Underwater terrain inversion drawing method, device and medium

Abstract

The present application discloses an underwater terrain inversion drawing method, equipment and medium, which are used to solve the problems that the existing underwater terrain is unclear, the river flood water level and the amount of water entering rivers, lakes and reservoirs cannot be accurately predicted, and the flood control measures are not in place or excessively preventive, which affects the flood control effect. The method includes: determining the river to be drawn and the river section type corresponding to the different river section positions in the river to be drawn, and determining the flow measurement section corresponding to the river section position according to the river section type; measuring the cross-sectional flow velocity corresponding to the flow measurement section by using a drone equipped with an ADCP system, and obtaining the cross-sectional spatial position and cross-sectional surface elevation corresponding to the flow measurement section through GIS; inputting the cross-sectional flow velocity and cross-sectional spatial position into a one-dimensional shallow water equation to calculate the cross-sectional water depth corresponding to the flow measurement section; based on the cross-sectional water depth corresponding to each flow measurement section, and combined with the cross-sectional surface elevation corresponding to the flow measurement section, drawing the underwater terrain distribution map corresponding to the river to be drawn.

Description

Technical Field

[0001] The present application relates to the technical field of underwater terrain mapping, and in particular to an underwater terrain inversion mapping method, device and medium. Background Art

[0002] In modern water conservancy projects and flood control planning, accurate mapping of underwater topography is crucial. Underwater topography not only affects the hydrodynamic characteristics of rivers, but also serves as basic data for predicting river flood levels and calculating the amount of water entering rivers, lakes and reservoirs. However, due to the complexity of the underwater environment and the limitations of measurement technology, it is often difficult to obtain underwater topography directly and accurately.

[0003] Traditional underwater topographic measurement methods, such as sonar detection and field surveys by divers, can provide certain topographic information, but these methods are usually time-consuming and labor-intensive, and are limited by weather, water quality, and the performance of measurement equipment. More importantly, these methods often have difficulty covering large areas of water, resulting in incomplete global information on underwater topography.

[0004] In addition, the unclear underwater topography will lead to the inability to accurately predict river flood levels and the amount of water entering rivers, lakes and reservoirs. This uncertainty in prediction will further affect the scientific nature of flood control planning and decision-making. Without accurate underwater topographic data, flood control decision-makers may not be able to formulate reasonable flood control measures, resulting in inadequate or excessive flood control measures, which will not only waste a lot of resources, but may also have a negative impact on flood control results. Summary of the invention

[0005] The embodiments of the present application provide an underwater terrain inversion drawing method, device and medium to solve the technical problems that the existing underwater terrain is unclear, resulting in the inability to accurately predict river flood levels and the amount of water entering rivers, lakes and reservoirs, the lack of scientific basis for flood control planning and decision-making, and inadequate or excessive flood control measures, which affect flood control effectiveness.

[0006] On the one hand, an embodiment of the present application provides an underwater terrain inversion rendering method, comprising:

[0007] Determine the river to be mapped and the river section types corresponding to different river section positions in the river to be mapped, and determine the flow measurement section corresponding to the river section position according to the river section type; wherein the river section types include straight river sections, curved river sections and river sections where external rivers merge;

[0008] The flow velocity of the section corresponding to the flow measurement section is measured by a drone equipped with an ADCP system, and the spatial position of the section corresponding to the flow measurement section and the surface elevation of the section are obtained by GIS;

[0009] Inputting the cross-sectional flow velocity and the cross-sectional spatial position into a one-dimensional shallow water equation to calculate the cross-sectional water depth corresponding to the flow measuring section;

[0010] Based on the cross-sectional water depth corresponding to each flow measuring section and in combination with the cross-sectional surface elevation corresponding to the flow measuring section, an underwater terrain distribution map corresponding to the river to be drawn is drawn.

[0011] In one implementation of the present application, determining the river to be mapped and the river section types corresponding to different river section positions in the river to be mapped, and determining the flow measurement section corresponding to the river section position according to the river section type, specifically includes:

[0012] Determine the rivers to be mapped that have mapping requirements, and obtain the locations of different river sections in the rivers to be mapped through GIS;

[0013] Determine the river section types corresponding to different river section locations, and the section selection rules corresponding to each river section type;

[0014] For a river section position where the river section type is a curved river section, according to the section selection rule corresponding to the curved river section, a flow measurement section is determined at the bend start position of the curved river section, a flow measurement section is determined at the bend top position of the curved river section, and a flow measurement section is determined at the bend end position of the curved river section;

[0015] For a river section position where the river section type is a straight river section, according to a section selection rule corresponding to the straight river section, at least one flow measurement section is determined at any position of the straight river section;

[0016] For the river section type of the external river confluence section, according to the section selection rules corresponding to the external river confluence section, the flow measurement section is determined at the upstream position of the confluence of the external river confluence section, the flow measurement section is determined at the confluence starting position of the external river confluence section, and the flow measurement section is determined at the downstream position of the confluence of the external river confluence section.

[0017] In one implementation of the present application, measuring the cross-sectional flow velocity corresponding to the flow measurement section by using a drone equipped with an ADCP system specifically includes:

[0018] Determine a drone equipped with an ADCP system, so that the ADCP system carried by the drone transmits an acoustic wave signal to the flow measurement section, and receives an echo signal corresponding to the acoustic wave signal;

[0019] According to the echo signal, the cross-sectional flow velocity corresponding to the flow measurement section is calculated, and the water flow direction corresponding to the flow measurement section is obtained, and according to the reception time of the echo signal, the flow measurement time corresponding to each cross-sectional flow velocity is determined.

[0020] In one implementation of the present application, after inputting the cross-sectional flow velocity and the cross-sectional spatial position into a one-dimensional shallow water equation to calculate the cross-sectional water depth corresponding to the flow measurement section, the method further includes:

[0021] Obtaining the previous flow velocity data, the previous water depth data and the previous surface elevation of the flow measurement section corresponding to the previous measurement;

[0022] Comparing the cross-sectional flow velocity corresponding to the flow measurement section with the previous flow velocity data, and comparing the cross-sectional water depth with the previous water depth data, so as to determine whether there is siltation at the river section corresponding to the flow measurement section according to the magnitude relationship between the flow velocities and the magnitude relationship between the water depths;

[0023] When siltation exists, the elevation difference between the surface elevation of the section corresponding to the flow measurement section and the surface elevation of the previous section is determined, so as to determine the siltation degree corresponding to the river section position according to the elevation difference.

[0024] In one implementation of the present application, the underwater terrain distribution map corresponding to the river to be drawn is drawn based on the cross-sectional water depth corresponding to each flow measurement section and combined with the cross-sectional surface elevation corresponding to the flow measurement section, specifically including:

[0025] For the flow measurement section corresponding to each river section position in the river to be mapped, according to the water depth of the cross section corresponding to the flow measurement section and based on the surface elevation of the section corresponding to the flow measurement section, an underwater terrain distribution map corresponding to the flow measurement section is generated;

[0026] Based on the underwater topography distribution maps of all flow measurement sections corresponding to the multiple river sections in the river to be mapped, the underwater topography distribution map corresponding to the river to be mapped is mapped.

[0027] In one implementation of the present application, after drawing the underwater terrain distribution map corresponding to the river to be drawn based on the cross-sectional water depth corresponding to each flow measurement section and in combination with the cross-sectional surface elevation corresponding to the flow measurement section, the method further includes:

[0028] Select any flow measurement section in the river to be mapped, and obtain historical underwater topographic data corresponding to the flow measurement section;

[0029] Comparing the drawn underwater terrain distribution map with the historical underwater terrain data, determining the terrain deviation corresponding to the underwater terrain distribution map, and judging whether the terrain deviation is within a preset range;

[0030] If so, the verification is passed; if not, the underwater terrain distribution map is adjusted according to the terrain deviation to obtain an optimized underwater terrain distribution map.

[0031] In one implementation of the present application, after drawing the underwater terrain distribution map corresponding to the river to be drawn based on the cross-sectional water depth corresponding to each flow measurement section and in combination with the cross-sectional surface elevation corresponding to the flow measurement section, the method further includes:

[0032] For each underwater topographic distribution map corresponding to the flow measurement section, determine whether there is abnormal water depth data in the cross-sectional water depth corresponding to the flow measurement section according to the surface elevation of the section corresponding to the flow measurement section, and if so, delete the abnormal water depth data to smooth the underwater topographic distribution map corresponding to the flow measurement section;

[0033] The underwater terrain distribution map after smoothing is subjected to noise removal, and the underwater terrain distribution map after smoothing and noise removal is subjected to edge detection, so as to optimize the edge in the underwater terrain map according to the edge detection result, and obtain the target underwater terrain distribution map.

[0034] In one implementation of the present application, for the flow measurement section corresponding to each river section position in the river to be mapped, according to the water depth of the cross section corresponding to the flow measurement section and based on the surface elevation of the section corresponding to the flow measurement section, an underwater terrain distribution map corresponding to the flow measurement section is generated, specifically including:

[0035] Using three-dimensional modeling software, and based on the water depth of the cross section and the surface elevation of the cross section, construct a three-dimensional underwater terrain model of the flow measurement section;

[0036] The three-dimensional underwater terrain model is rendered according to the water depth of the cross section to generate an underwater terrain distribution map corresponding to the flow measurement section, and the underwater terrain distribution map is visualized.

[0037] On the other hand, an embodiment of the present application further provides an underwater terrain inversion mapping device, the device comprising:

[0038] at least one processor;

[0039] and, a memory communicatively coupled to the at least one processor;

[0040] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the underwater terrain inversion drawing method as described above.

[0041] On the other hand, an embodiment of the present application further provides a non-volatile computer storage medium storing computer executable instructions, which, when executed, implement an underwater terrain inversion drawing method as described above.

[0042] The present application provides a method, device and medium for underwater terrain inversion drawing, which at least have the following beneficial effects:

[0043] By finely classifying river sections, such as straight river sections and curved river sections, and determining corresponding flow measurement sections for different river section types, the water flow characteristics and terrain changes of different river sections can be reflected more accurately, thereby improving the accuracy and pertinence of underwater topography measurement; using drones equipped with ADCP systems to measure flow velocity, efficient and rapid data collection is achieved. The high maneuverability and flexibility of drones enable them to cover a wider area in a short time, greatly improving the efficiency of data collection; the spatial position and surface elevation information of the flow measurement section are obtained through GIS technology, and combined with the flow velocity data measured by drones, the comprehensive integration of data is achieved, making three-dimensional visualization of underwater terrain possible, providing more intuitive and comprehensive terrain information; the cross-sectional water depth corresponding to the flow measurement section is calculated through a one-dimensional shallow water equation. This method is based on the principle of hydrodynamics and can scientifically and accurately reflect the actual water depth of the river; the underwater terrain distribution map drawn in combination with the water depth data and surface elevation information of each flow measurement section can comprehensively display the underwater terrain characteristics of the river. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0045] Figure 1 A schematic diagram of a flow chart of an underwater terrain inversion drawing method provided in an embodiment of the present application;

[0046] Figure 2 A schematic diagram of flow measurement section selection provided in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of the internal structure of an underwater terrain inversion and mapping device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0049] The embodiment of the present application provides a method, device and medium for underwater terrain inversion drawing. By finely classifying river sections in a river, such as straight river sections and curved river sections, and determining corresponding flow measurement sections for different river section types, it is possible to more accurately reflect the water flow characteristics and terrain changes of different river sections, thereby improving the accuracy and pertinence of underwater terrain measurement; using a drone equipped with an ADCP system to measure flow velocity, efficient and rapid data collection is achieved. The high maneuverability and flexibility of the drone enable it to cover a wider area in a short time, greatly improving the efficiency of data collection; the spatial position and surface elevation information of the flow measurement section are obtained through GIS technology, and combined with the flow velocity data measured by the drone, the comprehensive integration of data is achieved, making three-dimensional visualization of the underwater terrain possible, and providing more intuitive and comprehensive terrain information; the cross-sectional water depth corresponding to the flow measurement section is calculated through a one-dimensional shallow water equation. This method is based on the principle of hydrodynamics and can scientifically and accurately reflect the actual water depth of the river; the underwater terrain distribution map drawn in combination with the water depth data and surface elevation information of each flow measurement section can comprehensively display the underwater terrain characteristics of the river. It solves the technical problems that the existing underwater terrain is unclear, which leads to the inability to accurately predict river flood levels and the amount of water entering rivers, lakes and reservoirs, the lack of scientific basis for flood control planning and decision-making, and the inadequate or excessive flood control measures, which affect flood control effectiveness.

[0050] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0051] Figure 1 A schematic flow chart of an underwater terrain inversion drawing method provided in an embodiment of the present application.

[0052] The analysis method involved in the embodiments of the present application can be implemented by a terminal device or a server, and the present application does not impose any special restrictions on this. For the convenience of understanding and description, the following embodiments are described in detail by taking a server as an example.

[0053] It should be noted that the server may be a single device or a system consisting of multiple devices, that is, a distributed server, and this application does not make any specific limitation on this.

[0054] like Figure 1 As shown, an underwater terrain inversion drawing method provided in an embodiment of the present application includes:

[0055] 101. Determine the river to be mapped and the river section types corresponding to different river section positions in the river to be mapped, and determine the flow measurement section corresponding to the river section position according to the river section type.

[0056] It should be noted that the river section types in the embodiments of the present application include straight river sections, curved river sections and river sections where external rivers merge into.

[0057] Specifically, in one embodiment of the present application, the server determines a river to be drawn with a drawing requirement, and obtains the locations of different river sections in the river to be drawn through GIS; determines the river section types corresponding to different river section locations, and the section selection rules corresponding to each river section type; for a river section location where the river section type is a curved river section, according to the section selection rules corresponding to the curved river section, a flow measurement section is determined at the starting position of the curve of the curved river section, a flow measurement section is determined at the top position of the curve of the curved river section, and a flow measurement section is determined at the end position of the curve of the curved river section; for a river section location where the river section type is a straight river section, according to the section selection rules corresponding to the straight river section, at least one flow measurement section is determined at any position of the straight river section.

[0058] In one embodiment, in order to comprehensively map and understand the main rivers in a certain area, the river to be mapped with the mapping requirement is first determined, and the locations of different river sections in the river are accurately obtained using GIS (Geographic Information System) technology. Next, according to the morphology and characteristics of the river, these river sections are divided into three types: curved river sections, straight river sections, and river sections where external rivers merge. In order to accurately map the underwater topography of these river sections, corresponding section selection rules are formulated for each type of river section.

[0059] For curved river sections, flow measurement sections are determined at three key locations: the beginning of the bend, the top of the bend, and the end of the bend. This can fully capture the changes in key information such as water depth and flow velocity during the bend of the river. For example, in a certain section of a river with a clear bend, flow measurement sections are set at the beginning of the bend, the most curved part of the bend, and the end of the bend.

[0060] For a straight river section, due to its relatively simple shape, at least one flow measurement section is selected at any position of the river section. In actual operation, according to the length of the river section and the water flow conditions, a flow measurement section is set in the middle of the straight river section.

[0061] For the section where an external river converges with the mainstream, this section is characterized by other rivers converging into the mainstream. In order to capture the changes in water flow during the confluence process, flow measurement sections were determined at three key locations: upstream of the confluence, at the beginning of the confluence, and downstream of the confluence. For example, in the section where an external river converges with the mainstream, flow measurement sections were set up upstream of the confluence, at the confluence, and downstream of the confluence.

[0062] Figure 2 This is a schematic diagram of flow measurement section selection provided in the embodiment of the present application. Figure 2 As shown, the flow measurement section of the river to be mapped is selected based on the river morphology. A river may include straight river sections, curved river sections, and sections where external rivers converge. When selecting the flow measurement section, measurement sections must be set up at different river morphologies.

[0063] For example, a 30-kilometer river has a straight section, a curved section, and a section where an external river converges. When selecting flow measurement sections: for the straight section of the river to be mapped, 1 to 2 flow measurement sections can be selected, because the river bottom morphology in the straight section does not change much according to the hydraulic characteristics; for the curved section of the river to be mapped, no less than 3 flow measurement sections should be selected, at least 1 at the starting position of the bend of the curved river, at least 1 at the top of the bend of the curved section, and at least 1 at the end of the bend of the curved section; for the section where an external river converges, no less than 3 flow measurement sections should be selected, at least 1 at the upstream position of the confluence of the external river confluence section, at least 1 at the starting position of the confluence of the external river confluence section, and at least 1 at the downstream position of the confluence of the external river confluence section.

[0064] It should be noted that when selecting a flow measurement section at the upstream position of the confluence of an external river, it can be selected 50 meters or 100 meters upstream of the confluence. Similarly, when selecting a flow measurement section at the downstream position of the confluence of an external river, it can be selected 50 meters or 100 meters downstream of the confluence.

[0065] 102. The flow velocity of the section corresponding to the flow measurement section is measured by using a drone equipped with the ADCP system, and the spatial position of the section corresponding to the flow measurement section and the surface elevation of the section are obtained through GIS.

[0066] Specifically, in one embodiment of the present application, the server determines a drone equipped with an ADCP system, and transmits an acoustic wave signal to a flow measurement section through the ADCP system carried by the drone, and receives an echo signal corresponding to the acoustic wave signal; based on the echo signal, the cross-sectional flow velocity corresponding to the flow measurement section is calculated, and the water flow direction corresponding to the flow measurement section is obtained, and the flow measurement time corresponding to each cross-sectional flow velocity is determined based on the reception time of the echo signal.

[0067] In one embodiment, during the process of underwater topography inversion mapping, a drone equipped with an ADCP (Acoustic Doppler Current Profiler) system is used to measure the flow velocity of a flow measurement section of a specific river. First, a drone suitable for this measurement task is determined, and it is ensured that the drone is equipped with a high-precision ADCP system. This drone has stable flight performance and an accurate navigation system, which can ensure accurate positioning of the flow measurement section during the measurement process.

[0068] At the beginning of the measurement, the drone flies over the predetermined flow measurement section and hovers at an appropriate height. Then, the ADCP system on the drone transmits sound wave signals to the flow measurement section. These sound wave signals will scatter when encountering particles or bubbles in the water body, generating echo signals. The ADCP system accurately receives and records these echo signals. By processing these echo signals, the flow velocity distribution of the flow measurement section can be calculated. Specifically, the system calculates the speed and direction of the water flow based on the time difference and Doppler frequency shift between the sound wave signal and the echo signal.

[0069] In this measurement, not only the flow velocity data of the flow measurement section was obtained, but also the information of the flow direction was obtained. In addition, the reception time of the echo signal was used to determine the flow measurement time corresponding to the flow velocity of each section.

[0070] 103. Input the cross-sectional flow velocity and cross-sectional spatial position into the one-dimensional shallow water equation to calculate the cross-sectional water depth corresponding to the flow measurement section.

[0071] In one embodiment of the present application, after inputting the cross-sectional flow velocity and the cross-sectional spatial position into a one-dimensional shallow water equation to calculate the cross-sectional water depth corresponding to the flow measuring section, the server obtains the previous flow velocity data, the previous water depth data and the previous cross-sectional surface elevation corresponding to the flow measuring section in the previous measurement; compares the cross-sectional flow velocity corresponding to the flow measuring section with the previous flow velocity data, and compares the cross-sectional water depth with the previous water depth data, so as to determine whether there is siltation at the river section position corresponding to the flow measuring section based on the size relationship between the flow velocities and the size relationship between the water depths; when siltation exists, determine the difference in elevation between the cross-sectional surface elevation corresponding to the flow measuring section and the surface elevation of the previous section, so as to determine the degree of siltation corresponding to the river section position based on the difference in elevation.

[0072] In one embodiment, in order to continuously monitor the siltation of a specific flow measurement section of a river, regular flow velocity and water depth measurements are performed. Before this measurement, the flow velocity data, water depth data, and cross-section surface elevation from the previous measurement have been recorded, and these data are stored in a database for subsequent comparison and analysis.

[0073] During this measurement, the flow velocity data and water depth data of the flow measurement section were obtained again. Subsequently, the cross-sectional flow velocity of this measurement was compared with the previous flow velocity data of the previous measurement, and the cross-sectional water depth of this measurement was compared with the previous water depth data of the previous measurement. By comparing the flow velocity data, it was found that the flow velocity of this measurement was lower than before. At the same time, the comparison of the water depth data also showed that the water depth of this measurement was smaller than before. These two changes together indicate that siltation may exist in the river section.

[0074] In order to further confirm the siltation phenomenon and assess its extent, the surface elevation of the section measured this time was compared with the surface elevation of the previous section measured in the previous time. By calculating the difference in elevation between the two, it was found that the elevation had increased, which further confirmed the existence of siltation. According to the size of the difference in elevation, the degree of siltation at the location of the river section was determined. Specifically, if the difference in elevation exceeds a certain threshold, it is considered that the degree of siltation is relatively serious and corresponding cleaning or governance measures need to be taken. If the difference in elevation is small, it means that the degree of siltation is relatively light and its development trend can be monitored regularly and observed.

[0075] 104. Based on the cross-sectional water depth corresponding to each flow measuring section and combined with the cross-sectional surface elevation corresponding to the flow measuring section, draw the underwater terrain distribution map corresponding to the river to be mapped.

[0076] Specifically, the server generates an underwater terrain distribution map corresponding to the flow measuring section corresponding to each river section in the river to be drawn, based on the water depth of the cross-section corresponding to the flow measuring section and the surface elevation of the section corresponding to the flow measuring section; and draws the underwater terrain distribution map corresponding to the river to be drawn based on the underwater terrain distribution maps of all flow measuring sections corresponding to multiple river sections in the river to be drawn.

[0077] In one embodiment, when drawing the underwater topography distribution map of the main rivers in a certain area, firstly, the flow measurement section at each river section in the river is measured and analyzed in detail. For each flow measurement section, the underwater topography distribution map corresponding to each flow measurement section is generated based on the measured cross-sectional water depth data and the surface elevation information of the section. This process involves data interpolation and smoothing to ensure that the generated distribution map can truly reflect the underwater topography characteristics of the section.

[0078] Specifically, at a flow measurement section in a certain curved river section, the underwater terrain presents a complex shape due to the scouring and silting of the water flow. Using high-precision water depth data and surface elevation data, a contour map of the underwater terrain of the section was drawn through professional geographic information system software, which clearly shows the shape of the riverbed, changes in depth, and possible obstacles. Similarly, all flow measurement sections at each river section in the river were processed in the same way, generating a series of underwater terrain distribution maps that can provide detailed terrain information for each section.

[0079] After the underwater topography distribution maps of all flow measurement sections were generated, the overall underwater topography distribution map was drawn. By splicing and merging the distribution maps of these sections, and taking into account the continuity of the river and the gradual change of the topography, the underwater topography distribution map of the entire river was successfully drawn.

[0080] In one embodiment of the present application, the server uses three-dimensional modeling software to construct a three-dimensional underwater terrain model of the flow measurement section based on the cross-sectional water depth and the cross-sectional surface elevation; the three-dimensional underwater terrain model is rendered according to the cross-sectional water depth to generate an underwater terrain distribution map corresponding to the flow measurement section, and the underwater terrain distribution map is visualized.

[0081] In one embodiment, in order to more intuitively display the underwater topography of the river flow measurement section, 3D modeling and visualization technology is used. First, professional 3D modeling software, such as Blender or 3ds Max, is selected. Then, the cross-section water depth data and cross-section surface elevation data obtained by previous measurement are imported. These data can provide the basic information required to build a 3D model. In the 3D modeling software, these data are used to create an accurate 3D underwater topography model of the flow measurement section. Each point in the model corresponds to a water depth and elevation data point in the actual measurement, ensuring the accuracy of the model.

[0082] Next, the model was rendered according to the cross-sectional water depth data. By setting different colors and transparencies, the underwater depth changes were successfully simulated, making the model more visually layered. For example, deeper waters were rendered in dark blue, while shallow waters were rendered in light blue or green. After rendering, a realistic underwater terrain distribution map was obtained. In order to further enhance the visualization effect, the distribution map was post-processed, such as adding lighting, shadows, and reflections, to make the terrain features more prominent and the waters more realistic. Finally, this underwater terrain distribution map was exported to common image or video formats, such as JPEG, PNG, or MP4.

[0083] In one embodiment of the present application, after drawing the underwater terrain distribution map corresponding to the river to be drawn based on the cross-sectional water depth corresponding to each flow measuring section and in combination with the cross-sectional surface elevation corresponding to the flow measuring section, the server selects any flow measuring section in the river to be drawn and obtains the historical underwater terrain data corresponding to the flow measuring section; compares the drawn underwater terrain distribution map with the historical underwater terrain data, determines the terrain deviation corresponding to the underwater terrain distribution map, and judges whether the terrain deviation is within a preset range; if so, the verification is passed, if not, the underwater terrain distribution map is adjusted according to the terrain deviation to obtain an optimized underwater terrain distribution map.

[0084] In one embodiment, first, the underwater topographic data of each season over the years for the designated flow measurement section of the river to be mapped is obtained from the river monitoring database, including multiple parameters such as water depth, riverbed texture, and water flow velocity, and these underwater topographic data are recorded in time and space. Then, these data need to be converted into a unified data format, and the underwater topographic distribution map is compared with the historical underwater topographic data in the unified format to calculate the topographic deviation between the two. This deviation reflects the changes in the riverbed over the years, including the areas of deposition and erosion.

[0085] By comparison, it is determined whether the terrain deviation is within the preset range. If the deviation is within this range, it means that the current underwater terrain distribution map is consistent with the historical data and the verification is passed. If the deviation exceeds the preset range, it means that the current underwater terrain distribution map needs to be further optimized. After it is found that the terrain deviation exceeds the preset range, the underwater terrain distribution map is adjusted according to the specific situation of the deviation, including correcting the riverbed elevation, adjusting the sediment distribution area, etc., so as to obtain a more accurate underwater terrain distribution map.

[0086] After the optimization is completed, the optimized underwater terrain distribution map needs to be compared with the historical data again to ensure that the terrain deviation is within the preset range. In addition, the underwater terrain distribution map can be iteratively optimized multiple times according to actual needs until it meets the actual needs.

[0087] In one embodiment of the present application, after drawing the underwater terrain distribution map corresponding to the river to be drawn based on the cross-sectional water depth corresponding to each flow measuring section and in combination with the cross-sectional surface elevation corresponding to the flow measuring section, the server determines whether there is abnormal water depth data in the cross-sectional water depth corresponding to the flow measuring section according to the cross-sectional surface elevation corresponding to the flow measuring section for each flow measuring section of the underwater terrain distribution map corresponding to the flow measuring section. If so, the abnormal water depth data is deleted to smooth the underwater terrain distribution map corresponding to the flow measuring section; noise is removed from the smoothed underwater terrain distribution map, and edge detection is performed on the underwater terrain map after smoothing and noise removal, so as to optimize the edges in the underwater terrain map according to the edge detection results to obtain the target underwater terrain distribution map.

[0088] In one embodiment, in the process of drawing the underwater topographic distribution map of the river, in order to improve the accuracy and readability of the map, the underwater topographic distribution map corresponding to each flow measurement section is processed in a refined manner. First, for the underwater topographic distribution map of each flow measurement section, the cross-sectional water depth is carefully checked using the corresponding section surface elevation data. In this step, it is found that some water depth data obviously deviates from the normal range. These abnormal data may be caused by measurement errors, equipment failures or other unknown factors. In order to ensure the accuracy of the topographic map, these abnormal water depth data need to be deleted from the data set.

[0089] After deleting the abnormal water depth data, the underwater terrain distribution map was smoothed. This step aims to eliminate the abrupt and uneven phenomena on the terrain map caused by missing data or outliers. By using professional image processing technology and algorithms, the terrain map was successfully made smoother and more continuous. Next, the smoothed underwater terrain distribution map was subjected to noise removal. Using a variety of filters and techniques to reduce random noise and interference signals in the image, not only the signal-to-noise ratio of the terrain map was improved, but also its clarity and readability were further enhanced.

[0090] After smoothing and removing noise from the underwater topographic map, edge detection was performed. By using advanced edge detection algorithms, the edges and contours in the topographic map were identified. Finally, the edges in the underwater topographic map were optimized based on the results of edge detection. By enhancing the clarity and contrast of the edges, the topographic features on the topographic map were made more prominent and easier to identify, and finally the target underwater topographic distribution map was obtained, which not only accurately reflects the underwater topographic features of the river, but also has high readability and aesthetics.

[0091] The above is an embodiment of the method proposed in this application. Based on the same inventive concept, this application embodiment also provides an underwater terrain inversion mapping device, whose structure is as follows: Figure 3 shown.

[0092] Figure 3 This is a schematic diagram of the internal structure of an underwater terrain inversion and mapping device provided in an embodiment of the present application. Figure 3 As shown, the device includes:

[0093] at least one processor;

[0094] and, a memory communicatively coupled to the at least one processor;

[0095] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor to enable the at least one processor to:

[0096] Determine the river to be mapped and the river section types corresponding to different river section positions in the river to be mapped, and determine the flow measurement section corresponding to the river section position according to the river section type; wherein the river section types include straight river sections, curved river sections and river sections where external rivers merge;

[0097] The flow velocity of the section corresponding to the flow measurement section is measured by using a drone equipped with the ADCP system, and the spatial position of the section corresponding to the flow measurement section and the surface elevation of the section are obtained through GIS.

[0098] Input the cross-sectional flow velocity and cross-sectional spatial position into the one-dimensional shallow water equation to calculate the cross-sectional water depth corresponding to the flow measurement section;

[0099] Based on the cross-sectional water depth corresponding to each flow measuring section and combined with the surface elevation of the section corresponding to the flow measuring section, an underwater terrain distribution map corresponding to the river to be mapped is drawn.

[0100] The present application also provides a non-volatile computer storage medium storing computer executable instructions. When the computer executable instructions are executed, they can:

[0101] Determine the river to be mapped and the river section types corresponding to different river section positions in the river to be mapped, and determine the flow measurement section corresponding to the river section position according to the river section type; wherein the river section types include straight river sections, curved river sections and river sections where external rivers merge;

[0102] The flow velocity of the section corresponding to the flow measurement section is measured by using a drone equipped with the ADCP system, and the spatial position of the section corresponding to the flow measurement section and the surface elevation of the section are obtained through GIS.

[0103] Input the cross-sectional flow velocity and cross-sectional spatial position into the one-dimensional shallow water equation to calculate the cross-sectional water depth corresponding to the flow measurement section;

[0104] Based on the cross-sectional water depth corresponding to each flow measuring section and combined with the surface elevation of the section corresponding to the flow measuring section, an underwater terrain distribution map corresponding to the river to be mapped is drawn.

[0105] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0106] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0107] The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0108] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0109] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0110] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0111] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0112] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0113] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0114] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0115] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0116] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for inverting and rendering underwater terrain, characterized in that: The method comprises: Determine the river to be mapped and the river section types corresponding to different river section positions in the river to be mapped, and determine the flow measurement section corresponding to the river section position according to the river section type; wherein the river section types include straight river sections, curved river sections and river sections where external rivers merge; The flow velocity of the section corresponding to the flow measurement section is measured by a drone equipped with an ADCP system, and the spatial position of the section corresponding to the flow measurement section and the surface elevation of the section are obtained by GIS; Inputting the cross-sectional flow velocity and the cross-sectional spatial position into a one-dimensional shallow water equation to calculate the cross-sectional water depth corresponding to the flow measuring section; Based on the cross-sectional water depth corresponding to each flow measurement section and in combination with the cross-sectional surface elevation corresponding to the flow measurement section, an underwater terrain distribution map corresponding to the river to be drawn is drawn; The determining of the river to be mapped and the river section types corresponding to different river section positions in the river to be mapped, and determining the flow measurement section corresponding to the river section position according to the river section type, specifically includes: Determine the rivers to be mapped that have mapping requirements, and obtain the locations of different river sections in the rivers to be mapped through GIS; Determine the river section types corresponding to different river section locations, and the section selection rules corresponding to each river section type; For a river section position where the river section type is a curved river section, according to the section selection rule corresponding to the curved river section, a flow measurement section is determined at the bend start position of the curved river section, a flow measurement section is determined at the bend top position of the curved river section, and a flow measurement section is determined at the bend end position of the curved river section; For a river section position where the river section type is a straight river section, according to a section selection rule corresponding to the straight river section, at least one flow measurement section is determined at any position of the straight river section; For the river section type of the external river confluence section, according to the section selection rules corresponding to the external river confluence section, the flow measurement section is determined at the upstream position of the confluence of the external river confluence section, the flow measurement section is determined at the confluence starting position of the external river confluence section, and the flow measurement section is determined at the downstream position of the confluence of the external river confluence section.

2. The underwater terrain inversion rendering method according to claim 1, characterized in that: The method of measuring the cross-sectional flow velocity corresponding to the flow measurement section by using a drone equipped with the ADCP system specifically includes: Determine a drone equipped with an ADCP system, so that the ADCP system carried by the drone transmits an acoustic wave signal to the flow measurement section, and receives an echo signal corresponding to the acoustic wave signal; According to the echo signal, the cross-sectional flow velocity corresponding to the flow measurement section is calculated, and the water flow direction corresponding to the flow measurement section is obtained, and according to the reception time of the echo signal, the flow measurement time corresponding to each cross-sectional flow velocity is determined.

3. The underwater terrain inversion rendering method according to claim 2, characterized in that: After inputting the cross-sectional flow velocity and the cross-sectional spatial position into a one-dimensional shallow water equation to calculate the cross-sectional water depth corresponding to the flow measurement section, the method further includes: Obtaining the previous flow velocity data, the previous water depth data and the previous surface elevation of the flow measurement section corresponding to the previous measurement; Comparing the cross-sectional flow velocity corresponding to the flow measurement section with the previous flow velocity data, and comparing the cross-sectional water depth with the previous water depth data, so as to determine whether there is siltation at the river section corresponding to the flow measurement section according to the magnitude relationship between the flow velocities and the magnitude relationship between the water depths; When siltation exists, the elevation difference between the surface elevation of the section corresponding to the flow measurement section and the surface elevation of the previous section is determined, so as to determine the siltation degree corresponding to the river section position according to the elevation difference.

4. The underwater terrain inversion rendering method according to claim 1, characterized in that: The method of drawing the underwater terrain distribution map corresponding to the river to be drawn based on the cross-sectional water depth corresponding to each flow measuring section and combining the cross-sectional surface elevation corresponding to the flow measuring section specifically includes: For the flow measurement section corresponding to each river section position in the river to be mapped, according to the water depth of the cross section corresponding to the flow measurement section and based on the surface elevation of the section corresponding to the flow measurement section, an underwater terrain distribution map corresponding to the flow measurement section is generated; Based on the underwater topography distribution maps of all flow measurement sections corresponding to the multiple river sections in the river to be mapped, the underwater topography distribution map corresponding to the river to be mapped is mapped.

5. The underwater terrain inversion rendering method according to claim 1, characterized in that: After drawing the underwater terrain distribution map corresponding to the river to be drawn based on the cross-sectional water depth corresponding to each flow measurement section and in combination with the cross-sectional surface elevation corresponding to the flow measurement section, the method further includes: Select any flow measurement section in the river to be mapped, and obtain historical underwater topographic data corresponding to the flow measurement section; Comparing the drawn underwater terrain distribution map with the historical underwater terrain data, determining the terrain deviation corresponding to the underwater terrain distribution map, and judging whether the terrain deviation is within a preset range; If so, the verification is passed; if not, the underwater terrain distribution map is adjusted according to the terrain deviation to obtain an optimized underwater terrain distribution map.

6. The underwater terrain inversion rendering method according to claim 4, characterized in that: After drawing the underwater terrain distribution map corresponding to the river to be drawn based on the cross-sectional water depth corresponding to each flow measurement section and in combination with the cross-sectional surface elevation corresponding to the flow measurement section, the method further includes: For each underwater topographic distribution map corresponding to the flow measurement section, determine whether there is abnormal water depth data in the cross-sectional water depth corresponding to the flow measurement section according to the surface elevation of the section corresponding to the flow measurement section, and if so, delete the abnormal water depth data to smooth the underwater topographic distribution map corresponding to the flow measurement section; The underwater terrain distribution map after smoothing is subjected to noise removal, and the underwater terrain distribution map after smoothing and noise removal is subjected to edge detection, so as to optimize the edge in the underwater terrain map according to the edge detection result, and obtain the target underwater terrain distribution map.

7. The underwater terrain inversion rendering method according to claim 4, characterized in that: The method of generating an underwater terrain distribution map corresponding to the flow measurement section at each river section position in the river to be mapped according to the water depth of the cross section corresponding to the flow measurement section and based on the surface elevation of the section corresponding to the flow measurement section specifically includes: Using three-dimensional modeling software, and based on the water depth of the cross section and the surface elevation of the cross section, construct a three-dimensional underwater terrain model of the flow measurement section; The three-dimensional underwater terrain model is rendered according to the water depth of the cross section to generate an underwater terrain distribution map corresponding to the flow measurement section, and the underwater terrain distribution map is visualized.

8. An underwater terrain inversion and mapping device, characterized in that: The device comprises: at least one processor; and, a memory communicatively coupled to the at least one processor; The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute an underwater terrain inversion drawing method as described in any one of claims 1-7.

9. A non-volatile computer storage medium storing computer executable instructions, characterized in that: When the computer executable instructions are executed, an underwater terrain inversion drawing method as described in any one of claims 1-7 is implemented.

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