Routing inspection method and device based on VR technology and BIM model, equipment and medium

Abstract

The invention discloses an inspection method and device based on a VR technology and a BIM model, equipment and a medium. The method comprises the following steps: acquiring target video information of a plurality of shooting angles of a target area acquired by panoramic shooting equipment; performing feature extraction on each frame of image in the target video information of each shooting angle based on a preset feature detection algorithm to obtain target feature information corresponding to the target video information, and determining target position information corresponding to the target feature information; the target feature information is used for describing feature line information of the target equipment; performing image splicing based on the target feature information and the target position information to obtain reference panoramic video information; and based on the target position information in the reference panoramic video information, associating the reference panoramic video information with the BIM model of the target area to obtain the target panoramic video information, so as to inspect the target area based on the target panoramic video information displayed in the VR equipment. According to the technical scheme, comprehensive inspection of the water conservancy project site is accurately achieved.

Description

Technical Field

[0001] The present invention relates to the field of patrol inspection and monitoring technology, and in particular to a patrol inspection method, device, equipment and medium based on VR technology and BIM model. Background Art

[0002] There are many devices in the construction engineering field, and the stable operation of these devices is very important. At present, the safety supervision of water conservancy projects mainly relies on manual inspections and paper reports, which is inefficient and easy to miss safety hazards. In addition, the water conservancy project site is inspected by images collected by shooting equipment, but the shooting angle is limited, and it is impossible to guarantee that the information on the water conservancy project site can be fully collected, which leads to the failure to timely discover the problems occurring at the water conservancy project site, as well as poor field of view coverage and blind spots in monitoring. Summary of the invention

[0003] The present invention provides an inspection method, device, equipment and medium based on VR technology and BIM model to achieve accurate and comprehensive inspection of water conservancy project sites.

[0004] According to one aspect of the present invention, a patrol inspection method based on VR technology and BIM model is provided, the method comprising:

[0005] Acquire target video information of a target area from multiple shooting angles collected by a panoramic shooting device;

[0006] Based on a preset feature detection algorithm, feature extraction is performed on each frame of the target video information at each shooting angle to obtain target feature information corresponding to the target video information, and target position information corresponding to the target feature information is determined; the target feature information is used to describe feature information of the target device;

[0007] Performing image stitching based on the target feature information and the target position information to obtain reference panoramic video information;

[0008] Based on the target position information in the reference panoramic video information, the reference panoramic video information and the BIM model of the target area are associated to obtain the target panoramic video information, so as to inspect the target area based on the target panoramic video information displayed in the VR device.

[0009] According to another aspect of the present invention, there is provided an inspection device based on VR technology and BIM model, the device comprising:

[0010] An information acquisition module, used to acquire target video information of a target area from multiple shooting angles collected by a panoramic shooting device;

[0011] A feature extraction module, used to extract features from each frame of the target video information at each shooting angle based on a preset feature detection algorithm, obtain target feature information corresponding to the target video information, and determine target position information corresponding to the target feature information; the target feature information is used to describe feature information of the target device;

[0012] A stitching module, used for performing image stitching based on the target feature information and the target position information to obtain reference panoramic video information;

[0013] A fusion module is used to associate the reference panoramic video information with the BIM model of the target area based on the target position information in the reference panoramic video information to obtain the target panoramic video information, so as to inspect the target area based on the target panoramic video information displayed in the VR device.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the inspection method based on VR technology and BIM model described in any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the inspection method based on VR technology and BIM model described in any embodiment of the present invention when executed.

[0019] The technical solution of the embodiment of the present invention obtains target video information of a target area from multiple shooting angles collected by a panoramic shooting device, performs feature extraction on each frame of the target video information at each shooting angle based on a preset feature detection algorithm, obtains target feature information corresponding to the target video information, and determines the target position information corresponding to the target feature information; the target feature information is used to describe the feature information of the target device, and accurate feature information extraction is achieved based on a preset feature detection algorithm, so as to accurately perform image stitching based on the target feature information and the target position information to obtain reference panoramic video information; further, based on the target position information in the reference panoramic video information, the reference panoramic video information and the BIM model of the target area are associated to obtain the target panoramic video information, so as to inspect the target area based on the target panoramic video information displayed in the VR device, and realize accurate and comprehensive inspection of the water conservancy project site.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 It is a flow chart of an inspection method based on VR technology and BIM model provided according to an embodiment of the present invention;

[0023] Figure 2 It is a structural schematic diagram of an inspection device based on VR technology and BIM model provided by an embodiment of the present invention;

[0024] Figure 3 It is a structural schematic diagram of an electronic device for implementing the inspection method based on VR technology and BIM model according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "target", "reference", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment 1

[0028] Figure 1 The flow chart of an inspection method based on VR technology and BIM model provided by an embodiment of the present invention is applicable to the situation of safety supervision of water conservancy projects. The method can be executed by an inspection device based on VR technology and BIM model. The inspection device based on VR technology and BIM model can be implemented in the form of hardware and / or software. The inspection device based on VR technology and BIM model can be configured in any electronic device with network communication function. Figure 1 As shown, the inspection method based on VR technology and BIM model of the present invention includes the following process:

[0029] S110: Acquire target video information of a target area at multiple shooting angles captured by a panoramic shooting device.

[0030] Among them, the panoramic shooting equipment is generally composed of multiple lenses, which shoot from different directions at the same time. The panoramic shooting equipment can be a VR camera. In this embodiment, at least one VR camera is deployed at a key position of the water conservancy project to ensure coverage of the entire construction site. The key position can be understood as the target area.

[0031] The video streams captured by each VR camera device are further transmitted to a central processing unit or server via a high-speed network to facilitate video processing.

[0032] S120. Perform feature extraction on each frame of the target video information at each shooting angle based on a preset feature detection algorithm to obtain target feature information corresponding to the target video information, and determine target position information corresponding to the target feature information; the target feature information is used to describe feature information of the target device.

[0033] The target device can be understood as a device that clearly marks the target area, and can be used to stitch the panoramic video of the target area based on the target device as a marker. The target position information can be understood as the position of the target device in the image.

[0034] Specifically, the target video information is divided into multiple frames of images, and each frame of the target video information is preprocessed. The preprocessing may include grayscale, denoising and other operations, so as to extract features of each frame of the target video information in each shooting angle based on a preset feature detection algorithm to obtain target feature information corresponding to the target video information.

[0035] Further, a target association relationship between the target feature information and the target location information is determined, so that after the target feature information is determined, the target location information corresponding to the target feature information is determined according to the target feature information and the target association relationship.

[0036] The technical solution of this embodiment optionally extracts features from each frame of the target video information at each shooting angle based on a preset feature detection algorithm, obtains target feature information corresponding to the target video information, and determines target position information corresponding to the target feature information, including steps A1-A2:

[0037] Step A1: Use the SIFT algorithm to extract features from each frame of the target video information at each shooting angle to obtain target feature information corresponding to the target video information.

[0038] Step A2: construct a differential Gaussian pyramid based on the target feature information, determine the extreme points corresponding to the target feature information, and determine the target position information of the target feature information based on the extreme points.

[0039] Specifically, reference pixel point information within a preset range based on the extreme point is obtained, and a target positioning function is fitted based on the reference pixel point information and the extreme point, and target position information of the target feature information is determined based on the target positioning function.

[0040] Optionally, a principal curvature ratio corresponding to the reference pixel information is calculated based on the reference pixel information and the extreme points, and the reference pixel information corresponding to the principal curvature ratio less than the principal curvature ratio threshold is eliminated to obtain updated reference pixel information, so as to fit the target positioning function based on the updated reference pixel information and the extreme points.

[0041] Furthermore, the main direction of the target image corresponding to the target feature information is determined based on the reference pixel point information and the extreme point.

[0042] The technical solution of this embodiment uses the SIFT algorithm to extract features from each frame of the target video information of each shooting angle, obtains target feature information corresponding to the target video information, and accurately determines the target feature information. A differential Gaussian pyramid is further constructed based on the target feature information to determine the extreme points corresponding to the target feature information, and the target position information of the target feature information is determined based on the extreme points, thereby accurately determining the target position information, so as to obtain reference panoramic video information by performing image stitching based on the target feature information and the target position information.

[0043] S130: performing image stitching based on the target feature information and the target position information to obtain reference panoramic video information.

[0044] Specifically, the perspective transformation matrix is ​​calculated based on the target feature information and the target position information, the images are aligned, the best stitching line is selected to avoid the object being segmented, and the aligned images are stitched using the best stitching line to obtain the reference panoramic video information, and the stitching area is further color corrected to ensure a seamless transition.

[0045] In addition, the resolution of the stitched reference panoramic video information is determined, and the viewing angle range of the reference panoramic video information is calculated to ensure that the field of view of the target area is covered, and the reference panoramic video information is further distorted and corrected to eliminate the influence of lens distortion.

[0046] Optionally, performing image stitching based on the target feature information and the target position information to obtain reference panoramic video information includes: determining a reference stitching order of the target images corresponding to the target feature information according to the target feature information; performing image stitching according to the reference stitching order, main direction and target position information to obtain reference panoramic video information. The technical solution of this embodiment realizes more refined stitching by performing image stitching based on the reference stitching order, main direction and target position information, so that the obtained reference panoramic video information can more comprehensively display the equipment in the target area.

[0047] Further, image stitching is performed based on the reference stitching order, main direction and target position information to obtain reference panoramic video information, including: dividing the target image into a preset number of image blocks with the target position information as the center; performing image stitching based on the reference stitching order, main direction and image blocks to obtain reference panoramic video information. This embodiment achieves fine division of the image by dividing the target image into a preset number of image blocks with the target position information as the center, thereby improving the accuracy of image stitching and avoiding blurring of the final reference panoramic video information due to image stitching.

[0048] S140. Based on the target position information in the reference panoramic video information, the reference panoramic video information and the BIM model of the target area are associated to obtain the target panoramic video information, so as to inspect the target area based on the target panoramic video information displayed in the VR device.

[0049] Among them, the BIM model is an engineering data model based on three-dimensional digital technology, which integrates various relevant information of the construction project. It is a detailed expression of the relevant information of the project and can support the construction and operation management of the project life cycle.

[0050] Specifically, through specific software and interfaces, the BIM model is imported into the reference panoramic video information to realize the visualization and interactive display of BIM data in the reference panoramic video information. Users can immersively browse and experience the building information contained in the BIM model in VR.

[0051] By associating the reference panoramic video information with the BIM model of the target area, the design quality can be improved, that is, designers can feel the design effect more intuitively in the VR environment, discover and modify problems in the design in a timely manner, optimize the building space and functional layout, and improve the scientificity and rationality of the design. It can also optimize the construction process, that is, construction personnel can use VR simulation to familiarize themselves with the construction process and on-site environment in advance, identify potential safety hazards and construction difficulties, formulate more reasonable construction plans and emergency plans, reduce changes and claims during construction, and ensure construction progress and quality. It can also further enhance the user experience: owners and users can experience the space, scale and atmosphere of the building in person before the building is completed, put forward more accurate needs and opinions, improve customer satisfaction, and also provide a more powerful tool for real estate marketing.

[0052] In this embodiment, optionally, based on the target position information in the reference panoramic video information, the reference panoramic video information and the BIM model of the target area are associated to obtain the target panoramic video information, including: determining the target device information in the BIM model that is consistent with the target position information in the reference panoramic video information; associating the target device information with the reference panoramic video information to obtain the target panoramic video information, thereby achieving accurate generation of the target panoramic video information.

[0053] Furthermore, the target panoramic video information is converted into a format suitable for playback by VR devices (such as equirectangular projection), the converted target panoramic video information is obtained, and the converted target panoramic video information is encoded to ensure video quality and transmission efficiency, and the converted target panoramic video information is pushed to the VR server for reception by VR devices (such as VR helmets).

[0054] Optionally, the target area is inspected based on the target panoramic video information displayed in the VR device, including: transmitting the converted target panoramic video information to the VR device, decoding the converted target panoramic video information, restoring it to a playable video format, displaying the panoramic video in the VR device, and the user can view different perspectives through head movement or handle operation so that the user can interact in the VR environment, such as clicking on a specific location in the BIM model to view the corresponding video clip or annotation information, thereby realizing the inspection of the target area.

[0055] The technical solution of the embodiment of the present invention obtains target video information of a target area from multiple shooting angles collected by a panoramic shooting device, performs feature extraction on each frame of the target video information at each shooting angle based on a preset feature detection algorithm, obtains target feature information corresponding to the target video information, and determines the target position information corresponding to the target feature information; the target feature information is used to describe the feature information of the target device, and accurate feature information extraction is achieved based on a preset feature detection algorithm, so as to accurately perform image stitching based on the target feature information and the target position information to obtain reference panoramic video information; further, based on the target position information in the reference panoramic video information, the reference panoramic video information and the BIM model of the target area are associated to obtain the target panoramic video information, so as to inspect the target area based on the target panoramic video information displayed in the VR device, and realize accurate and comprehensive inspection of the water conservancy project site.

[0056] Embodiment 2

[0057] Figure 2 The present invention provides a structural diagram of a patrol device based on VR technology and BIM model. This embodiment can be applied to the situation of safety supervision of water conservancy projects. The patrol device based on VR technology and BIM model can be implemented in the form of hardware and / or software. The patrol device based on VR technology and BIM model can be configured in any electronic device with network communication function. Figure 2 As shown, the inspection device based on VR technology and BIM model of the present invention includes:

[0058] The information acquisition module 210 is used to acquire target video information of a target area at multiple shooting angles collected by a panoramic shooting device;

[0059] The feature extraction module 220 is used to extract features from each frame of the target video information at each shooting angle based on a preset feature detection algorithm, obtain target feature information corresponding to the target video information, and determine target position information corresponding to the target feature information; the target feature information is used to describe feature information of the target device;

[0060] A stitching module 230, configured to stitch images based on the target feature information and the target position information to obtain reference panoramic video information;

[0061] The fusion module 240 is used to associate the reference panoramic video information with the BIM model of the target area based on the target position information in the reference panoramic video information to obtain the target panoramic video information, so as to inspect the target area based on the target panoramic video information displayed in the VR device.

[0062] Based on the above embodiment, optionally, the feature extraction module includes a feature information determination unit and a position information determination unit;

[0063] A feature information determination unit, configured to extract features from each frame of the target video information at each shooting angle using a SIFT algorithm to obtain target feature information corresponding to the target video information;

[0064] A position information determining unit is used to construct a differential Gaussian pyramid based on the target feature information, determine the extreme value points corresponding to the target feature information, and determine the target position information of the target feature information based on the extreme value points.

[0065] Based on the above embodiment, optionally, the position information determination unit is also used to obtain reference pixel point information within a preset range based on the extreme point, and fit a target positioning function based on the reference pixel point information and the extreme point; and determine the target position information of the target feature information based on the target positioning function.

[0066] On the basis of the above embodiment, optionally, the position information determination unit further includes a direction determination subunit, which is used to determine the main direction of the target image corresponding to the target feature information based on the reference pixel point information and the extreme point.

[0067] Based on the above embodiment, optionally, the splicing module includes a splicing order determination unit and an image splicing unit;

[0068] A splicing order determining unit, configured to determine a reference splicing order of target images corresponding to the target feature information according to the target feature information;

[0069] An image stitching unit is used to perform image stitching according to the reference stitching sequence, the main direction and the target position information to obtain reference panoramic video information.

[0070] Based on the above embodiment, optionally, the image stitching unit is used to divide the target image into a preset number of image blocks with the target position information as the center; and perform image stitching according to the reference stitching order, the main direction and the image blocks to obtain reference panoramic video information.

[0071] Based on the above embodiment, optionally, the fusion module is also used to determine target device information in the BIM model that is consistent with the target position information in the reference panoramic video information; associate the target device information with the reference panoramic video information to obtain target panoramic video information.

[0072] The inspection device based on VR technology and BIM model provided in the embodiment of the present invention can execute the inspection method based on VR technology and BIM model provided in any embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method.

[0073] Embodiment 3

[0074] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0075] Figure 3 A schematic diagram of the structure of an electronic device that can be used to implement the inspection method based on VR technology and BIM model of an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0076] like Figure 3As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0077] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0078] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the inspection method based on VR technology and BIM model.

[0079] In some embodiments, the inspection method based on VR technology and BIM model can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the inspection method based on VR technology and BIM model described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the inspection method based on VR technology and BIM model by any other appropriate means (for example, by means of firmware).

[0080] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0081] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0082] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0083] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0084] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0085] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0086] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0087] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An inspection method based on VR technology and BIM model, characterized in that: The method comprises: Acquire target video information of a target area from multiple shooting angles collected by a panoramic shooting device; Based on a preset feature detection algorithm, feature extraction is performed on each frame of the target video information at each shooting angle to obtain target feature information corresponding to the target video information, and target position information corresponding to the target feature information is determined; the target feature information is used to describe feature information of the target device; Performing image stitching based on the target feature information and the target position information to obtain reference panoramic video information; Based on the target position information in the reference panoramic video information, the reference panoramic video information and the BIM model of the target area are associated to obtain the target panoramic video information, so as to inspect the target area based on the target panoramic video information displayed in the VR device.

2. The method according to claim 1, characterized in that Based on a preset feature detection algorithm, feature extraction is performed on each frame of the target video information at each shooting angle to obtain target feature information corresponding to the target video information, and target position information corresponding to the target feature information is determined, including: Using the SIFT algorithm to extract features from each frame of the target video information at each shooting angle, to obtain target feature information corresponding to the target video information; A differential Gaussian pyramid is constructed based on the target feature information, an extreme point corresponding to the target feature information is determined, and the target position information of the target feature information is determined based on the extreme point.

3. The method according to claim 2, characterized in that Determining the target position information based on the extreme point includes: Acquire reference pixel point information within a preset range based on the extreme point, and fit a target positioning function based on the reference pixel point information and the extreme point; The target position information of the target feature information is determined based on the target positioning function.

4. The method according to claim 3, characterized in that After obtaining the reference pixel point information within the preset range based on the extreme point, the method further includes: The main direction of the target image corresponding to the target feature information is determined based on the reference pixel point information and the extreme point.

5. The method according to claim 4, characterized in that Performing image stitching based on the target feature information and the target position information to obtain reference panoramic video information includes: Determining a reference stitching order of target images corresponding to the target feature information according to the target feature information; Image stitching is performed according to the reference stitching order, the main direction and the target position information to obtain reference panoramic video information.

6. The method according to claim 5, characterized in that Performing image stitching according to the reference stitching sequence, the main direction and the target position information to obtain reference panoramic video information includes: Dividing the target image into a preset number of image blocks with the target position information as the center; Image stitching is performed according to the reference stitching order, the main direction and the image block to obtain reference panoramic video information.

7. The method according to claim 1, characterized in that Based on the target position information in the reference panoramic video information, the reference panoramic video information is associated with the BIM model of the target area to obtain the target panoramic video information, including: Determine target device information in the BIM model that is consistent with target position information in the reference panoramic video information; The target device information is associated with the reference panoramic video information to obtain target panoramic video information.

8. An inspection device based on VR technology and BIM model, characterized in that: The device comprises: An information acquisition module, used to acquire target video information of a target area from multiple shooting angles collected by a panoramic shooting device; A feature extraction module, used to extract features from each frame of the target video information at each shooting angle based on a preset feature detection algorithm, obtain target feature information corresponding to the target video information, and determine target position information corresponding to the target feature information; the target feature information is used to describe feature information of the target device; A stitching module, used for performing image stitching based on the target feature information and the target position information to obtain reference panoramic video information; A fusion module is used to associate the reference panoramic video information with the BIM model of the target area based on the target position information in the reference panoramic video information to obtain the target panoramic video information, so as to inspect the target area based on the target panoramic video information displayed in the VR device.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the inspection method based on VR technology and BIM model as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the inspection method based on VR technology and BIM model according to any one of claims 1 to 7 when executed.

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