River inspection method

Abstract

The application discloses a river channel inspection method. The river channel inspection method comprises the following steps: embedding virtual river channel management line information into real-time river channel information and displaying the real-time river channel information in an augmented reality mode on a river channel site to be inspected. Therefore, the actual position of the river channel management line can be determined in real time and accurately on the river channel site to be inspected, so that the convenience and accuracy of the river channel inspection work are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of augmented reality, and more particularly, to a river channel inspection method. BACKGROUND

[0002] The river channel management line is a management boundary planned according to relevant laws and regulations. Construction projects newly built, expanded or reconstructed within the river channel management range, including various types of projects for developing water conservancy (hydropower), preventing and controlling water disasters, regulating river channels, bridges, wharfs, roads, fords, pipelines, cables, water intakes, sewage outlets and other structures crossing, penetrating or adjacent to rivers, as well as plant buildings, warehouses, industrial and civil buildings and other public facilities, must be approved by the river channel management authority after examination and approval, and can only then begin construction. The protection of the river channel management range line plays a key role in whether the river channel can function in flood control and drainage, ecological protection, water storage and supply, etc. For example, Figure 1 is a schematic diagram of the river channel management range line for a river channel without a dike. As shown in Figure 1 , the river channel protection range is between the river channel management range line and the river channel upper line. Figure 2 is a schematic diagram of the river channel management range line for a river channel with a dike. As shown in Figure 2 , the river channel protection range is between the river channel management range line and the dike outer slope foot line.

[0003] The existing river channel management line is installed in the form of multiple boundary markers at the river channel site, but in fact each boundary marker is only a point on the river channel management line. Since the distance between the boundary markers is often hundreds of meters, it is difficult for management personnel to determine the actual accurate position of the management range line when they arrive at the site for inspection, which negatively affects the inspection work and river channel management.

[0004] Therefore, how to accurately determine the actual position of the river channel management line in real time on site, and thus improve the convenience and accuracy of river channel inspection work, has become a technical problem to be solved in the field. SUMMARY

[0005] In view of this, the present application proposes a river channel inspection method, which can accurately determine the actual position of the river channel management line in real time, thereby improving the convenience and accuracy of river channel inspection work.

[0006] The present application provides a river channel inspection method, which comprises: embedding virtual river channel management line information into real-time river channel information and displaying it in real time in an augmented reality manner at a river channel site to be inspected.

[0007] Optionally, the river channel inspection method further comprises: obtaining three-dimensional model information of the river channel management area of the river channel to be inspected, the three-dimensional model information comprising the virtual river channel management line information.

[0008] Optionally, according to the vector data and geospatial data of the river management area and in combination with the altitude data, a three-dimensional model information of the river management area including the virtual river management line information is obtained.

[0009] Optionally, the virtual river management line information includes a plurality of virtual boundary post information, each virtual boundary post information including at least one of a number, a longitude and latitude, an altitude, and management party information of the virtual boundary post.

[0010] Optionally, in the river site to be inspected, the actual river management line includes a plurality of physical boundary posts, and each physical boundary post is provided with anchor information of the virtual boundary post information corresponding to the physical boundary post for reading.

[0011] Optionally, the anchor information is preferably a two-dimensional code.

[0012] Optionally, the river inspection method further includes: reading, by the inspection terminal, the anchor information on at least one physical boundary post in the river site to be inspected to obtain the physical boundary post where the inspection terminal is located at the moment and the corresponding virtual boundary post information.

[0013] Optionally, the river inspection method further includes: obtaining geospatial information of the inspection terminal,

[0014] wherein the geospatial information of the inspection terminal includes geospatial positioning information and attitude information of a photo and / or video taken by a camera or a camera of the inspection terminal, and the geospatial positioning information and attitude information include at least one of a longitude and latitude at the time of taking, an altitude at the time of taking, rotation quaternion information at the time of taking, and spatial angle information of a shooting direction at the time of taking.

[0015] Optionally, according to the geospatial information of the inspection terminal, a mapping relationship of the inspection terminal in the three-dimensional model of the river management area is established through an anchor correspondence relationship between the physical boundary post and the virtual boundary post.

[0016] Optionally, the river inspection method further includes: the inspection terminal receives the mapping relationship and embeds the virtual river management line information in the three-dimensional model into real-time river information of the inspection terminal in an augmented reality manner and displays in real time.

[0017] Optionally, the river inspection method further includes: as the inspection terminal moves, the virtual river management line displayed in real time by the inspection terminal is updated synchronously.

[0018] Optionally, the river inspection method further includes an encroachment judgment for judging whether there is an encroachment in the virtual river management line displayed by the inspection terminal.

[0019] Optionally, the encroachment judgment further comprises encroachment object marking, for obtaining the location of the encroachment object according to the encroachment object photographed by the inspection terminal.

[0020] Optionally, the encroachment object marking further comprises calculating the volume information of the encroachment object according to the projection area of the encroachment object on the horizontal plane and the height information of the encroachment object; and / or, the encroachment object marking further comprises encroachment object evidence collection, for photographing and saving the evidence file of the encroachment object.

[0021] According to the technical scheme of the present application, the virtual river management line information is embedded into the real-time river information and displayed in the form of augmented reality, so that the actual position of the river management line can be determined in real time and accurately in the river site to be inspected, thereby improving the convenience and accuracy of the river inspection work.

[0022] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which form a part of the present application, are intended to provide further understanding of the present application, and the illustrative embodiments thereof and the description thereof serve to explain the present application. In the drawings:

[0024] Figure 1 is a schematic diagram of the river management range line without embankment;

[0025] Figure 2 is a schematic diagram of the river management range line with embankment;

[0026] Figure 3 is a schematic diagram of the river inspection method according to the preferred embodiment of the present application;

[0027] Figure 4 is a schematic diagram of the river inspection method according to the preferred embodiment of the present application; and

[0028] Figure 5 is a flowchart of the river inspection method according to the preferred embodiment of the present application. DETAILED DESCRIPTION

[0029] The technical scheme of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] The embodiment of the present application provides a river inspection method. The river inspection method comprises the following contents. In a river field to be inspected, virtual river management line information is embedded into real-time river information and is displayed in real time in an augmented reality mode. For example, the virtual river management line information can be embedded into the real-time river information and displayed in the augmented reality mode based on a mapping relationship between a virtual object and a real scene.

[0031] Optionally, in the embodiment of the present application, the river inspection method can further comprise the following contents. Three-dimensional model information of a river management area of the river to be inspected is obtained, and the three-dimensional model information comprises virtual river management line information.

[0032] Optionally, in the embodiment of the present application, obtaining the three-dimensional model information of the river management area of the river to be inspected can comprise the following contents. The river management area can be drawn by using GIS (Geographic Information System) software according to related data of the river management area of the river to be inspected, and the drawn river management area is input into Blender, so as to obtain the three-dimensional model information of the river management area.

[0033] Optionally, in the embodiment of the present application, obtaining the three-dimensional model information of the river management area of the river to be inspected can comprise the following contents. A first preset correspondence relationship between river position information and the three-dimensional model information of the river management area is established in advance. The river position information of the river to be inspected is obtained, and the obtained river position information is compared with the first preset correspondence relationship set in advance, so as to determine the three-dimensional model information of the river management area of the river to be inspected.

[0034] Optionally, in the embodiment of the present application, the three-dimensional model information of the river management area comprising the virtual river management line information can be obtained according to vector data and geographic space data of the river management area and in combination with altitude data. Specifically, the related data of the river management area can comprise vector data, geographic space data and altitude data of the river management area. The river management area is drawn by using GIS software according to the vector data, the geographic space data and the altitude data of the river management area of the river to be inspected, and the drawn river management area is input into Blender, so as to obtain the three-dimensional model information of the river management area. In addition, in the embodiment of the present application, the geographic space data can be longitude and latitude. In addition, in the embodiment of the present application, the longitude and latitude can be longitude and latitude based on the WGS84 coordinate system.

[0035] Optionally, in the embodiments of the present application, the vector data and geospatial data of the river management area can include vector data and geospatial data of a boundary line defining two sides of the river management area. For example, the vector data and geospatial data of the river management area can include vector data and geospatial data of a river management line and vector data and geospatial data of a river upstream line, or can include vector data and geospatial data of a river management line and vector data and geospatial data of a dike outer slope toe line.

[0036] Optionally, in the embodiments of the present application, the virtual river management line information includes a plurality of virtual boundary post information, each virtual boundary post information including at least one of a number, a longitude and latitude, an altitude, and management party information of the virtual boundary post.

[0037] Optionally, in the embodiments of the present application, in the river site to be inspected, the actual river management line includes a plurality of physical boundary posts, and each physical boundary post is arranged with anchor information of the virtual boundary post information corresponding to the physical boundary post, which can be read. Based on the anchor information, the corresponding virtual boundary post information can be obtained. Preferably, the anchor information can be a two-dimensional code. The corresponding virtual boundary post information can be obtained by scanning the two-dimensional code. In the embodiments of the present application, the anchor information can be used to anchor to obtain more accurate information of the boundary post in the river site to be inspected.

[0038] In addition, in the embodiments of the present application, the three-dimensional model of the river management area can be segmented according to the boundary post positions.

[0039] Optionally, in the embodiments of the present application, the three-dimensional model information of the river management area of the river to be inspected can be obtained according to the following contents. The virtual river management line information includes a plurality of virtual boundary post information, each virtual boundary post information including at least a number and / or longitude and latitude of the virtual boundary post. In the river site to be inspected, the actual river management line includes a plurality of physical boundary posts, and each physical boundary post is arranged with anchor information of the virtual boundary post information corresponding to the physical boundary post, which can be read. A second preset correspondence relationship between the three-dimensional model information of the river management area of the river and the number and / or longitude and latitude of the virtual boundary post is set in advance. In the river site to be inspected, the virtual boundary post information corresponding to the physical boundary post is obtained through the anchor information arranged on the physical boundary post, and the obtained virtual boundary post information is compared with the second preset correspondence relationship set in advance to obtain the three-dimensional model information of the river management area. The three-dimensional model information of the river management area obtained is the three-dimensional model information of the river management area of the river to be inspected.

[0040] Optionally, in the embodiments of the present application, the river inspection method can further include the following contents. The anchor information on the boundary marker of the at least one entity is read by the inspection terminal at the river site to be inspected to obtain the boundary marker of the entity where the inspection terminal is located at the time and the corresponding virtual boundary marker information thereof. Optionally, in the embodiments of the present application, the user holding the inspection terminal can use the APP or mini program installed on the inspection terminal to call the camera of the inspection terminal to take a photo of the anchor information on the boundary marker of the entity and identify it to obtain the virtual boundary marker information corresponding to the entity boundary marker. For example, the anchor information can be a two-dimensional code, and the camera of the inspection terminal is called by the APP or mini program on the inspection terminal to scan the two-dimensional code, as shown in FIG. 8, to identify the two-dimensional code to obtain the virtual boundary marker information corresponding to the entity boundary marker. Figure 4

[0041] Optionally, in the embodiments of the present application, the inspection terminal is a smart mobile terminal device. For example, the smart mobile terminal device can be a smart phone, a smart bracelet, smart glasses, etc.

[0042] Optionally, in the embodiments of the present application, the river inspection method can further include the following contents.

[0043] The geographic space information of the inspection terminal is obtained. The geographic space information of the inspection terminal includes the geographic space positioning information and attitude information of the photo and / or video taken by the camera or camera of the inspection terminal, and the geographic space positioning information and attitude information includes at least one of the longitude and latitude at the time of taking, the altitude at the time of taking, the rotation quaternion information at the time of taking, and the spatial angle information of the shooting direction at the time of taking. The rotation quaternion information at the time of taking represents the direction faced by the user holding the inspection terminal, in other words, the rotation quaternion information at the time of taking represents the direction of the camera or camera of the inspection terminal. Optionally, in the embodiments of the present application, the rotation quaternion information can be obtained by sensors arranged inside the inspection terminal. Specifically, these sensors can capture the rotation and direction change of the device in the three-dimensional space, thereby generating the rotation quaternion information. Optionally, in the embodiments of the present application, the sensors arranged inside the inspection terminal can include at least one of the following tools: a gyroscope, an accelerometer, a magnetometer optical sensor, an inertial measurement unit, etc.

[0044] Optionally, in the embodiments of the present application, the geographic space information of the inspection terminal can be obtained according to the following contents. The longitude and latitude at the time of taking and the altitude at the time of taking are the same as the longitude and latitude and the altitude of the inspection terminal, and the longitude and latitude at the time of taking and the altitude at the time of taking can be obtained by obtaining the longitude and latitude and the altitude of the inspection terminal. Optionally, the longitude and latitude and the altitude of the inspection terminal can be obtained by the GPS positioning system.

[0045] ​Optionally, in the embodiments of the present application, the mapping relationship of the inspection terminal in the three-dimensional model of the river management area is established according to the geographic spatial information of the inspection terminal through the anchoring correspondence relationship between the physical boundary marker and the virtual boundary marker.

[0046] Optionally, in the embodiments of the present application, the anchor information arranged on the physical boundary marker is read by the inspection terminal to obtain the virtual boundary marker information corresponding to the physical boundary marker, and the longitude, latitude and altitude of the physical boundary marker are determined according to the longitude, latitude and altitude included in the read boundary marker information. The longitude, latitude and altitude of the physical boundary marker are compared with the longitude, latitude and altitude of the photographed place included in the geographic spatial information of the inspection terminal, and the mapping relationship of the inspection terminal in the three-dimensional model of the river management area is determined in combination with the correspondence relationship between the longitude, latitude and altitude of the physical boundary marker and the three-dimensional model of the river management area.

[0047] Optionally, in the embodiments of the present application, the river inspection method can further include the following contents. The inspection terminal receives the mapping relationship and embeds the virtual river management line information in the three-dimensional model into the real-time river information of the inspection terminal in an augmented reality manner, and performs real-time display. Specifically, the mapping relationship can be received, and the three-dimensional model information of the river management area is embedded into the real-time river information of the inspection terminal in an augmented reality manner according to the received mapping relationship, so as to realize embedding the virtual river management information into the real-time river information of the inspection terminal in an augmented reality manner. Wherein, the river management area is displayed in the real-time river information. As shown in Figure 3 or Figure 4 As shown, the real-time river management inspection site is photographed by using the WeChat mini program or APP on the inspection terminal, and the river management area is displayed in the photographed real-time picture.

[0048] Specifically, the inspection terminal receives the mapping relationship from the server, and determines the position of the inspection terminal in the three-dimensional model of the river management area according to the mapping relationship. The server calibrates the direction and angle of the camera or camera of the inspection terminal according to the rotation quaternion information included in the geographic spatial information of the inspection terminal and the spatial angle information of the shooting direction of the photographed place, so that the view angle of the camera or camera matches the view angle in the three-dimensional model. The three-dimensional model coordinates of the virtual river management line are converted to the two-dimensional plane coordinates of the camera or camera by using the perspective transformation algorithm. The converted two-dimensional plane coordinates are superimposed with the real-time photographed river image. The virtual river management line is accurately drawn on the corresponding position of the real-time image through image processing technology. The augmented reality effect is displayed on the screen of the inspection terminal, that is, the real-time river information and the embedded virtual river management line are displayed synchronously. With the movement of the inspection terminal, the display content is updated in real time, ensuring that the virtual river management line is always correctly superimposed in the actual scene.

[0049] Figure 5 A flowchart of a river inspection method according to a preferred embodiment of the present application. The following will be described in conjunction with Figure 5 The river inspection method provided by the embodiments of the present application is described exemplarily.

[0050] As shown in Figure 5 According to the vector data, the geographic spatial data, and the altitude data of the river management area of the river to be inspected, a SHP format river management area is drawn using a GIS software. The drawn SHP format river management area is input into Blender, and Blender generates three-dimensional model information of the river management area. The generated three-dimensional model information of the river management area is published to a server.

[0051] The inspection terminal scans the two-dimensional code on the physical boundary post to obtain corresponding virtual boundary post information.

[0052] The geographic spatial information of the inspection terminal is obtained.

[0053] The server determines the mapping relationship of the inspection terminal in the three-dimensional model of the river management area according to the obtained virtual boundary post information and the obtained geographic spatial information in combination with the three-dimensional model of the river management area. Specifically, the longitude, latitude, and altitude of the physical boundary post are determined according to the longitude, latitude, and altitude included in the obtained virtual boundary post information. The determined longitude, latitude, and altitude of the physical boundary post are compared with the longitude, latitude, and altitude of the photographed place included in the geographic spatial information of the inspection terminal. In combination with the corresponding relationship between the longitude, latitude, and altitude of the physical boundary post and the three-dimensional model of the river management area, the mapping relationship of the inspection terminal in the three-dimensional model of the river management area is determined.

[0054] The server embeds the virtual river management line information in the three-dimensional model into the real-time river information of the inspection terminal in an augmented reality manner according to the obtained mapping relationship, and performs real-time display.

[0055] Optionally, in the embodiment of the present application, the river inspection method further includes the following. With the movement of the inspection terminal, the virtual river management line displayed by the inspection terminal in real time is updated synchronously. Specifically, based on the acquired geographic spatial information of the inspection terminal, the virtual river management line displayed by the inspection terminal in real time is updated synchronously. Optionally, in the embodiment of the present application, the virtual river management line displayed by the inspection terminal in real time can be updated synchronously according to the following. With the movement of the inspection terminal, the geographic spatial information of the inspection terminal is acquired in real time. According to the acquired geographic spatial information of the inspection terminal and the anchoring correspondence between the physical boundary marker and the virtual boundary marker, a mapping relationship of the inspection terminal in the three-dimensional model of the river management area is established in real time. According to the mapping relationship established in real time, the virtual river management line information in the three-dimensional model of the river management area is embedded into the real-time river information of the inspection terminal in an augmented reality manner, so as to update the virtual river management line displayed by the inspection terminal in real time synchronously with the movement of the inspection terminal.

[0056] Optionally, in the embodiment of the present application, the river inspection method further includes encroachment judgment. The encroachment judgment is used to judge whether there is an encroachment object in the virtual river management line displayed by the inspection terminal. Optionally, in the embodiment of the present application, in the screen displayed by the inspection terminal and containing augmented reality information, if the accumulated objects and scattered objects on both sides of the river in the inspection site are covered by the river management protection line model, it can be determined that there is encroachment, wherein the river management protection line model is the three-dimensional model of the river management area described in the embodiment of the present application.

[0057] Optionally, in the embodiment of the present application, whether there is an encroachment object can be determined according to the following. The server pre-processes the real-time image collected by the inspection terminal, such as grayscale, edge detection, etc., to enhance the feature information in the image. The computer vision algorithm is used to detect the object contour and boundary in the image. Commonly used edge detection algorithms include Canny, Sobel, etc. According to the feature information in the image, the detected object is compared with the virtual river management line. If the contour of the object overlaps with the virtual management line or intrudes into the area within the virtual management line, it is marked as a potential encroachment object. The inspection personnel judge whether it is an encroachment object according to the relevant provisions combined with the actual situation of the object to make further confirmation.

[0058] Optionally, in the embodiment of the present application, the encroachment judgment can further include encroachment object calibration. The encroachment object calibration is used to obtain the position of the encroachment object according to the encroachment object photographed by the inspection terminal.

[0059] Optionally, in the embodiment of the present application, the position of the encroachment object can be represented by the distance of the encroachment object from at least one of the two boundary lines of the river management area.

[0060] Optionally, the encroachment object calibration can include the following. The distance of the encroachment object from at least one of the two boundary lines of the river management area is calculated by a computer vision algorithm, and the calculated distance is displayed. Optionally, the calculated distance can be displayed by some auxiliary means. For example, the calculated distance is displayed in the form of a line or the like.

[0061] Optionally, in the embodiments of the present application, the distance of the encroachment object from at least one of the two boundary lines of the river management area can be calculated according to the following. In the presence of the encroachment object, the user holding the inspection terminal clicks on the area where the encroachment object is located on the display screen of the inspection terminal to place a positioning point, and the user moves the placed positioning point to at least one of the two boundary lines of the river management area, such as the river upper reach line and / or the river management line, by rotating the screen of the inspection terminal. The server calculates the nearest distance of the positioning point from at least one of the two boundary lines of the river management area by a computer vision algorithm, and displays the measurement result in the form of a line or the like on the screen of the inspection terminal.

[0062] Optionally, in the embodiments of the present application, the encroachment object calibration further includes calculating the volume information of the encroachment object according to the projected area of the encroachment object on the horizontal plane and the height information of the encroachment object.

[0063] Optionally, in the embodiments of the present application, the volume information of the encroachment object can be calculated according to the following. The user holding the inspection terminal draws a polygon on the plane in the form of determining multiple points, determines the projected area of the encroachment object on the horizontal plane according to the drawn polygon, and combines the height information of the encroachment object to calculate the volume information of the encroachment object. After the volume information of the encroachment object is calculated, the calculated volume information of the encroachment object can be displayed.

[0064] Optionally, in the embodiments of the present application, the projected area of the encroachment object on the horizontal plane can be determined according to the following. The calibrated boundary points are converted to the horizontal plane. The boundary points in the image are mapped to the actual coordinates on the horizontal plane by a geometric transformation algorithm using the shooting angle and position data of the camera or camera. According to the coordinate points on the calibrated horizontal plane, a closed polygon is formed. The area of the polygon is calculated using the polygon area calculation formula (such as the Gauss area formula), which is the projected area of the encroachment object on the horizontal plane.

[0065] Optionally, in the embodiment of the present application, the encroachment object demarcation further comprises encroachment object evidence collection. The encroachment object evidence collection is used to take a photograph of the encroachment object to obtain an evidence file and save the evidence file. Specifically, when the encroachment object exists, the camera of the inspection terminal takes a photograph of the encroachment object to obtain an evidence file and save the evidence file. Optionally, in the embodiment of the present application, the inspection terminal can save the evidence file, for example, directly record the evidence file in the “river inspection record” account built in the applet or APP. In addition, the server can also store the evidence file. For example, after obtaining the evidence file, the inspection terminal transmits the obtained evidence file to the server, and the server stores the evidence file.

[0066] The technical scheme provided by the embodiment of the present application has the following advantages: 1) the river management line position can be intuitively displayed on the screen of the inspection terminal in an augmented reality mode, the river management area is displayed, and the river inspection personnel can obtain the position of the river management line in real time on the spot, thereby facilitating the management of the river management line; 2) it can be intuitively confirmed whether there are objects obstructing flood discharge discarded or stacked in the river management line, or whether there are phenomena such as encroaching on the river by storing materials, building workshops or other building facilities on the river beach without approval, thereby improving the management efficiency of the management personnel on the river management line; 3) when the encroachment object exists, the distance of the encroachment object from the boundary line of the river management area can be conveniently measured, and the approximate area and volume of the encroachment object can be calculated.

[0067] In addition, in the embodiment of the present application, not only the river management line can be displayed, but also the river protection line, the city blue line, the city yellow line, the city green line, the city purple line and other city four lines can be displayed.

[0068] The above describes the preferred embodiments of the present application, but the present application is not limited to the specific details in the above embodiments. Within the technical concept of the present application, various simple modifications can be made to the technical scheme of the present application, and these simple modifications all belong to the protection scope of the present application.

[0069] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present application will not further describe various possible combinations.

[0070] In addition, various different embodiments of the present application can also be combined in any appropriate manner, as long as they do not deviate from the idea of the present application, and they should also be considered as disclosed in the present application.

Claims

1. A method for river inspection, comprising: obtaining three-dimensional model information of a river management area of a river to be inspected, the three-dimensional model information comprising virtual river management line information; embedding the virtual river management line information into real-time river information and displaying the virtual river management line information in real time in an augmented reality manner at a river site to be inspected; wherein the three-dimensional model information of the river management area comprising the virtual river management line information is obtained according to vector data and geospatial data of the river management area in combination with altitude data; wherein at the river site to be inspected, an actual river management line comprises a plurality of physical boundary markers, and each physical boundary marker is provided with anchor information of virtual boundary marker information corresponding to the physical boundary marker; wherein the method further comprises an encroachment judgment for judging whether there is an encroachment in the virtual river management line displayed by an inspection terminal; wherein the method further comprises reading, by the inspection terminal, the anchor information on at least one physical boundary marker at the river site to be inspected to obtain a physical boundary marker corresponding to the inspection terminal and virtual boundary marker information corresponding to the physical boundary marker; wherein the method further comprises obtaining geospatial information of the inspection terminal, wherein the geospatial information of the inspection terminal comprises positioning information and attitude information of a photograph and / or a video taken by a camera or a photographing device of the inspection terminal, the positioning information and the attitude information comprising at least one of longitude and latitude at a photographing position, altitude at the photographing position, rotation quaternion information at the photographing position, and spatial angle information of a photographing direction at the photographing position; wherein the anchor information on the physical boundary marker is read by the inspection terminal to obtain virtual boundary marker information corresponding to the physical boundary marker, longitude and latitude and altitude of the physical boundary marker are determined according to longitude and latitude and altitude included in the read anchor information, and the determined longitude and latitude and altitude of the physical boundary marker are compared with longitude and latitude and altitude included in the geospatial information of the inspection terminal, and a mapping relationship of the inspection terminal in the three-dimensional model of the river management area is determined in combination with a corresponding relationship between the longitude and latitude and altitude of the physical boundary marker and the three-dimensional model of the river management area.

2. The river inspection method according to claim 1, wherein The virtual river management line information comprises a plurality of virtual boundary marker information, and each virtual boundary marker information comprises at least one of a number, longitude and latitude, altitude, and management party information of the virtual boundary marker.

3. The method of claim 1, wherein, The method further comprises that the inspection terminal receives the mapping relationship and embeds the virtual river management line information in the three-dimensional model into real-time river information of the inspection terminal in an augmented reality manner and displays the virtual river management line information in real time.

4. The river inspection method according to claim 3, wherein The method further comprises that the virtual river management line displayed by the inspection terminal is synchronously updated with movement of the inspection terminal.

5. The method of claim 1, wherein, The encroachment judgment further comprises encroachment object calibration for obtaining a position of an encroachment object according to the encroachment object taken by the inspection terminal. 6.The method according to claim 5, wherein, The encroachment object calibration further comprises calculating volume information of the encroachment object according to a projected area of the encroachment object on a horizontal plane and height information of the encroachment object; and / or The encroachment object calibration further comprises encroachment object evidence collection, for taking a photograph of the encroachment object to obtain an evidence file and saving the evidence file.

Images