the inspection point Pn [P0-Pn] = 180° - θ P0-Pn ;

[0041] The inspection platform respectively converts the direction angles of the direction angle calculation points on each standby section and the starting point A0 of the current standby section relative to the north pole direction in this inspection into the standard direction angles in the four quadrants, hereinafter referred to as the standard direction angles of the direction angle calculation points:

[0042] When Am lon ≥ A0 lon and Am lat > A0 lat at that time, or when Am lon > A0 lon and Am lat ≥ A0 lat at that time, then the direction angle calculation point Am is located in the first quadrant, and the standard direction angle θ of the direction angle calculation point Am [A0-Am] = θ A0-Am ,

[0043] When Am lon < A0 lon and Am lat > A0 lat at that time, then the direction angle calculation point Am is located in the second quadrant, and the standard direction angle θ of the direction angle calculation point Am [A0-Am] = θ A0-Am + 360°,

[0044] When Am lon ≤ A0 lon and Am lat < A0 lat at that time, or when Am lon < A0 lon and Am lat ≤ A0 lat at that time, then the direction angle calculation point Am is located in the third quadrant, and the standard direction angle θ of the direction angle calculation point Am [A0-Am] = 180° - θ A0-Am ,

[0045] When Am lon > A0 lon and Am lat < A0 lat at that time, then the direction angle calculation point Am is located in the fourth quadrant, and the standard direction angle θ of the direction angle calculation point Am[A0-Am] = 180° - θ A0-Am 。

[0046] Preferably, S4 specifically further includes the following sub-steps:

[0047] S41. The inspection platform respectively calculates the set of absolute values of the differences between the standard direction angles of each inspection point and the standard direction angles of the corresponding direction angle calculation points on each standby section during this inspection:

[0048] PA = {PA1,..., PA n ,..., PA h} = {|θ [P0-P1] - θ [A0-A1] |,..., |θ [P0-Pn] - θ [A0-An] |,..., |θ [P0-Ph] - θ [A0-Ah] |},

[0049] where PA represents the set of absolute values of the differences between the standard direction angles of each inspection point and the standard direction angles of the corresponding direction angle calculation points on standby section A during this inspection, PA n represents the nth element in the set of absolute values PA, 1 ≤ n ≤ h and both n and h are positive integers, PA n = |θ [P0-Pn] - θ [A0-An] |;

[0050] S42. The inspection platform respectively calculates the mean values of each set of absolute values during this inspection:

[0051]

[0052] where, represents the mean value of the set of absolute values PA, PA i represents the ith element in the set of absolute values PA, 1 ≤ i ≤ h and both i and h are positive integers;

[0053] S43. The inspection platform respectively calculates the standard variances of each set of absolute values during this inspection:

[0054]

[0055] , where σ PA represents the standard variance of the set of absolute values PA, PA j represents the jth element in the set of absolute values PA, 1 ≤ j ≤ h and both j and h are positive integers;

[0056] S44. The inspection platform selects the standby section with the smallest standard variance of the set of absolute values during this inspection as the inspection section of the current inspection terminal during this inspection

[0057] Preferably, the method for calculating the distance between two coordinate points in the geographic coordinate system includes the following sub-steps:

[0058] Step 1, denote two coordinate points X1 and X2 in the geographic coordinate system, denote the coordinates of X1 as (X1 lon , X1 lat ), denote the coordinates of X2 as (X2 lon , X2 lat ), and calculate the spherical angle C between the two coordinate points X1 and X2:

[0059] C = arccos[sin(X2 lat ) × sin(X1 lat ) + cos(X2 lat ) × cos(X1 lat ) × cos(X2 lon - X1 lon )],

[0060] wherein, X1 lon represents the longitude of X1, X1 lat represents the latitude of X1, X2 lon represents the longitude of X2, X2 lat represents the latitude of X2;

[0061] Step 2, calculate the radian C' between the two coordinate points X1 and X2 according to the spherical angle C:

[0062] Step 3, calculate the distance Len between the two coordinate points X1 and X2 according to the radian C':

[0063] Len = R × C', where R is the average radius of the earth.

[0064] The present invention also provides a method for correcting the patrol track of a highway, based on a highway patrol method as described above: when the patrol platform determines the patrol section of the current patrol terminal for this patrol, the patrol platform replaces the patrol track of the current patrol terminal for this patrol with the track of the patrol section.

[0065] The present invention also provides a highway patrol system, including: a patrol terminal, a patrol platform, a road network database, and a patrol record database,

[0066] The patrol terminal is installed or carried by a patrol personnel / patrol vehicle / patrol drone, and is used to receive information from the patrol platform and send the current position information and patrol status details of the patrol terminal to the patrol platform;

[0067] The road network database stores patrol area information corresponding to each patrol terminal and information on sections to be patrolled within each patrol area;

[0068] The patrol platform calls the road network database to determine the alternate sections and patrol sections of each patrol terminal after calculation;

[0069] The patrol platform determines the patrol section and the details of the patrol status of each patrol terminal each time according to the location information of each patrol terminal, and stores them in the patrol record database;

[0070] Each terminal, platform, and database is programmed or configured to perform the steps of a highway patrol method as described above.

[0071] The beneficial effects of the present invention are as follows:

[0072] (1) The highway patrol method of the present invention has a high accuracy in determining the patrol section of the current patrol terminal this time, and flexibly, reasonably, and efficiently arranges the patrol sections of each patrol terminal each time during each round of patrol according to the real-time positions of each patrol terminal, improving the patrol efficiency of the patrol personnel / patrol vehicles / patrol drones carrying the patrol terminals and reducing the patrol burden.

[0073] (2) In the highway patrol method of the present invention, at the beginning of each patrol, based on the initial point of the current patrol terminal, an alternate section that is relatively close is provided to the patrol terminal, facilitating the patrol terminal to go to an alternate section nearby for patrol until the end of this round of patrol, reducing the preparation time for each patrol, and thus improving the patrol efficiency of each round of patrol and reducing the work burden of patrol.

[0074] (3) For the highway patrol method of the present invention, only the position of the patrol point needs to be reported by the patrol terminal, and there is no need for the patrol terminal to feedback the patrol section information. The patrol platform will automatically judge the actual patrol section of the patrol terminal during this patrol, avoiding the occurrence of the situation where the patrol terminal reports the patrol section incorrectly; at the same time, compared with the prior art that determines the actual patrol section by whether the patrol points reported by the patrol terminal fall on a certain section, the present invention also avoids the adverse effects brought by GPS signal drift to the determination of the actual patrol section in this prior art. Because GPS signal drift will cause that even when the patrol personnel carry the patrol terminal and walk on the patrol section, the patrol trajectory of the patrol terminal always deviates from and does not coincide with the trajectory of the patrol section. At this time, if the patrol trajectory is between two adjacent sections (or in the case where multiple sections partially overlap), then the assessment personnel will not be able to determine which section the patrol terminal has actually patrolled. That is, the process of automatically determining the patrol section of the present invention is basically not affected by GPS signal drift, and there is no need for the patrol terminal to report the patrol section information, further reducing the work burden of patrol.

[0075] (4) The present invention combines two indicators, distance and direction angle, to measure the similarity between the inspection trajectory and the alternate section, and scientifically and accurately determines which alternate section is the inspection section for the current inspection terminal this time. The present invention records the distances between each inspection point of the current inspection terminal and the initial point of the inspection terminal in chronological order as segment-by-segment distances, finds the corresponding direction angle calculation points on each alternate section according to the segment-by-segment distances, and at the same time supplements with an acute angle limit, so that the direction angle calculation points corresponding to the inspection points on each alternate section are unique. Then, after calculating the direction angles of the direction angle calculation points on each alternate section relative to the north pole direction and converting them into standard direction angles within the four quadrants, calculate the standard variance of the standard direction angles between the direction angle calculation points on each alternate section and the inspection points on the inspection trajectory under the same standard, and select the alternate section with the smallest standard variance as the inspection section for the current inspection terminal this time. The alternate section with the smallest standard variance means that the standard direction angles of each direction angle calculation point on this alternate section and the standard direction angles of the corresponding inspection points on the inspection trajectory have the highest similarity, and the overall trajectory of this alternate section is similar to the inspection trajectory. In the actual inspection process, the inspection terminal must reach the inspected section and then conduct inspections along the trajectory of the inspected section. However, due to GPS signal drift, the inspection trajectory cannot completely coincide with the trajectory of the inspection section. Even for two alternate sections with the same direction and similar trajectories, after magnifying the difference in the standard direction angles of the corresponding positions (i.e., direction angle calculation points) on these two alternate sections through the present invention (i.e., calculating the standard variance), it can be clearly seen which alternate section is the real inspection section.

[0076] (5) After scientifically determining the inspection section, the road inspection trajectory deviation correction method of the present invention can directly correct the inspection trajectory of the current inspection terminal this time by replacing it with the trajectory of the inspection section through the inspection platform. In subsequent data analysis, the inspection trajectory of the inspection terminal is very clear and coincides with the section, looking very clear and concise, and there will be no situation where the inspection trajectory is between two adjacent sections and the assessment personnel cannot determine which section the inspector actually inspected, so that it is impossible to determine whether the inspector missed an inspection section. Moreover, if the inspection platform detects that the standard variance of all absolute value sets in this inspection exceeds the first threshold, it indicates that there are significant differences between the inspection trajectory of the current inspection terminal and the trajectories of all alternate sections. This may not be simply caused by GPS signal drift, but may be due to the inspector / inspection vehicle / inspection drone carrying the inspection terminal getting lost or inspecting sections within the inspection area of others. Therefore, the inspection platform sends an inspection route error warning to the current inspection terminal, which helps the inspection terminal quickly return to the nearest section within the corresponding inspection area to continue the inspection work. Description of the Drawings

[0077] Figure 1It is a flowchart of a highway inspection method of the present invention;

[0078] Figure 2 It is a schematic diagram of the positional relationship between the initial point of the inspection terminal and the starting point of the alternate section;

[0079] Figure 3 It is a schematic diagram of the positional relationship between the initial point of the inspection terminal and the direction angle calculation point on the alternate section. Specific implementation mode

[0080] To make the technical solution of the present invention clearer and more definite, the present invention will be clearly and completely described below with reference to the accompanying drawings. The solutions obtained by equivalent replacement and conventional reasoning of the technical features of the technical solution of the present invention by those of ordinary skill in the art without creative efforts all fall within the protection scope of the present invention.

[0081] Embodiment 1

[0082] Each section within the inspection area is inspected 1 - 2 rounds within a day. One round of inspection includes more than one inspection, and different sections are inspected each time.

[0083] As Figure 1 shown, it is a flowchart of a highway inspection method of the present invention, including the following steps:

[0084] S1. Start the current inspection. After the inspection platform obtains the initial point of the inspection terminal, it screens out the alternate sections to be inspected and within the search distance from the initial point of the inspection terminal from the inspection section information in the road network database and feeds them back to the inspection terminal; if there is only one alternate section, the current alternate section is the inspection section for the current inspection of the current inspection terminal, and execute S5; otherwise, execute S2;

[0085] S2. The inspection platform obtains the inspection points of the inspection terminal during the inspection in chronological order, and based on the distances between the inspection points and the initial point of the inspection terminal, corresponding section coordinate points are taken as direction angle calculation points on each alternate section;

[0086] S3. The inspection platform calculates the direction angles of each inspection point and the direction angles of the direction angle calculation points on each alternate section respectively;

[0087] S4. The inspection platform determines the inspection section for the current inspection of the current inspection terminal respectively according to the similarity between the direction angles of each inspection point and the direction angles of the corresponding direction angle calculation points on each alternate section during the current inspection;

[0088] S5. After the inspection of the current inspection section by the inspection terminal, it returns to S1 to start the next inspection until the end of this round of inspection and there are no alternate sections to be inspected in the road network database.

[0089] In S1, the following sub-steps are further included:

[0090] S11. When starting this inspection, the inspection platform obtains the initial point P0 of the inspection terminal in the geographic coordinate system, and records the coordinate point of the initial point P0 of the inspection terminal as (P0 lon , P0 lat ), where P0 lon represents the longitude of P0, and P0 lat represents the latitude of P0;

[0091] S12. The inspection platform retrieves the information of the sections to be inspected stored in the road network database, and filters out the section coordinate points within the search distance D from the initial point P0 of the inspection terminal and belonging to the inspection area corresponding to the current inspection terminal through the distance calculation method between two coordinate points in the geographic coordinate system;

[0092] S13. The inspection platform takes the sections corresponding to the section coordinate points filtered out in S12 as the alternative sections for this inspection and feeds them back to the inspection terminal.

[0093] Optionally, after S13, S14 is further included:

[0094] S14. When there is only 1 alternative section for this inspection fed back by the inspection platform, the current alternative section is the inspection section for this inspection in this round of inspection, and the inspection terminal goes to the corresponding inspection section; when there are more than 1 alternative sections for this inspection fed back by the inspection platform, the inspection terminal selects 1 alternative section from the current alternative sections and goes there.

[0095] Optionally, in S12, when the inspection platform filters out the section coordinate points, the following contents are further included:

[0096] The search distance D = [d0 + k(Δd)],

[0097] where d0 represents the initial distance and d0 ≥ 0, Δd represents the incremental distance and Δd ≥ 0, k is the incremental coefficient and k is a non-negative integer, and the specific values of d0, Δd, and k are all set manually,

[0098] The inspection platform first filters out the section coordinate points within the search distance D from the initial point P0 of the inspection terminal and belonging to the inspection area corresponding to the current inspection terminal when k = 0; if there are no section coordinate points when k = 0, the inspection platform then filters out the section coordinate points within the search distance D from the initial point P0 of the inspection terminal and belonging to the inspection area corresponding to the current inspection terminal when k = 1, and k is incremented by 1 each time. Such a cycle is carried out until there are section coordinate points within the search distance D from the initial point P0 of the inspection terminal and belonging to the inspection area corresponding to the current inspection terminal, and then S13 is executed.

[0099] In this embodiment, d0 = 100 meters.

[0100] In the present invention, the road section information includes the road section number, the inspection area to which each road section belongs, all the road section coordinate points on each road section, the inspection situation record, etc.; the inspection platform screens out the road sections to be inspected in this round of inspection according to the inspection situation record.

[0101] The inspection terminal can be carried by the inspection personnel on their bodies, or installed on intelligent inspection devices such as inspection vehicles and inspection drones.

[0102] Each inspection personnel / inspection vehicle / inspection drone has a fixed inspection area in each round of inspection (that is, each inspection terminal has a fixed inspection area). Each inspection area includes one or more road sections that need to be inspected, and there may be intersections or partial overlaps between these road sections. And the inspection personnel usually need to conduct 1 to 2 rounds of inspections on all the road sections in the inspection area within one day, supplemented by inspection vehicles and / or inspection drones. That is to say, each round of inspection includes more than 1 inspection, each time inspecting one road section, and the road sections inspected by each inspection terminal in the same round of inspection are different each time.

[0103] Changes in information such as the inspection area will be synchronously updated to the road network database.

[0104] In this embodiment, the road network database is a GIS road network database.

[0105] In S12, the method for calculating the distance between two coordinate points in the geographic coordinate system includes the following sub-steps:

[0106] Step 1, denote two coordinate points X1 and X2 in the geographic coordinate system, denote the coordinates of X1 as (X1 lon , X1 lat ), denote the coordinates of X2 as (X2 lon , X2 lat ), and calculate the spherical angle C between the two coordinate points X1 and X2:

[0107] C = arccos[sin(X2 lat ) × sin(X1 lat ) + cos(X2 lat ) × cos(X1 lat ) × cos(X2 lon - X1 lon )],

[0108] wherein, X1 lon represents the longitude of X1, X1 lat represents the latitude of X1, X2 lon represents the longitude of X2, X2 latRepresents the latitude of X2;

[0109] Step 2: Calculate the radian C′ between two coordinate points X1 and X2 according to the spherical angle C:

[0110] Step 3: Calculate the distance Len between two coordinate points X1 and X2 according to the radian C′:

[0111] Len = R × C′,

[0112] where R is the average radius of the earth, taking 6371.393 kilometers.

[0113] At the beginning of this round of inspection, the inspection platform will, according to the initial point P0 of the inspection terminal, feedback 1 or 2 or more alternative sections that are relatively close within the inspection area to which the current inspection terminal belongs to the inspection terminal. The inspectors / inspection vehicles / inspection drones carrying the inspection terminal will directly go to the only alternative section for this inspection, or select an alternative section to go to and conduct this inspection. Compared with the prior art where the inspection work within the inspection area is arranged by oneself, this not only shortens the preparation time for this round of inspection, but also reduces the probability of incorrect inspection sections. Moreover, the inspection method of the present invention has no restrictions on the initial point of the inspection terminal. That is to say, even novice inspectors who are not familiar with the route do not have to follow a fixed route and start the first inspection of this round only after reaching the same position within the corresponding inspection area before each round of inspection. The inspection method of the present invention will provide alternative sections that are suitable for starting this inspection and are relatively close based on the current initial point of the inspection terminal.

[0114] The preparation time for inspection includes the time spent by the inspectors / inspection vehicles / inspection drones carrying the inspection terminal to select a section and the time spent to reach the selected section.

[0115] Taking inspectors as an example, in the prior art, inspectors usually arrange the time for each round of inspection and the section for each inspection within their own inspection area by themselves.

[0116] Experienced inspectors have high inspection efficiency and are not easily lost because they are familiar with the sections within the inspection area. However, even experienced inspectors may, at the boundary of their own inspection area, "cross-region inspection", that is, incorrect inspection sections, due to reasons such as poor weather affecting visibility, distraction, and partial overlap of two sections in adjacent inspection areas, which reduces the inspection efficiency; and when the initial point of the inspection terminal for each inspection (that is, the initial point of the inspector) is different, experienced inspectors usually go in the direction of the sections they are familiar with to find the sections they are familiar with and use these sections as the inspection sections for this time, rather than taking the section closest to themselves as the inspection section for this time, which will also lead to an increase in the preparation time for inspection and a decrease in inspection efficiency.

[0117] For novice patrol personnel who are not familiar with the routes, in addition to the problems that may occur to the experienced patrol personnel mentioned above, they are not familiar enough with the locations of each section within the patrol area. Therefore, the first patrol of many novice patrol personnel in each round starts from the same location in the patrol area (such as the east gate of the patrol area), and the route of each round of patrol is fixed, so as to avoid the problem of too long preparation time and getting lost in each round of patrol. However, the location closest to the patrol area from the novice patrol personnel's home may not be the east gate of the patrol area, which increases the difficulty of going to work and the workload of the novice patrol personnel.

[0118] S2 also includes the following sub-steps:

[0119] S21, After the patrol platform continues to obtain the patrol points of the patrol terminal during this patrol in chronological order, the distance between each patrol point and the initial point P0 of the patrol terminal is calculated respectively by the distance calculation method between two coordinate points in the geographic coordinate system;

[0120] S22, If there is only one corresponding section coordinate point for a spare section among the section coordinate points screened in S12, the current section coordinate point is the starting point A0 of the current spare section,

[0121] If there are more than 1 section coordinate points for a spare section among the section coordinate points screened in S12, the section coordinate point closest to the initial point P0 of the patrol terminal is taken as the starting point A0 of the current spare section;

[0122] The patrol platform takes the corresponding section coordinate points on each spare section as the direction angle calculation points according to the distance between each patrol point and the initial point P0 of the patrol terminal, and the angle between the ray from the starting point A0 of the spare section to any direction angle calculation point on the current spare section and the ray from the initial point P0 of the patrol terminal to the corresponding patrol point is an acute angle.

[0123] The limitation of the acute angle makes the direction angle calculation points corresponding to the patrol points on each spare section unique, and there will not be two direction angle calculation points corresponding to the current patrol point on one spare section; at the same time, the direction angle calculation points obtained under such a limitation are generally consistent with the general direction of the distribution trend of the patrol points in chronological order, further improving the accuracy of determining the patrol section subsequently. For example, if a spare section is east-west oriented and the direction of the patrol track is distributed from east to west over time, then the limitation of the acute angle will make the direction angle calculation points on the spare section all located west of the starting point of the spare section, rather than taking the direction angle calculation points located east of the starting point of the spare section, which is completely opposite to the trend of the patrol track.

[0124] For the convenience of understanding, combined withFigures 2 to 3 For example. As Figure 2 shown, the initial coordinate of the current patrol terminal is P0, and both section A and section B are sections within the patrol area corresponding to the current patrol terminal. The section coordinate points within a range of the search distance D = 100 meters from the initial point P0 of the patrol terminal (within the dashed circle) can be seen. There are four section coordinate points that meet the conditions on section A, and there are also four section coordinate points that meet the conditions on section B. The section coordinate point on section A that is closest to the initial coordinate P0 of the current patrol terminal is taken as the starting point A0 of the current standby section A; the section coordinate point on section B that is closest to the initial coordinate P0 of the current patrol terminal is taken as the starting point B0 of the current standby section B.

[0125] As Figure 3 shown, after the patrol platform continues to obtain the patrol points P1, P2, and P3 of the patrol terminal during this patrol in chronological order, the distances between the patrol points P1, P2, and P3 and the initial point P0 of the patrol terminal are calculated respectively by the distance calculation method between two coordinate points in the geographic coordinate system, and are correspondingly denoted as L P0-P1 、L P0-P2 、L P0-P3 ; on the standby section A of this patrol, the corresponding section coordinate points A1, A2, and A3 are taken as the direction angle calculation points on the standby section A, and the distances between the direction angle calculation points A1, A2, and A3 and the starting point A0 of section A are correspondingly denoted as L A0-A1 、L A0-A2 、L A0-A3 , then L P0-P1 = L A0-A1 and the included angle between the ray from A0 to A1 and the ray from P0 to P1 is an acute angle, L P0-P2 = L A0-A2 and the included angle between the ray from A0 to A2 and the ray from P0 to P2 is an acute angle, L P0-P3 = L A0-A3 and the included angle between the ray from A0 to A3 and the ray from P0 to P3 is an acute angle. The distances L P0-P1 、L P0-P2 、L P0-P3 are calculated using the distance calculation method between two coordinate points in the geographic coordinate system described in the above steps 1 to 3. Similarly, on the standby section B of this patrol, the corresponding section coordinate points B1, B2, and B3 are taken as the direction angle calculation points on the standby section B, which will not be elaborated here.

[0126] S3 also includes the following sub-steps:

[0127] S31, the patrol platform calculates respectively the direction angles of each patrol point and the initial point P0 of the patrol terminal relative to the north pole direction during this patrol:

[0128]

[0129] Among them, Pn represents the nth inspection point in this inspection, where n is a positive integer, and θ P0-Pn represents the direction angle of the inspection point Pn in this inspection relative to the initial point P0 of the inspection terminal in this inspection. Pn lon represents the longitude of Pn, and Pn lat represents the latitude of Pn, and P0 lon represents the longitude of P0, and P0 lat represents the latitude of P0;

[0130] The inspection platform calculates respectively, in this inspection, the direction angles of the direction angle calculation points on each alternate section relative to the north pole direction of the starting point A0 of the current alternate section:

[0131]

[0132] Among them, Am represents the mth direction angle calculation point on the current alternate section A, and θ A0-Am represents the direction angle of the direction angle calculation point Am relative to the starting point A0 of the current alternate section. Am lon represents the longitude of Am, and Am lat represents the latitude of Am, and A0 lon represents the longitude of A0, and A0 lat represents the latitude of A0;

[0133] S32. The inspection platform respectively converts the direction angles of each inspection point and the initial point P0 of the inspection terminal relative to the north pole direction in this inspection into standard direction angles within four quadrants, hereinafter referred to as the standard direction angles of the inspection points:

[0134] When Pn lon ≥P0 lon and Pn lat >P0 lat at this time, or when Pn lon >P0 lon and Pn lat ≥P0 lat at this time, then the inspection point Pn is located in the first quadrant, and the standard direction angle θ of the inspection point Pn [P0-Pn] =θ P0-Pn ,

[0135] When Pn lon <P0 lon and Pn lat >P0 lat at this time, then the inspection point Pn is located in the second quadrant, and the standard direction angle θ of the inspection point Pn [P0-Pn] =θ P0-Pn +360°,

[0136] When Pnlon ≤P0 lon and Pn lat <P0 lat when, or when Pn lon <P0 lon and Pn lat ≤P0 lat then the inspection point Pn is located in the third quadrant, and the standard direction angle θ of the inspection point Pn [P0-Pn] = 180° - θ P0-Pn ,

[0137] When Pn lon >P0 lon and Pn lat <P0 lat then the inspection point Pn is located in the fourth quadrant, and the standard direction angle θ of the inspection point Pn [P0-Pn] = 180° - θ P0-Pn ;

[0138] The inspection platform respectively converts the direction angles of the direction angle calculation points on each standby section and the starting point A0 of the current standby section relative to the north pole direction in this inspection into the standard direction angles in the four quadrants, hereinafter referred to as the standard direction angles of the direction angle calculation points:

[0139] When Am lon ≥A0 lon and Am lat >A0 lat when, or when Am lon >A0 lon and Am lat ≥A0 lat then the direction angle calculation point Am is located in the first quadrant, and the standard direction angle θ of the direction angle calculation point Am [A0-Am] = θ A0-Am ,

[0140] When Am lon <A0 lon and Am lat >A0 lat then the direction angle calculation point Am is located in the second quadrant, and the standard direction angle θ of the direction angle calculation point Am [A0-Am] = θ A0-Am + 360°,

[0141] When Am lon ≤A0 lon and Am lat <A0 lat when, or when Am lon <A0 lon and Am lat ≤A0 latWhen the direction angle calculation point Am is in the third quadrant, the standard direction angle θ of the direction angle calculation point Am [A0-Am] = 180° - θ A0-Am ,

[0142] When Am lon > A0 lon and Am lat < A0 lat When this is the case, the direction angle calculation point Am is in the fourth quadrant, and the standard direction angle θ of the direction angle calculation point Am [A0-Am] = 180° - θ A0-Am .

[0143] Converting each direction angle into a standard direction angle within the four quadrants is to enable each inspection point and direction angle calculation point to be free from the position influence of the initial point of the inspection terminal and the starting point of the alternate section, and to convert them into angles under the same standard, which is convenient for subsequently calculating the standard variance of the standard direction angles between the direction angle calculation points on each alternate section and the inspection points on the inspection trajectory under the same standard, and using this to judge the similarity degree of the trajectories on each alternate section and the overall inspection trajectory.

[0144] S4 also includes the following sub-steps:

[0145] S41. The inspection platform calculates respectively the set of absolute values of the differences between the standard direction angles of each inspection point and the standard direction angles of the corresponding direction angle calculation points on each alternate section during this inspection:

[0146] PA = {PA1,..., PA n ,..., PA h} = {|θ [P0-P1] - θ [A0-A1] |,..., |θ [P0-Pn] - θ [A0-An] |,..., |θ [P0-Ph] - θ [A0-Ah] |},

[0147] where PA represents the set of absolute values of the differences between the standard direction angles of each inspection point and the standard direction angles of the corresponding direction angle calculation points on alternate section A during this inspection, PA n represents the nth element in the absolute value set PA, 1 ≤ n ≤ h and both n and h are positive integers, PA n = |θ [P0-Pn] - θ [A0-An] |;

[0148] S42. The inspection platform calculates respectively the mean values of each absolute value set during this inspection:

[0149]

[0150] where represents the mean of the absolute value set PA, PA i represents the i-th element in the absolute value set PA, where 1 ≤ i ≤ h and both i and h are positive integers;

[0151] S43. The inspection platform calculates the standard deviation of each absolute value set in this inspection respectively:

[0152]

[0153] , where, σ PA represents the standard deviation of the absolute value set PA, taking 5 decimal places, PA j represents the j-th element in the absolute value set PA, where 1 ≤ j ≤ h and both j and h are positive integers;

[0154] S44. The inspection platform selects the spare section with the smallest standard deviation of the absolute value set in this inspection as the inspection section of the current inspection terminal in this inspection.

[0155] In the road inspection method of the present invention, at the beginning of each inspection, based on the initial point of the current inspection terminal, spare sections that are relatively close are provided to the inspection terminal, facilitating the inspection terminal to go to a nearby spare section for inspection until the end of this round of inspection, reducing the preparation time for each inspection, thereby improving the inspection efficiency of each round of inspection and reducing the work burden of inspection.

[0156] In the road inspection method of the present invention, the inspection terminal only needs to report the location of the inspection point, and there is no need for the inspection terminal to feedback the information of the inspection section. The inspection platform will automatically determine the actual inspection section of the inspection terminal in this inspection, avoiding the situation where the inspection terminal reports the inspection section incorrectly; at the same time, compared with the prior art that determines the actual inspection section by whether the inspection point reported by the inspection terminal falls on a certain section, the present invention also avoids the adverse effects brought by GPS signal drift to the determination of the actual inspection section in this prior art. Because GPS signal drift will cause that even if the inspector walks on the inspection section with the inspection terminal, the inspection trajectory of the inspection terminal is always offset and does not coincide with the trajectory of the inspection section. At this time, if the inspection trajectory is between two adjacent sections (or in the case where multiple sections partially overlap), the assessor will not be able to determine which section the inspection terminal has actually inspected. That is, the process of automatically determining the inspection section in the present invention is basically not affected by GPS signal drift, and there is no need for the inspection terminal to report the information of the inspection section, further reducing the work burden of inspection.

[0157] The present invention combines two indicators, distance and azimuth angle, to measure the similarity between the inspection trajectory and the alternative section, and scientifically and accurately determines which alternative section is the inspection section for the current inspection terminal this time. The present invention sequentially records the distances between each inspection point of the current inspection terminal and the initial point of the inspection terminal as section-by-section distances, finds the corresponding azimuth angle calculation points on each alternative section according to the section-by-section distances, and at the same time supplements with the angle limit of acute angles, so that the azimuth angle calculation points corresponding to the inspection points on each alternative section are unique. Then, after calculating the azimuth angle of the azimuth angle calculation points on each alternative section relative to the north pole direction and converting it into the standard azimuth angle within the four quadrants, the standard variance of the standard azimuth angles between the azimuth angle calculation points on each alternative section and the inspection points on the inspection trajectory is calculated under the same standard, and the alternative section with the smallest standard variance is taken as the inspection section for the current inspection terminal this time. The alternative section with the smallest standard variance means that the standard azimuth angles of each azimuth angle calculation point on this alternative section and the standard azimuth angles of the corresponding inspection points on the inspection trajectory have the highest similarity, and the overall trajectory of this alternative section is similar to the inspection trajectory. In the actual inspection process, the inspection terminal must reach the section to be inspected and then conduct inspections along the trajectory of the section to be inspected. Only due to GPS signal drift, the inspection trajectory cannot completely coincide with the trajectory of the inspection section. Even for two alternative sections with the same direction and similar trajectories, after the present invention magnifies the difference in the standard azimuth angles of the corresponding positions (i.e., azimuth angle calculation points) on these two alternative sections and the inspection points (i.e., calculates the standard variance), it can be clearly seen which alternative section is the real inspection section.

[0158] The highway inspection method of the present invention has a high accuracy in determining the inspection section for the current inspection terminal this time, and flexibly, reasonably, and efficiently arranges the inspection section for each inspection of each inspection terminal according to the real-time positions of each inspection terminal, improving the inspection efficiency of the inspectors / inspection vehicles / inspection drones carrying the inspection terminals and reducing the inspection burden.

[0159] Good feedback has been obtained on the effect of the present invention in actual application. Through statistics on the inspection data within one month, it is obtained that the average inspection efficiency of the inspectors per round has increased by more than 30% compared with the situation where the inspectors arranged the inspection work by themselves in the prior art.

[0160] Embodiment 2

[0161] The present invention also provides a method for correcting the highway inspection trajectory. Specifically:

[0162] After determining the inspection section for the current inspection of the current inspection terminal in the highway inspection method described in Embodiment 1, the inspection platform replaces the inspection trajectory of the current inspection of the current inspection terminal with the trajectory of the inspection section.

[0163] Optionally, in the method for correcting the patrol track of a highway according to the present invention, in S44, if the inspection platform detects that the standard deviation of all absolute value sets in the current inspection exceeds the first threshold, the inspection platform sends a warning of incorrect inspection route to the current inspection terminal.

[0164] The sections of the road to be patrolled are intricate, and the GPS signal is very poor in some sections. This leads to the possibility of GPS signal drift when the inspection platform obtains the positioning (initial point, inspection point) of the inspection terminal. Even if the inspection personnel carry the inspection terminal and walk on the inspection section, it will also cause the inspection track of the inspection terminal to always deviate from and not coincide with the track of the inspection section. The method for correcting the patrol track of a highway according to the present invention can, after scientifically determining the inspection section, directly replace the inspection track of the current inspection terminal in the current inspection with the track of the inspection section through the inspection platform for correction. In subsequent data analysis, the inspection track of the inspection terminal is very clear and coincides with the section, looking very clear and concise. There will be no situation where the inspection track is between two adjacent sections, and the assessment personnel cannot determine which section the inspection personnel actually patrolled, so it is impossible to determine whether the inspection personnel have missed any inspection sections. Moreover, if the inspection platform detects that the standard deviation of all absolute value sets in the current inspection exceeds the first threshold, it means that there are significant differences between the inspection track of the current inspection terminal and the tracks of all standby sections. This may not be simply caused by GPS signal drift. It may be that the inspection personnel / inspection vehicle / inspection drone carrying the inspection terminal is lost or has patrolled sections within the inspection area of others. Therefore, the inspection platform sending a warning of incorrect inspection route to the current inspection terminal helps the inspection terminal quickly return to the nearest section within the corresponding inspection area to continue the inspection work.

[0165] Embodiment 3

[0166] The present invention also provides a highway inspection system, including:

[0167] An inspection terminal, an inspection platform, a road network database, and an inspection record database,

[0168] The inspection terminal is installed or carried by inspection personnel / inspection vehicle / inspection drone, and is used to receive information from the inspection platform and send the current position information and inspection status details of the inspection terminal to the inspection platform;

[0169] The road network database stores the inspection area information corresponding to each inspection terminal and the information of the sections to be inspected within each inspection area;

[0170] The inspection platform calls the road network database to calculate and determine the standby sections and inspection sections of each inspection terminal;

[0171] The patrol platform determines the patrol section and the details of the patrol status of each patrol terminal each time according to the location information of each patrol terminal, and stores them in the patrol record database;

[0172] Each terminal, platform, and database is programmed or configured to execute the steps of a highway patrol method described in Embodiment 1 or the steps of a highway patrol trajectory correction method described in Embodiment 2.

[0173] The technologies, shapes, and structures not described in detail in the present invention are all well-known technologies.

[0174] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A highway inspection method, characterized in that, It includes the following steps: S1. Start this inspection. After the inspection platform obtains the initial point of the inspection terminal, it screens out the standby sections that need to be inspected and are within the search distance from the initial point of the inspection terminal from the inspection section information in the road network database and feeds them back to the inspection terminal. If there is only one standby section, the current standby section is the inspection section for this inspection of the current inspection terminal, and S5 is executed; otherwise, S2 is executed. S2. The inspection platform obtains the inspection points of the inspection terminal during the inspection in chronological order, and based on the distances between each inspection point and the initial point of the inspection terminal, corresponding road section coordinate points are taken as direction angle calculation points on each standby section. S3. The inspection platform calculates the direction angles of each inspection point and the direction angles of the direction angle calculation points on each standby section respectively. S4. The inspection platform determines the inspection section for this inspection of the current inspection terminal respectively according to the similarity degree between the direction angles of each inspection point and the direction angles of the corresponding direction angle calculation points on each standby section during this inspection. S5. After the inspection of the current inspection section by the inspection terminal, it returns to S1 to start the next inspection until the end of this round of inspection and there are no standby sections to be inspected in the road network database. One round of inspection includes more than one inspection, and different sections are inspected each time.

2. The highway inspection method according to claim 1, characterized in that, Specifically, S1 also includes the following sub-steps: S11. At the start of this inspection, the inspection platform obtains the initial point P0 of the inspection terminal in the geographical coordinate system, and records the coordinate point of the initial point P0 of the inspection terminal as (P0 lon , P0 lat ), where P0 lon represents the longitude of P0, and P0 lat represents the latitude of P0; S12. The inspection platform retrieves the information of the sections to be inspected stored in the road network database, and through the distance calculation method of two coordinate points in the geographical coordinate system, screens out the road section coordinate points that are within the search distance D from the initial point P0 of the inspection terminal and belong to the inspection area corresponding to the current inspection terminal from the information of the sections to be inspected. S13. The inspection platform takes the sections corresponding to the road section coordinate points screened out in S12 as the standby sections for this inspection and feeds them back to the inspection terminal.

3. The highway inspection method according to claim 2, characterized in that, After S13, S14 is also included: S14. When there is only 1 standby section for this inspection fed back by the inspection platform, the current standby section is the inspection section for this inspection in this round of inspection, and the inspection terminal goes to the corresponding inspection section; when there are more than 1 standby sections for this inspection fed back by the inspection platform, the inspection terminal selects 1 standby section from the current standby sections and goes there.

4. The highway inspection method according to claim 2, wherein, In S12, when the inspection platform screens the road section coordinate points, it also includes the following content: The search distance D = [d0 + k(Δd)], where d0 represents the initial distance and d0 ≥ 0, Δd represents the increasing distance and Δd ≥ 0, and k is the increasing coefficient and k is a non-negative integer. If the inspection platform cannot screen out the road section coordinate points that are within the search distance D from the initial point P0 of the inspection terminal and belong to the inspection area corresponding to the current inspection terminal under the current search distance D, then k is incremented by 1 to obtain a new search distance D until the inspection platform screens out the road section coordinate points that are within the search distance D from the initial point P0 of the inspection terminal and belong to the inspection area corresponding to the current inspection terminal, and then S13 is executed.

5. A highway inspection method according to claim 2, characterized in that, Specifically, S2 also includes the following sub-steps: S21. After the inspection platform continues to obtain the inspection points of the inspection terminal during the current inspection in chronological order, it calculates the distances between each inspection point and the initial point P0 of the inspection terminal respectively by using the distance calculation method between two coordinate points in the geographic coordinate system; S22. If a standby section has only one corresponding section coordinate point among the section coordinate points screened in S12, then the current section coordinate point is the starting point A0 of the current standby section. If a standby section has more than one section coordinate point among the section coordinate points screened in S12, then the section coordinate point closest to the initial point P0 of the inspection terminal is taken as the starting point A0 of the current standby section; The inspection platform takes the corresponding section coordinate points on each standby section during the current inspection as the direction angle calculation points according to the distances between each inspection point and the initial point P0 of the inspection terminal, and the included angle between the ray from the starting point A0 of the standby section to any direction angle calculation point on the current standby section and the ray from the initial point P0 of the inspection terminal to the corresponding inspection point is an acute angle.

6. The highway inspection method according to claim 5, characterized in that S3 specifically further includes the following sub-steps: S31. The inspection platform calculates the direction angles of each inspection point and the initial point P0 of the inspection terminal relative to the north pole direction respectively during the current inspection: Among them, Pn represents the nth inspection point in the current inspection, where n is a positive integer, and θ P0-Pn represents the direction angle of the inspection point Pn in the current inspection relative to the initial point P0 of the inspection terminal in the current inspection, and Pn lon represents the longitude of Pn, and Pn lat represents the latitude of Pn, and P0 lon represents the longitude of P0, and P0 lat represents the latitude of P0; The inspection platform calculates the direction angles of the direction angle calculation points on each standby section and the starting point A0 of the current standby section relative to the north pole direction respectively during the current inspection: Among them, Am represents the m-th direction angle calculation point on the current alternate road section A, and θ A0-Am represents the direction angle of the direction angle calculation point Am relative to the starting point A0 of the current alternate road section, and Am lon represents the longitude of Am, and Am lat represents the latitude of Am, and A0 lon represents the longitude of A0, and A0 lat represents the latitude of A0; S32. The inspection platform converts the direction angles of each inspection point and the initial point P0 of the inspection terminal relative to the north pole direction into standard direction angles within four quadrants respectively during the current inspection, hereinafter simply referred to as the standard direction angles of the inspection points: When Pn lon ≥P0 lon and Pn lat >P0 lat , or when Pn lon >P0 lon and Pn lat ≥P0 lat , then the inspection point Pn is located in the first quadrant, and the standard direction angle θ of the inspection point Pn [P0-Pn] =θ P0-Pn , When Pn lon <P0 lon and Pn lat >P0 lat then the inspection point Pn is located in the second quadrant, and the standard direction angle θ of the inspection point Pn [P0-Pn] =θ P0-Pn + 360°, When Pn lon ≤P0 lon and Pn lat <P0 lat , or when Pn lon <P0 lon and Pn lat ≤P0 lat , then the inspection point Pn is located in the third quadrant, and the standard direction angle θ of the inspection point Pn [P0-Pn] =180°-θ P0-Pn , When Pn lon > P0 lon and Pn lat < P0 lat at this time, the inspection point Pn is located in the fourth quadrant, and the standard direction angle θ of the inspection point Pn [P0-Pn] = 180° - θ P0-Pn ; The inspection platform converts the direction angles of the direction angle calculation points on each standby section and the starting point A0 of the current standby section relative to the north pole direction into standard direction angles within four quadrants respectively during the current inspection, hereinafter simply referred to as the standard direction angles of the direction angle calculation points: When Am lon ≥ A0 lon and Am lat > A0 lat or when Am lon > A0 lon and Am lat ≥ A0 lat then the direction angle calculation point Am is located in the first quadrant, and the standard direction angle θ [A0-Am] = θ A0-Am , When Am lon <A0 lon and Am lat >A0 lat then the direction angle calculation point Am is in the second quadrant, and the standard direction angle θ of the direction angle calculation point Am [A0-Am] =θ A0-Am + 360°, When Am lon ≤ A0 lon and Am lat < A0 lat or when Am lon < A0 lon and Am lat ≤ A0 lat then the direction angle calculation point Am is located in the third quadrant, and the standard direction angle θ [A0-Am] = 180° - θ A0-Am , When Am lon > A0 lon and Am lat < A0 lat then the direction angle calculation point Am is located in the fourth quadrant, and the standard direction angle θ of the direction angle calculation point Am [A0-Am] = 180° - θ A0-Am .

7. The highway inspection method according to claim 6, characterized in that, S4 specifically further includes the following sub-steps: S41. The inspection platform calculates the absolute value set of the differences between the standard direction angles of each inspection point and the standard direction angles of the corresponding direction angle calculation points on each standby section respectively during the current inspection: PA = {PA1,..., PA n ,..., PA h} = {|θ [P0-P1] - θ [A0-A1] |,..., |θ [P0-Pn] - θ [A0-An] |,..., |θ [P0-Ph] - θ [A0-Ah] |}, Among them, PA represents the set of absolute values of the differences between the standard direction angles of each inspection point and the standard direction angle calculation points corresponding to the same direction angles on the standby section A during this inspection, and PA n represents the nth element in the set of absolute values PA, where 1 ≤ n ≤ h and both n and h are positive integers, and PA n = |θ [P0-Pn] - θ [A0-An] |; S42. The inspection platform calculates the mean values of each absolute value set respectively during the current inspection: Among them, represents the mean value of the absolute value set PA, and PA i represents the i-th element in the absolute value set PA, where 1 ≤ i ≤ h and both i and h are positive integers; S43. The inspection platform calculates the standard variances of each absolute value set respectively during the current inspection: ， Among them, σ PA represents the standard deviation of the absolute value set PA, and PA j represents the j-th element in the absolute value set PA, where 1 ≤ j ≤ h and both j and h are positive integers; S44. The inspection platform takes the standby section with the smallest standard variance of the absolute value set during the current inspection as the inspection section of the current inspection terminal during the current inspection.

8. A highway inspection method according to any one of claims 2, 4, and 5, characterized in that The distance calculation method between two coordinate points in the geographic coordinate system includes the following sub-steps: Step 1, record two coordinate points X1 and X2 in the geographic coordinate system. Denote the coordinates of X1 as (X1 lon , X1 lat ), and denote the coordinates of X2 as (X2 lon , X2 lat ). Calculate the spherical angle C between the two coordinate points X1 and X2: C = arccos[sin(X2 lat ) × sin(X1 lat ) + cos(X2 lat ) × cos(X1 lat ) × cos(X2 lon - X1 lon )], Among them, X1 lon represents the longitude of X1, and X1 lat represents the latitude of X1, X2 lon represents the longitude of X2, and X2 lat represents the latitude of X2; Step 2, calculate the radian C′ between two coordinate points X1 and X2 according to the spherical angle C: Step 3. Calculate the distance Len between two coordinate points X1 and X2 according to the radian C': Len = R × C', where R is the average radius of the earth.

9. A method for correcting the inspection trajectory of a highway, based on a highway inspection method according to any one of claims 1-8: When the inspection platform determines the inspection section of the current inspection terminal during the current inspection, the inspection platform replaces the inspection trajectory of the current inspection terminal during the current inspection with the trajectory of the inspection section.

10. A highway inspection system, characterized in that, Including: An inspection terminal, an inspection platform, a road network database, and an inspection record database The patrol terminal is installed or carried by the patrol personnel / vehicle / drone, and is used to receive information from the patrol platform and send the current location information and detailed patrol status of the patrol terminal to the patrol platform; The road network database stores the patrol area information corresponding to each patrol terminal and the road sections to be patrolled within each patrol area; The patrol platform calls the road network database to determine the alternate road sections and patrol road sections of each patrol terminal after calculation; The patrol platform determines the patrol road sections and detailed patrol status of each patrol terminal each time according to the location information of each patrol terminal, and stores them in the patrol record database; Each terminal, platform, and database is programmed or configured to execute the steps of a highway patrol method as described in any one of claims 1-8.

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