Underwater three-dimensional topographic surveying and mapping method and device during reservoir high sand density flow

Abstract

The invention relates to an underwater three-dimensional topographic surveying and mapping method and device in a reservoir high sand concentration density current period, and the method comprises the steps: carrying out the shallow stratum profile measurement of a planning reservoir region surveying and mapping region of a reservoir in a density current generation period through a hydrological survey ship carrying a shipborne shallow stratum profiler, and obtaining a plurality of ASC format profile data; interpreting the plurality of ASC format profile data to obtain all observation data of a shallow stratum profile in the surveying and mapping area of the planning reservoir area, and extracting water depth data of the surveying and mapping area of the planning reservoir area according to all the observation data; and determining a thalweg line, a left bank line and a right bank line of the underwater topography of the surveying and mapping area of the planned reservoir area, and generating a three-dimensional topographic surveying and mapping result of the target reservoir during density current occurrence in combination with the water depth data and a preset linear interpolation strategy. Therefore, the problems of low terrain observation efficiency, low result confidence, even incapability of obtaining effective data, high detection cost, poor practicability and the like of the existing underwater terrain observation method during the high sand concentration density flow period of the reservoir are solved.

Description

Technical Field

[0001] The present application relates to the technical field of topographic mapping during hyperpycnal flow, and in particular to a method and device for underwater three-dimensional topographic mapping during hyperpycnal flow with high sediment content in a reservoir. Background Art

[0002] Reservoirs built on sandy rivers face severe siltation problems, and the importance of reservoir sediment management is self-evident. Common reservoir sediment management methods include artificial dredging, water level reduction, hydraulic discharge and density flow. During the flood season every year, sand-carrying floods developed in the upstream river will enter the backwater end of the reservoir. Under the action of density difference, these sand-carrying floods will dive below the water surface and move along the bottom slope when reaching the critical water depth, and finally be discharged from the reservoir through the sand discharge bottom holes of the dam. This process is called density flow sediment discharge. Because density flow sediment discharge does not require excessive lowering of the reservoir water level and can cooperate with upstream flood events, it has been applied in many reservoirs.

[0003] Regarding the sediment removal effect of hyperpycnal flow, the mainstream understanding in China is that hyperpycnal flow cannot achieve reservoir silt removal by flushing the sediment at the bottom of the reservoir, but rather by transporting upstream floods so that a large amount of sediment is not deposited in the reservoir. The main basis for this view is that the sediment content inside the hyperpycnal flow is very large, far exceeding the sand-carrying capacity of the river, so it will inevitably silt along the way. However, very continuous river channels below the water surface have been found in lakes, reservoirs, estuaries, along the continental shelf and on the bottom of the deep sea around the world. Most researchers believe that the formation of these underwater channels is closely related to hyperpycnal flow events, and therefore speculate that hyperpycnal flow can flush the bottom riverbed to carry away sediment. Obviously, these two views run counter to each other.

[0004] If continuous underwater topography observations can be achieved during periods of high-sediment-content density current events, scientific evaluation of the two viewpoints mentioned above can be realized. At the same time, the impact characteristics of density current events on reservoir topography changes can be analyzed, providing basic data support for engineering projects that use density currents to remove sediment.

[0005] However, the existing reservoir underwater topography observation technology and methods are not sufficient to support this demand. The current reservoir topography observation methods are mainly cross-section method and ship-borne multi-beam measurement method. Among them, the cross-section method refers to obtaining a discrete single-point water depth at a specified location in the reservoir area (hydrological section and the corresponding starting point distance), and finally obtaining the water depth profile of all hydrological sections in the reservoir area; the ship-borne multi-beam measurement method refers to the use of multi-beam to measure underwater three-dimensional topography.

[0006] The above two methods are not available during the period of high-sediment density flow in the reservoir. During the period of high-sediment density flow in the reservoir, the thickness of the density flow layer can reach about 15 meters underwater, the sediment content of the density flow can reach about 200 kilograms per cubic meter, and the speed of the density flow can reach 2 meters per second. For single-point depth measurement using the cross-section method, the bottom-entering depth-detecting equipment will produce a large deviation in the result due to the influence of the higher flow rate. Although the single-beam signal can obtain the water depth, the efficiency is too low to quickly obtain the water depth data. At the same time, the single-beam signal only returns one water depth value, and its authenticity cannot be evaluated. For the ship-borne multi-beam method, the high-frequency sonar signal used cannot penetrate the density flow layer to the bed surface, so the true water depth cannot be obtained.

[0007] In addition, existing technology can also deploy underwater drones on the bed to scan and stitch local terrain to observe the development process of underwater sand wave terrain during hyperpycnal flow. However, this method has high deployment costs and high hardware requirements for underwater drones. In a reservoir environment, rapid siltation and burial may occur, and the promotion cost is high.

[0008] In summary, the existing underwater topography observation methods are inefficient in conducting topography observations during high-sediment-density flow periods in reservoirs. The confidence level of the results is low, and even no valid data can be obtained. The detection cost is high and the practicality is poor, which needs to be solved urgently. Summary of the invention

[0009] The present application provides a method and device for underwater three-dimensional topographic mapping during a reservoir with high sand content and abnormal density flow, so as to solve the problems of low efficiency of existing underwater topographic observation methods in topographic observation during a reservoir with high sand content and abnormal density flow, low confidence level of the results or even failure to obtain valid data, high detection cost and poor practicality.

[0010] A first aspect of the present application provides a method for underwater three-dimensional topography mapping during a reservoir with high sand content and hyperpycnal flow, comprising the following steps: performing shallow stratum profile measurement operations on a planned reservoir mapping area of ​​a target reservoir during the hyperpycnal flow to obtain a plurality of profile data in ASC format; interpreting the plurality of profile data in ASC format to obtain all observation data of the shallow stratum profile corresponding to the planned reservoir mapping area, and extracting the target water depth data of the planned reservoir mapping area based on all the observation data; determining the abyssal line, left bank line and right bank line of the underwater topography of the planned reservoir mapping area, and based on the abyssal line, the left bank line, the right bank line and the target water depth data, and in combination with a preset linear interpolation strategy, generating a three-dimensional topography mapping result of the target reservoir during the hyperpycnal flow.

[0011] Optionally, in one embodiment of the present application, before performing a shallow stratigraphic profile measurement operation on the planned reservoir mapping area of ​​the target reservoir during the hyperpycnal flow, it also includes: determining the measurement range, measurement time and mapping route of the shipborne shallow stratigraphic profiler carried by the target hydrological survey ship, so as to obtain the planned reservoir mapping area of ​​the target reservoir during the hyperpycnal flow based on the measurement range, the measurement time and the mapping route, wherein the mapping route includes multiple zigzag routes, and the angle between any two zigzag segments is not greater than a preset mapping angle threshold.

[0012] Optionally, in one embodiment of the present application, the multiple ASC-format profile data are interpreted to obtain all observation data of the shallow stratum profile corresponding to the planned reservoir area surveying and mapping area, and the target water depth data of the planned reservoir area surveying and mapping area are extracted based on the all observation data, including: interpreting each ASC-format profile data among the multiple ASC-format profile data to obtain the observation data corresponding to each ASC-format profile data, wherein the observation data includes at least one of observation time, observation coordinates, starting water depth, water entry depth and sound intensity profile of a preset observation point; extracting the target water depth data of the preset observation point based on the sound intensity profile, and acquiring the spatial coordinates corresponding to each ASC-format profile data based on the observation time corresponding to each ASC-format profile data, the preset dam-front water level data and the hull GPS data of the target hydrological survey ship.

[0013] Optionally, in one embodiment of the present application, the method based on the fen line, the left bank line, the right bank line, the spatial coordinates and the target water depth data, and combined with a preset linear interpolation strategy, to generate a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow, includes: constructing the left bank line and the right bank line based on the fen line; generating a plurality of auxiliary lines that meet preset requirements based on the fen line, the left bank line and the right bank line; acquiring the water depth data of each of the plurality of auxiliary lines according to a preset linear interpolation strategy; constructing an interpolation basic data set based on the target water depth data and the water depth data of each auxiliary line, so as to generate a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow through the interpolation basic data set and the spatial coordinates.

[0014] The second aspect of the present application provides an underwater three-dimensional topographic mapping device during a reservoir with high sand content and hyperpycnal flow, comprising: a measurement module, used to perform shallow stratum profile measurement operations on a planned reservoir mapping area of ​​a target reservoir during the hyperpycnal flow to obtain multiple profile data in ASC format; an interpretation module, used to interpret the multiple profile data in ASC format to obtain all observation data of the shallow stratum profile corresponding to the planned reservoir mapping area, and extract the target water depth data of the planned reservoir mapping area based on all the observation data; a mapping module, used to determine the deep sea line, left bank line and right bank line of the underwater topography of the planned reservoir mapping area, and based on the deep sea line, the left bank line, the right bank line and the target water depth data, and in combination with a preset linear interpolation strategy, to generate a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow.

[0015] Optionally, in one embodiment of the present application, it also includes: a determination module, used to determine the measurement range, measurement time and surveying route of the shipborne shallow stratigraphic profiler carried by the target hydrological survey ship before performing a shallow stratigraphic profile measurement operation on the planned reservoir area surveying area of ​​the target reservoir during the abnormal density flow; an area generation module, used to obtain the planned reservoir area surveying area of ​​the target reservoir during the abnormal density flow according to the measurement range, the measurement time and the surveying route, wherein the surveying route includes multiple zigzag routes, and the angle between any two zigzag segments is not greater than a preset surveying angle threshold.

[0016] Optionally, in one embodiment of the present application, the interpretation module includes: an analysis unit, used to interpret each ASC format profile data among the multiple ASC format profile data to obtain observation data corresponding to each ASC format profile data, wherein the observation data includes at least one of observation time, observation coordinates, starting water depth, water entry depth and sound intensity profile of a preset observation point; a first acquisition unit, used to extract target water depth data of the preset observation point according to the sound intensity profile, and based on the observation time corresponding to each ASC format profile data, the preset dam front water level data and the hull GPS data of the target hydrological survey ship, obtain the spatial coordinates corresponding to each ASC format profile data.

[0017] Optionally, in one embodiment of the present application, the surveying and mapping module includes: a first construction unit, used to construct the left bank line and the right bank line based on the deep sea line; an auxiliary unit, used to generate a plurality of auxiliary lines that meet preset requirements based on the deep sea line, the left bank line and the right bank line; a second acquisition unit, used to acquire the water depth data of each auxiliary line in the plurality of auxiliary lines according to a preset linear interpolation strategy; a second construction unit, used to construct an interpolation basic data set based on the target water depth data and the water depth data of each auxiliary line, so as to generate a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow through the interpolation basic data set and the spatial coordinates.

[0018] The third aspect of the present application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the underwater three-dimensional topographic mapping method during high-sand-density flow in a reservoir as described in the above embodiment.

[0019] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the above-mentioned underwater three-dimensional topographic mapping method during high-sediment-content and hyperglycemic flow in a reservoir.

[0020] Therefore, the embodiments of the present application have the following beneficial effects:

[0021] The embodiments of the present application can perform shallow stratum profile measurement operations on the planned reservoir mapping area of ​​the target reservoir during the hyperpycnal flow to obtain multiple profile data in ASC format; interpret multiple profile data in ASC format to obtain all observation data of the shallow stratum profile corresponding to the planned reservoir mapping area, and extract the target water depth data of the planned reservoir mapping area based on all observation data; determine the deep sea line, left bank line and right bank line of the underwater terrain of the planned reservoir mapping area, and based on the deep sea line, left bank line, right bank line and target water depth data, and combined with a preset linear interpolation strategy, generate a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow. In the process of underwater three-dimensional topographic mapping during the hyperpycnal flow using a shallow stratum profiler, the present application does not need to go deep into the riverbed, but only needs to go deep into the range of less than 1m underwater, is not affected by the high-velocity hyperpycnal flow layer, and can penetrate the mud layer to the bottom layer, and can obtain a continuous echo signal profile, which greatly improves the reliability of water depth determination. This solves the problems of low efficiency of existing underwater topography observation methods in topography observation during high-sediment-content and density flow in reservoirs, low confidence in results or even failure to obtain valid data, high detection costs, and poor practicality.

[0022] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0024] Figure 1 A flowchart of a method for underwater three-dimensional topographic mapping during a reservoir high-sediment-content hyperglossal flow provided according to an embodiment of the present application;

[0025] Figure 2 A schematic diagram of the contents of an ASC file provided for one embodiment of the present application;

[0026] Figure 3 A schematic diagram of a planned reservoir area surveying route provided for one embodiment of the present application;

[0027] Figure 4 A schematic diagram of an original sound intensity profile of a shallow stratum provided for one embodiment of the present application;

[0028] Figure 5 A schematic diagram of water depth extraction provided for one embodiment of the present application;

[0029] Figure 6 An interpolation effect diagram based on terrain-to-raster module interpolation provided in one embodiment of the present application is shown;

[0030] Figure 7 A schematic diagram of the interpolation effect of an underwater three-dimensional topographic mapping method during a reservoir high-sediment density flow provided in an embodiment of the present application;

[0031] Figure 8 This is an example diagram of an underwater three-dimensional topographic mapping device during a reservoir high-sediment-content hypergloss flow according to an embodiment of the present application;

[0032] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0033] Among them, 10 is an underwater three-dimensional topographic mapping device during high-sand-density flow in a reservoir; 100 is a measurement module, 200 is an interpretation module, 300 is a mapping module; 901 is a memory, 902 is a processor, and 903 is a communication interface. DETAILED DESCRIPTION

[0034] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0035] The following describes the underwater three-dimensional topographic mapping method and device of the reservoir during high-sediment-content hyperpycnal flow of the embodiment of the present application with reference to the accompanying drawings. In response to the problems mentioned in the above background technology, the present application provides a method for underwater three-dimensional topographic mapping of the reservoir during high-sediment-content hyperpycnal flow, in which a shallow stratum profile measurement operation is performed on the planned reservoir mapping area of ​​the target reservoir during the hyperpycnal flow to obtain multiple profile data in ASC format; the multiple profile data in ASC format are interpreted to obtain all observation data of the shallow stratum profile corresponding to the planned reservoir mapping area, and the target water depth data of the planned reservoir mapping area are extracted based on all the observation data; the deep sea line, left bank line and right bank line of the underwater topography of the planned reservoir mapping area are determined, and based on the deep sea line, left bank line, right bank line and target water depth data, and combined with a preset linear interpolation strategy, a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow is generated. In the process of underwater three-dimensional topography mapping during the period of hyperpycnal flow, the present application uses a shallow layer profiler, which does not need to go deep into the riverbed, but only needs to go deep into the range of less than 1m underwater, is not affected by the high-velocity hyperpycnal flow layer, and can penetrate the silt layer to the bottom layer, and can obtain a continuous echo signal profile, which greatly improves the reliability of water depth determination. Thus, the existing underwater topography observation method solves the problems of low efficiency in topography observation during high-sand-content hyperpycnal flow in reservoirs, low confidence in results, or even failure to obtain valid data, high detection costs, and poor practicality.

[0036] Specifically, Figure 1 A flow chart of a method for underwater three-dimensional topographic mapping during high-sediment-content hyperpycnal flow in a reservoir provided in an embodiment of the present application.

[0037] like Figure 1 As shown, the underwater three-dimensional topographic mapping method during the reservoir high-sediment-content density flow period includes the following steps:

[0038] In step S101, a shallow stratum profile measurement operation is performed on a planned reservoir mapping area of ​​a target reservoir during a hyperpycnal flow period to obtain a plurality of profile data in an ASC format.

[0039] Those skilled in the art should understand that ship-borne shallow-stratum profilers are widely used in detecting the depth of sediment deposits in reservoirs, but have not been used in topographic observation during reservoir high-sediment density flow. Therefore, the embodiments of the present application can use a shallow-stratum profiler as an observation device and carry it on a hydrographic survey ship to carry out relevant hydrographic surveying and mapping work.

[0040] In the actual implementation process, the embodiments of the present application can perform shallow layer profile measurement operations on the planned reservoir mapping area of ​​the target reservoir during the hyperpycnal flow by a hydrographic survey ship equipped with a ship-borne shallow layer profiler, thereby obtaining multiple profile data in ASC format.

[0041] It should be noted that, in the specific implementation process, the embodiments of the present application can respectively set corresponding parameters for the shipborne shallow layer profiler and the hydrographic survey ship from the perspectives of surveying and mapping accuracy, spatial position accuracy, surveying and mapping effect, ship measurement interval, high sand content and deep water conditions, as described below:

[0042] 1. Surveying and mapping accuracy: The embodiment of the present application can achieve centimeter-level accuracy by equipping the ship-borne shallow layer profiler system with an RTK precision positioning system;

[0043] 2. Spatial position accuracy: The output frequency of the shipboard GPS system of the hydrographic survey ship should be no less than 10 Hz and it is best to be mounted directly above the shallow layer profiler to meet the spatial position accuracy requirements;

[0044] 3. Surveying and mapping effect: The sailing speed of the embodiment of the present application can be maintained within 5-7 knots;

[0045] 4. Ship measurement interval: Each section is stored separately during ship surveying. In actual ship sailing, both ends of each section correspond to an inflection point. Therefore, the measurement ship needs to go through three steps of turning-sailing-turning from one end of the section to the other end. The turning point usually corresponds to a large vibration of the hull, which pollutes the data. Therefore, it is advisable to record only the data during ship sailing. In actual operation, the speed of the hull turning can be controlled to reduce the turning range of the hull, thereby obtaining the maximum ship sailing measurement interval.

[0046] 5. High sand content: The embodiment of the present application can set the frequency of the shallow stratum profile system to the lowest range frequency;

[0047] 6. Deep water conditions: If the shallow stratum profile instrument cannot obtain the local water depth, the embodiments of the present application can improve the terrain resolution capability by reducing the vibration frequency of the ship, such as stopping the ship momentarily, to obtain terrain information, that is, multiple profile data in ASC format.

[0048] Therefore, the embodiments of the present application can flexibly and reasonably adjust the corresponding parameters of the ship-borne shallow layer profiler and the hydrological survey ship according to the actual situation during the high-sand-density flow in the reservoir, thereby effectively ensuring the reliability of the acquired hydrological information.

[0049] Optionally, in one embodiment of the present application, before performing a shallow stratigraphic profile measurement operation on the planned reservoir mapping area of ​​the target reservoir during the abnormal density flow, it also includes: determining the measurement range, measurement time and mapping route of the shipborne shallow stratigraphic profiler; obtaining the planned reservoir mapping area of ​​the target reservoir during the abnormal density flow according to the measurement range, measurement time and mapping route, wherein the mapping route includes multiple zigzag routes, and the angle between any two zigzag segments is not greater than a preset mapping angle threshold.

[0050] It should be noted that before conducting shallow stratigraphic profile measurement operations on the planned reservoir mapping area of ​​the target reservoir during the abnormal density flow by using a target hydrological survey ship equipped with a preset ship-borne shallow stratigraphic profiler, the embodiments of the present application also need to plan the reservoir mapping route during the high-sand-content abnormal density flow of the reservoir from the perspectives of measurement range, measurement time and mapping route.

[0051] As a feasible method, based on the factor of safe navigation, the measurement range of the embodiment of the present application can be set from 1km in front of the dam to the end of the reservoir backwater; taking into account the representativeness of the data, the route planned by the embodiment of the present application should be within one day, usually within 8-9 hours during the day; to improve the efficiency of surveying and mapping, the embodiment of the present application recommends the use of a zigzag surveying and mapping route, and designing corresponding outbound and return ship routes from upstream to downstream and from downstream to upstream respectively; according to previous measurement experience, in order to ensure the three-dimensional terrain interpolation effect, the turning angle between each zigzag should not exceed 50 degrees.

[0052] Therefore, the embodiments of the present application plan the reservoir surveying route, that is, plan the reservoir surveying area, from the perspectives of measurement range, measurement time and surveying route, so as to provide guidance and basis for the subsequent measurement of water depth data, etc.

[0053] In step S102, a plurality of profile data in ASC format are interpreted to obtain all observation data of the shallow stratum profile corresponding to the planned reservoir area surveying and mapping area, and target water depth data of the planned reservoir area surveying and mapping area are extracted based on all observation data.

[0054] Furthermore, the embodiments of the present application also need to interpret multiple ASC format profile data to obtain all observation data of the shallow stratigraphic profile of the planned reservoir area surveying and mapping area, so as to extract the water depth data (i.e., target water depth data) with spatial location information of the planned reservoir area surveying and mapping area through all observation data.

[0055] Optionally, in one embodiment of the present application, multiple ASC-formatted profile data are interpreted to obtain all observation data of the shallow stratum profile corresponding to the planned reservoir area surveying and mapping area, and the target water depth data of the planned reservoir area surveying and mapping area are extracted based on all the observation data, including: interpreting each ASC-formatted profile data in multiple ASC-formatted profile data to obtain the observation data corresponding to each ASC-formatted profile data, wherein the observation data includes at least one of the observation time, observation coordinates, starting water depth, water entry depth and sound intensity profile of a preset observation point; extracting the target water depth data of the preset observation point based on the sound intensity profile, and obtaining the spatial coordinates corresponding to each ASC-formatted profile data based on the observation time corresponding to each ASC-formatted profile data, the preset dam-front water level data and the hull GPS data of the target hydrological survey ship.

[0056] In the actual implementation process, the data obtained by the shallow subsurface profiler can be stored in ASC format. An ASC file corresponds to a profile result of continuous observation. The ASC format can be interpreted to obtain a column of data, which represents the specific information of all observation times (i.e. ping values) on the profile, such as observation time, observation coordinates, starting water depth, water entry depth and the sound intensity profile of the observation point.

[0057] like Figure 2 As shown in the figure, for the first measurement node (i.e., ping value 1), the first line is the measurement time, in the format of hour: minute: second, the second to ninth lines are user-defined information output, the tenth line represents the measurement start water depth Hs, in meters; the eleventh line represents the measurement depth range Hr, in meters; the twelfth line represents the frequency used for measurement, in khz; the fifteenth line represents the number of vertical signals n, in units; the sixteenth to fifteen+n lines represent the sound intensity signals at different depths, among which the water depth position corresponding to the first sound intensity signal (the sixteenth line) is Hs, the water depth position corresponding to the last sound intensity signal (the fifteenth+n line) is Hs+Hr, and the water depths corresponding to the remaining sound intensity signals are linearly interpolated at intervals of Hr / n. The other measurement nodes are arranged in order.

[0058] For an ASC file, the embodiment of the present application needs to extract the water depth information corresponding to the sound intensity profile. The water depth information satisfies the continuity assumption, and there is a local peak in the sound intensity signal at the riverbed interface. Therefore, as a feasible method, the embodiment of the present application can give the initial water depth (i.e., the water depth corresponding to the first ping value) and the limited search range (i.e., the difference between two consecutive water depth signals does not exceed 2m), so as to realize the automatic extraction of water depth data.

[0059] It should be noted that, in the actual implementation process, those skilled in the art may select other methods to extract water depth under given profile information according to actual conditions, and no specific limitation is made here.

[0060] In addition, after the water depth data is extracted, the embodiment of the present application also needs to accurately obtain the time information corresponding to the ping value through the ASC file, and obtain the corresponding spatial coordinates and water level information based on the corresponding time and the GPS data recorded on board the ship and the public water level data in front of the dam, among which the spatial coordinates can be used for three-dimensional interpolation, and the water level information can be used for benchmark conversion to facilitate comparison of observation results in different periods.

[0061] Therefore, the embodiment of the present application obtains water depth information by processing the raw data of the shallow layer profiler, and acquires the spatial information and water level information corresponding to each observation data, thereby providing solid data support for the execution of subsequent interpolation operations.

[0062] In step S103, the abyssal line, left bank line and right bank line of the underwater topography of the planned reservoir mapping area are determined, and based on the abyssal line, left bank line, right bank line and target water depth data, and combined with a preset linear interpolation strategy, a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow is generated.

[0063] In the specific implementation process, the embodiments of the present application require the cooperation of field work and office work. Field work refers to the continuous observation of the sound intensity profile of the designated section of the reservoir area obtained by the ship-borne shallow layer profiler, and office work refers to the data interpretation and boundary recognition of the sound intensity profile to obtain water depth data, and the three-dimensional underwater topography of the reservoir is obtained by interpolation based on the water depth profile.

[0064] Therefore, further, the embodiments of the present application also need to obtain the deep sea line, left bank line and right bank line of the underwater topography of the planned reservoir area survey area, and combine the standard water depth data and the preset linear interpolation strategy to generate a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow.

[0065] Optionally, in one embodiment of the present application, based on the fen line, the left bank line, the right bank line, the spatial coordinates and the target water depth data, and in combination with a preset linear interpolation strategy, a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow is generated, including: based on the fen line, constructing the left bank line and the right bank line; taking the fen line, the left bank line and the right bank line as the benchmark, generating multiple auxiliary lines that meet the preset requirements; obtaining the water depth data of each auxiliary line in the multiple auxiliary lines according to the preset linear interpolation strategy; constructing an interpolation basic data set based on the target water depth data and the water depth data of each auxiliary line, so as to generate the three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow through the interpolation basic data set and the spatial coordinates.

[0066] It is understandable that the denser the acquired data, the better the interpolation effect. However, in the actual implementation process, there are always some unexpected situations that make the density of the acquired data low. Therefore, additional interpolation auxiliary data needs to be given during interpolation.

[0067] For reservoirs, anisotropy needs to be considered when interpolating terrain, that is, the underwater terrain and the water flow are consistent, so interpolation along the flow direction is required. In other words, more terrain data along the flow direction needs to be provided. Therefore, the embodiments of the present application can adopt the following auxiliary water depth method.

[0068] 1. Given the depth line of the underwater terrain in the area to be interpolated;

[0069] 2. Based on the deep-sea line, determine the left and right shore lines of the underwater terrain in the area to be interpolated;

[0070] 3. Based on the three lines of the deep channel line and the left and right banks, multiple auxiliary lines partially parallel to the deep channel line, the left bank line and the right bank line are generated, and the specific water depth value of each line is obtained by linear interpolation method;

[0071] 4. Combine the above target water depth data and auxiliary water depth data (i.e., the specific water depth value of each line) to serve as the basic data set to be interpolated, i.e., the interpolation basic data set;

[0072] 5. Generate three-dimensional topographic mapping results of the target reservoir during hyperpycnal flow by interpolating basic data sets and spatial coordinates.

[0073] Therefore, the embodiment of the present application obtains the three-dimensional underwater topography of the reservoir area by interpolating the water depth profile data, thereby improving the efficiency and reliability of underwater three-dimensional topography mapping during high-sand-density flow in the reservoir and reducing the cost of underwater three-dimensional topography mapping.

[0074] The following application describes the execution logic and effect of the underwater three-dimensional topographic mapping method of the present application during high-sand-density flow in a reservoir through a specific embodiment and in combination with the accompanying drawings.

[0075] During the first flood season of a certain sandy reservoir in China, i.e. the first sediment discharge peak day of the reservoir, the three-dimensional topography of the reservoir on that day was obtained using a ship-borne shallow layer profile instrument system. The measurement range was from below the backwater end to 1 km in front of the dam, a total of 7 km. One survey vessel was used, the measurement time was from 8 am to 6 pm, the ship sailed at a speed of 6 knots, and the reservoir area survey route was planned as follows: Figure 3 shown, and Figure 3 The red and yellow colors indicate the planned outbound and return routes respectively.

[0076] Secondly, the parameters and data output frequency of the shipborne shallow layer profiler used in this specific embodiment are as follows:

[0077] (1) Set measurement range: 0 meters above water surface to 60 meters underwater;

[0078] (2) Instrument immersion depth: 76 cm;

[0079] (3) Instrument transmission frequency: 4-10khz;

[0080] (4) Instrument electric pulse power: 18Kw;

[0081] (5)GPS output frequency: 5hz;

[0082] (6)GPS accuracy: RTK accuracy.

[0083] Furthermore, the original data of shallow stratum profile and water depth extraction are as follows: Figure 4 and Figure 5At the same time, according to the interpolation range given by the survey line, the topo to raster module of ArcMap 10.0 is used for interpolation, and mask interpolation is selected to directly use the interpolation effect of the observation results. Figure 6 As shown by Figure 6 It can be seen that the interpolation results for the river bank have large fluctuations. The above method is used to give auxiliary interpolation lines, and the final interpolation effect is as follows: Figure 7 As shown by Figure 7 It can be seen that the overall change of the result after adding auxiliary lines is smoother.

[0084] According to the underwater three-dimensional topographic mapping method during high-sand-content hyperpycnal flow in a reservoir proposed in an embodiment of the present application, a shallow stratum profile measurement operation is performed on the planned reservoir mapping area of ​​the target reservoir during the hyperpycnal flow to obtain multiple profile data in ASC format; the multiple profile data in ASC format are interpreted to obtain all observation data of the shallow stratum profile corresponding to the planned reservoir mapping area, and the target water depth data of the planned reservoir mapping area are extracted based on all the observation data; the deep sea line, left bank line and right bank line of the underwater topography of the planned reservoir mapping area are determined, and based on the deep sea line, left bank line, right bank line and target water depth data, and combined with a preset linear interpolation strategy, a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow is generated. In the process of underwater three-dimensional topographic mapping during hyperpycnal flow using a shallow layer profiler, the present application does not need to go deep into the riverbed, only needs to go deep within 1m underwater. It is not affected by the high-velocity hyperpycnal flow layer, and can penetrate the mud layer to the bottom layer. A continuous echo signal profile can be obtained, which greatly improves the reliability of water depth judgment.

[0085] Secondly, the underwater three-dimensional topographic mapping device during high-sand-density flow in a reservoir proposed in an embodiment of the present application is described with reference to the accompanying drawings.

[0086] Figure 8 It is a block diagram of an underwater three-dimensional topographic mapping device during a reservoir with high sediment content and density flow according to an embodiment of the present application.

[0087] like Figure 8 As shown, the underwater three-dimensional topographic mapping device 10 during high-sediment-content hyperpycnal flow in the reservoir includes: a measurement module 100, an interpretation module 200 and a mapping module 300.

[0088] The measurement module 100 is used to perform shallow stratum profile measurement operations on the planned reservoir mapping area of ​​the target reservoir during the hyperpycnal flow period to obtain a plurality of profile data in ASC format.

[0089] The interpretation module 200 is used to interpret multiple ASC format profile data to obtain all observation data of the shallow stratum profile corresponding to the planned reservoir area survey area, and extract the target water depth data of the planned reservoir area survey area based on all observation data.

[0090] The surveying and mapping module 300 is used to determine the abyssal line, left bank line and right bank line of the underwater topography of the planned reservoir area surveying and mapping area, and based on the abyssal line, left bank line, right bank line and target water depth data, and combined with a preset linear interpolation strategy, to generate a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow.

[0091] Optionally, in one embodiment of the present application, the underwater three-dimensional topographic mapping device 10 during reservoir high-sediment-content hyperpycnal flow of the embodiment of the present application further includes: a determination module and an area generation module.

[0092] Among them, the determination module is used to determine the measurement range, measurement time and mapping route of the ship-borne shallow layer profiler before performing shallow layer profile measurement operations on the planned reservoir mapping area of ​​the target reservoir during the hyperpycnal flow.

[0093] The area generation module is used to obtain the planned reservoir mapping area of ​​the target reservoir during the abnormal flow according to the measurement range, measurement time and mapping route, wherein the mapping route includes multiple zigzag routes, and the angle between any two zigzag routes is not greater than the preset mapping angle threshold.

[0094] Optionally, in one embodiment of the present application, the interpretation module 200 includes: an analysis unit and a first acquisition unit.

[0095] Among them, the analysis unit is used to interpret each ASC format profile data among multiple ASC format profile data to obtain observation data corresponding to each ASC format profile data, wherein the observation data includes at least one of the observation time, observation coordinates, starting water depth, water entry depth and sound intensity profile of a preset observation point.

[0096] The first acquisition unit is used to extract the target water depth data of the preset observation point according to the sound intensity profile, and obtain the spatial coordinates corresponding to each ASC format profile data based on the observation time corresponding to each ASC format profile data, the preset dam front water level data and the hull GPS data of the target hydrological survey ship.

[0097] Optionally, in one embodiment of the present application, the surveying and mapping module 300 includes: a first construction unit, an auxiliary unit, a second acquisition unit and a second construction unit.

[0098] Among them, the first construction unit is used to construct the left bank line and the right bank line based on the deep sea line.

[0099] The auxiliary unit is used to generate multiple auxiliary lines that meet preset requirements based on the deep channel line, left bank line and right bank line.

[0100] The second acquisition unit is used to acquire the water depth data of each auxiliary line among the multiple auxiliary lines according to a preset linear interpolation strategy.

[0101] The second construction unit is used to construct an interpolation basic data set based on the target water depth data and the water depth data of each auxiliary line, so as to generate a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow through the interpolation basic data set and spatial coordinates.

[0102] It should be noted that the above explanation of the embodiment of the underwater three-dimensional topographic mapping method during high-sediment-content and abnormal-density flow in a reservoir is also applicable to the underwater three-dimensional topographic mapping device during high-sediment-content and abnormal-density flow in the reservoir of this embodiment, and will not be repeated here.

[0103] According to the underwater three-dimensional topographic mapping device during high-sand-content density flow in a reservoir proposed in an embodiment of the present application, including the process of underwater three-dimensional topographic mapping during density flow using a shallow layer profiler in the present application, there is no need to go deep into the riverbed, only the range of less than 1m underwater, it is not affected by the high-velocity density flow layer, and can penetrate the mud layer to the bottom layer, and a continuous echo signal profile can be obtained, which greatly improves the reliability of water depth judgment.

[0104] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0105] A memory 901 , a processor 902 , and a computer program stored in the memory 901 and executable on the processor 902 .

[0106] When the processor 902 executes the program, the underwater three-dimensional topographic mapping method during high-sediment-content and hyperpycnal flow in a reservoir provided in the above-mentioned embodiment is implemented.

[0107] Furthermore, the electronic device further comprises:

[0108] The communication interface 903 is used for communication between the memory 901 and the processor 902 .

[0109] The memory 901 is used to store computer programs that can be executed on the processor 902 .

[0110] The memory 901 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0111] If the memory 901, the processor 902 and the communication interface 903 are implemented independently, the communication interface 903, the memory 901 and the processor 902 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0112] Optionally, in a specific implementation, if the memory 901, the processor 902 and the communication interface 903 are integrated on a chip, the memory 901, the processor 902 and the communication interface 903 can communicate with each other through an internal interface.

[0113] The processor 902 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0114] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for underwater three-dimensional topographic mapping during a reservoir with high sand content and abnormal density flow.

[0115] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0116] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0117] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0118] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0119] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0120] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0121] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0122] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for underwater three-dimensional topographic mapping during high-sediment density flow in a reservoir, characterized in that: The following steps are involved: Conduct shallow stratum profile measurement operations on the planned reservoir mapping area of ​​the target reservoir during the period of hyperpycnal flow to obtain multiple profile data in ASC format; Interpreting the multiple ASC format profile data to obtain all observation data of the shallow stratum profile corresponding to the planned reservoir area surveying and mapping area, and extracting target water depth data of the planned reservoir area surveying and mapping area based on all the observation data; Determine the abyssal line, left bank line and right bank line of the underwater topography of the planned reservoir area surveying area, and based on the abyssal line, the left bank line, the right bank line and the target water depth data, and in combination with a preset linear interpolation strategy, generate a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow.

2. The method according to claim 1, characterized in that Before performing shallow stratum profile measurement operations on the planned reservoir mapping area of ​​the target reservoir during the hyperpycnal flow, the method further includes: Determine the measurement range, measurement duration and survey route of the shipborne shallow-sediment profiler carried by the target hydrographic survey ship; The planned reservoir mapping area of ​​the target reservoir during the hyperpycnal flow is obtained according to the measurement range, the measurement duration and the mapping route, wherein the mapping route includes a plurality of zigzag routes, and the angle between any two zigzag routes is not greater than a preset mapping angle threshold.

3. The method according to claim 2, characterized in that The step of interpreting the plurality of ASC format profile data to obtain all observation data of the shallow stratum profile corresponding to the planned reservoir area surveying and mapping area, and extracting target water depth data of the planned reservoir area surveying and mapping area according to all the observation data includes: Decoding each of the plurality of ASC-formatted profile data to obtain observation data corresponding to each of the ASC-formatted profile data, wherein the observation data includes at least one of observation time, observation coordinates, starting water depth, water entry depth, and sound intensity profile of a preset observation point; The target water depth data of the preset observation point is extracted according to the sound intensity profile, and the spatial coordinates corresponding to each profile data in ASC format are obtained based on the observation time corresponding to each profile data in ASC format, the preset dam front water level data and the hull GPS data of the target hydrographic survey ship.

4. The method according to claim 3, characterized in that The method of generating a three-dimensional topographic mapping result of the target reservoir during a hyperpycnal flow based on the abyssal line, the left bank line, the right bank line, the spatial coordinates and the target water depth data and combining a preset linear interpolation strategy includes: Based on the deep sea line, construct the left bank line and the right bank line; Taking the abyss line, the left bank line and the right bank line as references, a plurality of auxiliary lines meeting preset requirements are generated; Acquire water depth data of each auxiliary line of the plurality of auxiliary lines according to a preset linear interpolation strategy; Based on the target water depth data and the water depth data of each auxiliary line, an interpolation basic data set is constructed to generate a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow through the interpolation basic data set and the spatial coordinates.

5. An underwater three-dimensional topographic mapping device during high-sediment-content density flow in a reservoir, characterized in that: include: The measurement module is used to perform shallow stratum profile measurement operations on the planned reservoir mapping area of ​​the target reservoir during the period of hyperpycnal flow to obtain multiple profile data in ASC format; An interpretation module is used to interpret the multiple ASC format profile data to obtain all observation data of the shallow stratum profile corresponding to the planned reservoir area surveying and mapping area, and extract the target water depth data of the planned reservoir area surveying and mapping area according to all the observation data; The surveying and mapping module is used to determine the abyssal line, left bank line and right bank line of the underwater topography of the planned reservoir area surveying and mapping area, and based on the abyssal line, the left bank line, the right bank line and the target water depth data, and combined with a preset linear interpolation strategy, to generate a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow.

6. The device according to claim 5, characterized in that Also includes: A determination module, used to determine the measurement range, measurement duration and surveying route of the shipborne shallow layer profiler carried by the target hydrological survey ship before performing a shallow layer profile measurement operation on the planned reservoir area surveying area of ​​the target reservoir during the hyperpycnal flow; The area generation module is used to obtain the planned reservoir mapping area of ​​the target reservoir during the hyperpycnal flow according to the measurement range, the measurement duration and the mapping route, wherein the mapping route includes multiple zigzag routes, and the angle between any two zigzag routes is not greater than a preset mapping angle threshold.

7. The device according to claim 6, characterized in that The interpretation module comprises: An analysis unit, configured to interpret each of the plurality of profile data in ASC format to obtain observation data corresponding to each of the profile data in ASC format, wherein the observation data includes at least one of observation time, observation coordinates, starting water depth, water entry depth, and sound intensity profile of a preset observation point; The first acquisition unit is used to extract the target water depth data of the preset observation point according to the sound intensity profile, and acquire the spatial coordinates corresponding to each ASC format profile data based on the observation time corresponding to each ASC format profile data, the preset dam front water level data and the hull GPS data of the target hydrological survey ship.

8. The device according to claim 7, characterized in that The surveying and mapping module comprises: A first construction unit is used to construct the left bank line and the right bank line based on the deep sea line; An auxiliary unit, used to generate a plurality of auxiliary lines that meet preset requirements based on the deep sea line, the left bank line and the right bank line; A second acquisition unit, configured to acquire water depth data of each of the plurality of auxiliary lines according to a preset linear interpolation strategy; The second construction unit is used to construct an interpolation basic data set based on the target water depth data and the water depth data of each auxiliary line, so as to generate a three-dimensional topographic mapping result of the target reservoir during the hyperpycnal flow through the interpolation basic data set and the spatial coordinates.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the underwater three-dimensional topographic mapping method during high-sediment-content and hyperglycemic flow in a reservoir as described in any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the underwater three-dimensional topographic mapping method during high-sediment-content and hyperglycemic flow in a reservoir as described in any one of claims 1 to 4.

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