A natural runoff simulation method and system based on digital twin

Abstract

The present invention discloses a natural runoff simulation method and system based on digital twins, relates to the technical field of natural runoff simulation, and solves the technical problem that the existing natural runoff simulation method cannot truly simulate natural runoff and cannot remove human influence during the simulation process; the present invention comprises selecting a specific watershed as a simulation object and constructing a corresponding digital twin; real-time monitoring of the state data of the watershed and inputting it into the digital twin, synchronously updating the data inside the digital twin, and driving the digital twin to obtain runoff simulation data at the same time, obtaining simulation deviation by comparing the runoff simulation data with the runoff data in the state data, and adjusting and optimizing the parameters of the digital twin based on the simulation deviation; using the current underlying surface and hydrological and meteorological conditions and removing the water conservancy project from the processed digital twin to simulate the natural runoff without human images and interference; the present invention improves the reliability and accuracy of natural runoff simulation.

Description

Technical Field

[0001] The present invention relates to the technical field of natural runoff simulation, and in particular to a natural runoff simulation method and system based on digital twins. Background Art

[0002] At present, the natural runoff simulation methods mainly include: conceptual hydrological model simulation method and physical hydrological model simulation method. Among them, the conceptual hydrological model simplifies the complex hydrological processes in nature, making the model easier to understand and apply. However, the simplification of the hydrological process will ignore some key physical processes and environmental variables, which makes the model unable to translate the current basin underlying surface conditions in real time and unable to realize the real-time natural runoff model. The physical hydrological model can simulate the hydrological process in detail, including precipitation, seepage, evaporation, surface runoff, groundwater runoff and other processes, and fit the basin's underlying surface conditions by inputting corresponding data (such as soil properties, topography, land cover, etc.).

[0003] Although the physical hydrological model can accurately fit the underlying surface conditions of the basin, the underlying surface conditions of the basin cannot be updated in real time according to the actual underlying surface due to the lack of timeliness of the data, which makes the simulated natural runoff different from the actual natural runoff. In addition, when conducting hydrological simulations, it is usually difficult to obtain real-time operation information of many water conservancy projects in the current basin, making it difficult to erase the human impact and interference of water conservancy projects, which in turn affects the reliability of the natural runoff model. Summary of the invention

[0004] In order to solve the problems existing in the above-mentioned prior art, the present invention provides a natural runoff simulation method and system based on digital twins, which solves the technical problems that the existing natural runoff simulation methods cannot truly simulate natural runoff and cannot remove human influences during the simulation process.

[0005] A natural runoff simulation method based on digital twins includes the following steps:

[0006] S1. Select a specific watershed as the simulation object and construct the corresponding digital twin, including constructing a geometric model, a hydrological physics model and an operation behavior model. The operation behavior model can combine the geometric model and the hydrological physics model to obtain the operation process data of the water conservancy project;

[0007] S2. Real-time monitoring of the state data of the watershed and inputting it into the digital twin, synchronously updating the data inside the digital twin, and driving the digital twin to obtain runoff simulation data. The state data of the watershed includes runoff data. The simulation deviation is obtained by comparing the runoff simulation data with the runoff data in the state data, and the parameters of the digital twin are adjusted and optimized based on the simulation deviation.

[0008] S3. Remove the water conservancy project from the digital twin processed by S2, and simulate the natural runoff without artificial images and interference based on the current underlying surface and hydrological and meteorological conditions.

[0009] Preferably, the construction of the geometric model includes: selecting an object to simulate the watershed, and constructing a corresponding geometric model, wherein the features in the geometric model include terrain elevation, water body boundaries, river section dimensions, and dimensions and structural features of water conservancy projects in the watershed.

[0010] Preferably, the construction of the hydrological physical model includes:

[0011] Construct a surface water module, the parameters involved in the construction of this module include surface water depth, surface water velocity, surface water flux, water surface area coefficient, runoff, precipitation, potential evapotranspiration, river-vadose zone flux, river-groundwater flux and lake-groundwater flux, and surface water level;

[0012] Construct a groundwater module, the parameters involved in the construction of this module include the saturated hydraulic conductivity of the lifting zone, the elevation of the groundwater surface, the elevation of the bottom of the aquifer, and the deep soil seepage;

[0013] Construct a soil water module, the parameters involved in the construction of this module include soil relative water content, soil hydraulic conductivity, soil matrix potential, wilting coefficient and saturated water content;

[0014] River-lake-groundwater interaction module. The parameters involved in the construction of this module include river-deep vadose zone flux, river-groundwater flux and lake-groundwater flux, saturated hydraulic conductivity of river (lake) bed, infiltration distance, and groundwater level.

[0015] Preferably, the construction of the operation behavior model includes: based on the hydrological and physical model, constructing a watershed operation behavior model, specifically including a water diversion project operation module, a parameter information module, a reservoir scheduling operation module, and a data transmission module, based on the geometric model and the geometric and physical characteristic parameters of the target watershed reflected in the hydrological and physical model combined with the current reservoir scheduling operation module and the water diversion project operation module, the operation process data of the water conservancy project can be obtained.

[0016] Preferably, S2 comprises:

[0017] S2.1: Read the status data of the real-time monitoring basin at regular intervals to ensure the real-time update of the hydrological data. The status data of the basin includes rainfall, flow velocity, surface water level and groundwater level. The corresponding runoff data can be calculated through the flow velocity and the size characteristics of the geometric model;

[0018] S2.2. Use the watershed status data to drive the hydrological physics model and operation behavior model in the digital twin, simulate the runoff to simulate the water cycle process, and generate runoff simulation data; where the runoff simulation data is non-natural runoff that does not exclude human influence and interference;

[0019] S2.3, synchronizing the state data of the real-time monitoring basin to the digital twin, updating the state of the digital twin and storing the state data of the real-time monitoring basin in the database;

[0020] S2.4. Compare the runoff simulation data of the digital twin with the actual monitored runoff data, and calculate the deviation between the two. If the deviation is greater than the threshold, adjust and optimize the parameters of the digital twin based on the deviation using the Kalman filter algorithm, and repeat S2.1-S2.4. If the deviation is less than the threshold, it is determined that the digital twin update is completed.

[0021] Preferably, S3 includes:

[0022] S3.1. Remove artificial water conservancy projects: Remove the operation process data of water conservancy projects in the basin from the digital twin processed by S2 to generate a simulation scenario of the underlying surface without human influence and interference. The artificial water conservancy projects include dams, reservoirs, and irrigation systems.

[0023] S3.2, Digital Twin Preheating: For the digital twin with artificial water conservancy projects removed, the current hydrological and meteorological conditions combined with real-time monitoring data are used for hot start to save preheating time; the real-time monitoring data includes: rainfall, water level, flow rate, surface water level and groundwater level;

[0024] S3.3. Natural runoff simulation: Update the data information of the digital twin to simulate the natural runoff without human influence and interference.

[0025] A natural runoff simulation system based on digital twins, comprising a real-time monitoring subsystem, a digital twin construction and update subsystem, and a real-time simulation subsystem. The real-time monitoring subsystem is used to obtain the status data of the target watershed in real time; the digital twin construction and update subsystem is used to construct a corresponding digital twin according to the status data of the target watershed obtained by the real-time monitoring subsystem, and update the digital twin according to the regularly updated status data; the real-time simulation subsystem is used to use the digital twin updated in real time by the digital twin construction and update subsystem to simulate the natural runoff without human influence and interference in real time

[0026] Preferably, the real-time monitoring subsystem includes:

[0027] A rainfall monitoring unit for monitoring rainfall, including: an information collection device for a tipping bucket rain gauge and a radar rain gauge, a communication device, and a power module;

[0028] Surface water level and groundwater level monitoring units for monitoring water levels, including: water level data monitoring and acquisition modules for buoy, radar and pressure level gauges, GPRS modules, and transmission network status data;

[0029] A flow rate monitoring unit for monitoring flow rate, including: a communication server for an electromagnetic flow meter and an acoustic Doppler current profiler (ADCP), and a WEB information monitoring system;

[0030] Surface water level and groundwater level monitoring unit for monitoring groundwater level, including: radar water level gauge and pressure sensor, communication device, power supply module;

[0031] The centralized control management unit used for data integration management automatically reads data from other monitoring units at regular intervals to ensure real-time updating of hydrological data.

[0032] Preferably, the digital twin construction and update subsystem includes a construction module and an update module. The construction module is used to construct the corresponding digital twin according to the geometric shape, physical parameters and operating rules of the target watershed. The update module is used to periodically obtain the status data of the target watershed collected by the real-time monitoring subsystem to update the digital twin and ensure data synchronization.

[0033] Preferably, the real-time simulation subsystem includes:

[0034] The removal module is used to remove the operation process data of the water conservancy project from the digital twin and generate an underlying surface simulation scenario without human influence and interference;

[0035] The preheating module is used to hot-start the digital twin model after the removal module processing by using the current hydrological and meteorological conditions combined with real-time monitoring data, saving preheating time;

[0036] The real-time simulation module is used to update the data information of the digital twin and simulate the natural runoff without human influence and interference.

[0037] The beneficial effects of the present invention include:

[0038] 1. Improve the reliability of natural runoff simulation: By monitoring the changes in the underlying surface and hydro-meteorological conditions of the basin, the parameters of the digital twin are updated in real time. Compared with the traditional hydrological model, this method greatly improves the response speed of the simulation results to the changes in hydro-meteorology and underlying surface, and improves the reliability of the natural runoff model.

[0039] 2. Improve the accuracy of hydrological simulation: By using digital twin technology, there is no need to preheat the model for a long time and calibrate the parameters. It can be directly "hot started", which can significantly improve the model's computing efficiency and improve the reliability of the natural runoff model without increasing additional computing power. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 Flow chart of a natural runoff simulation method based on digital twins according to an embodiment of the present application DETAILED DESCRIPTION

[0041] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0042] A natural runoff simulation method based on digital twins, such as Figure 1 As shown, the following steps are included:

[0043] S1. Select a specific watershed as the simulation object and construct the corresponding digital twin, including constructing a geometric model, a hydrological physics model and an operation behavior model. The operation behavior model can combine the geometric model and the hydrological physics model to obtain the operation process data of the water conservancy project;

[0044] S2. Real-time monitoring of the state data of the watershed and inputting it into the digital twin, synchronously updating the data inside the digital twin, and driving the digital twin to obtain runoff simulation data. The state data of the watershed includes runoff data. The simulation deviation is obtained by comparing the runoff simulation data with the runoff data in the state data, and the parameters of the digital twin are adjusted and optimized based on the simulation deviation.

[0045] S3. Remove the water conservancy project from the digital twin processed by S2, and simulate the natural runoff without artificial images and interference based on the current underlying surface and hydrological and meteorological conditions.

[0046] In another embodiment, the construction of the geometric model includes: selecting an object of a simulated watershed and constructing a corresponding geometric model, wherein the features in the geometric model include terrain elevation, water body boundary, river section dimensions, and dimensions and structural features of water conservancy projects in the watershed. Specifically:

[0047] Construct geometric models including rivers, lakes, reservoirs, etc., which include features such as terrain elevation, water body boundaries, and river section dimensions. The elevation features of the target river basin involved in the terrain elevation features are extracted using SRTM, ASTER and other data; the river section dimension features involved in the river width and river length and other river geometry parameters are obtained through remote sensing image data; the dimensions and structural features of the water conservancy project are obtained through underwater robots and drones.

[0048] In another embodiment, the construction of the hydrological physical model includes:

[0049] Construct a surface water module, the parameters involved in the construction of this module include surface water depth, surface water velocity, surface water flux, water surface area coefficient, runoff, precipitation, potential evapotranspiration, river-vadose zone flux, river-groundwater flux and lake-groundwater flux, and surface water level;

[0050] Construct a groundwater module, the parameters involved in the construction of this module include the saturated hydraulic conductivity of the lifting zone, the elevation of the groundwater surface, the elevation of the bottom of the aquifer, and the deep soil seepage;

[0051] Construct a soil water module, the parameters involved in the construction of this module include soil relative water content, soil hydraulic conductivity, soil matrix potential, wilting coefficient and saturated water content;

[0052] River-lake-groundwater interaction module. The parameters involved in the construction of this module include river-deep vadose zone flux, river-groundwater flux and lake-groundwater flux, saturated hydraulic conductivity of river (lake) bed, infiltration distance, and groundwater level.

[0053] The above-mentioned parameter data are obtained through real-time monitoring data of meteorological stations, long-term meteorological records, hydraulic test analysis, hydrogeological surveys and groundwater monitoring wells.

[0054] In another embodiment, the construction of the operation behavior model includes: based on the hydrological and physical model, constructing a watershed operation behavior model, specifically including a water diversion project operation module, a parameter information module, a reservoir scheduling operation module, and a data transmission module, based on the geometric model and the geometric and physical characteristic parameters of the target watershed reflected in the hydrological and physical model combined with the current reservoir scheduling operation module and the water diversion project operation module, the operation process data of the water conservancy projects in the watershed can be obtained.

[0055] In another embodiment, S2 includes:

[0056] S2.1: Regularly read the status data of the real-time monitoring basin to ensure the real-time update of the hydrological data. The status data of the basin includes rainfall, flow velocity, surface water level and groundwater level; the corresponding runoff data can be calculated through the flow velocity and the dimensional characteristics of the geometric model.

[0057] S2.2. Use the watershed status data to drive the hydrological physics model and operation behavior model in the digital twin, simulate the runoff to simulate the water cycle process, and generate runoff simulation data; where the runoff simulation data is non-natural runoff that does not exclude human influence and interference;

[0058] S2.3, synchronizing the state data of the real-time monitoring basin to the digital twin, updating the state of the digital twin and storing the state data of the real-time monitoring basin in the database;

[0059] S2.4. Compare the runoff simulation data of the digital twin with the actual monitored runoff data, and calculate the deviation between the two. If the deviation is greater than the threshold, adjust and optimize the parameters of the digital twin based on the deviation using the Kalman filter algorithm, and repeat S2.1-S2.4. If the deviation is less than the threshold, it is determined that the digital twin update is completed.

[0060] In another embodiment, S3 includes:

[0061] S3.1. Remove artificial water conservancy projects: Remove the operation process data of water conservancy projects from the digital twin obtained in S2 to generate a simulation scenario of the underlying surface without human influence and interference. The artificial water conservancy projects include dams, reservoirs, and irrigation systems.

[0062] S3.2, Digital Twin Preheating: For the digital twin with artificial water conservancy projects removed, the current hydrological and meteorological conditions combined with real-time monitoring data are used for hot start to save preheating time; the real-time monitoring data includes: rainfall, water level, flow rate, surface water level and groundwater level;

[0063] S3.3. Natural runoff simulation: Update the data information of the digital twin to simulate the natural runoff without human influence and interference.

[0064] In another embodiment, a natural runoff simulation system based on digital twins is provided, including a real-time monitoring subsystem, a digital twin construction and update subsystem, and a real-time simulation subsystem. The real-time monitoring subsystem is used to obtain the status data of the target watershed in real time; the digital twin construction and update subsystem is used to construct a corresponding digital twin according to the status data of the target watershed obtained by the real-time monitoring subsystem, and update the digital twin according to the regularly updated status data; the real-time simulation subsystem is used to use the digital twin updated in real time by the digital twin construction and update subsystem to simulate in real time the natural runoff without human influence and interference.

[0065] In another embodiment, the real-time monitoring subsystem includes:

[0066] A rainfall monitoring unit for monitoring rainfall, including: an information collection device for a tipping bucket rain gauge and a radar rain gauge, a communication device, and a power module;

[0067] Surface water level and groundwater level monitoring units for monitoring water levels, including: water level data monitoring and acquisition modules for buoy, radar and pressure level gauges, GPRS modules, and transmission network status data;

[0068] A flow rate monitoring unit for monitoring flow rate, including: a communication server for an electromagnetic flow meter and an acoustic Doppler current profiler (ADCP), and a WEB information monitoring system;

[0069] The centralized control management unit used for data integration management automatically reads data from other monitoring units at regular intervals to ensure real-time updating of hydrological data.

[0070] In another embodiment, the digital twin construction and update subsystem includes a construction module and an update module. The construction module is used to construct the corresponding digital twin according to the geometric shape, physical parameters and operating rules of the target watershed. The update module is used to periodically obtain the status data of the target watershed collected by the real-time monitoring subsystem to update the digital twin and ensure data synchronization.

[0071] In another embodiment, the real-time simulation subsystem includes:

[0072] The removal module is used to remove the operation process data of the water conservancy projects in the basin from the digital twin and generate a simulation scenario of the underlying surface without human influence and interference;

[0073] The preheating module is used to hot-start the digital twin model after the removal module processing by using the current hydrological and meteorological conditions combined with real-time monitoring data, saving preheating time;

[0074] The real-time simulation module is used to update the data information of the digital twin and simulate the natural runoff without human influence and interference.

[0075] The above-mentioned embodiments only express the specific implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the protection scope of the present application. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the technical solution concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. A natural runoff simulation method based on digital twin, characterized in that: The following steps are involved: S1. Select a specific river basin as the simulation object and construct the corresponding digital twin, including constructing a geometric model, a hydrological physics model and an operation behavior model. The operation behavior model combines the geometric model and the hydrological physics model to obtain the operation process data of the water conservancy project; S2. Real-time monitoring of the state data of the watershed and inputting it into the digital twin, synchronously updating the data inside the digital twin, and driving the digital twin to obtain runoff simulation data. The state data of the watershed includes runoff data. The simulation deviation is obtained by comparing the runoff simulation data with the runoff data in the state data, and the parameters of the digital twin are adjusted and optimized based on the simulation deviation. S3, remove the water conservancy project from the digital twin processed by S2, and simulate the natural runoff without artificial images and interference based on the current underlying surface and hydrological and meteorological conditions; S3.

1. Remove artificial water conservancy projects: Remove the operation process data of water conservancy projects in the basin from the digital twin processed by S2 to generate a simulation scenario of the underlying surface without human influence and interference. The artificial water conservancy projects include dams, reservoirs, and irrigation systems. S3.2, Digital Twin Preheating: For the digital twin with artificial water conservancy projects removed, the current hydrological and meteorological conditions combined with real-time monitoring data are used for hot start to save preheating time; the real-time monitoring data includes: rainfall, water level, flow rate, surface water level and groundwater level; S3.

3. Natural runoff simulation: Update the data information of the digital twin to simulate the natural runoff without human influence and interference.

2. A natural runoff simulation method based on digital twin according to claim 1, characterized in that: The construction of the geometric model includes: selecting an object for simulating a watershed and constructing a corresponding geometric model. The features in the geometric model include terrain elevation, water body boundaries, river section dimensions, and dimensions and structural features of water conservancy projects in the watershed.

3. A natural runoff simulation method based on digital twin according to claim 1, characterized in that: The construction of the hydrological physical model includes: Construct a surface water module, the parameters involved in the construction of this module include surface water depth, surface water velocity, surface water flux, water surface area coefficient, runoff, precipitation, potential evapotranspiration, river-vadose zone flux, river-groundwater flux and lake-groundwater flux, and surface water level; Construct a groundwater module, the parameters involved in the construction of this module include the saturated hydraulic conductivity of the lifting zone, the elevation of the groundwater surface, the elevation of the bottom of the aquifer, and the deep soil seepage; Construct a soil water module, the parameters involved in the construction of this module include soil relative water content, soil hydraulic conductivity, soil matrix potential, wilting coefficient and saturated water content; River-lake-groundwater interaction module, the construction of this module involves parameters including river-deep vadose zone flux, river-groundwater flux and lake-groundwater flux, river / lake bed saturated hydraulic conductivity, infiltration distance, and groundwater level.

4. A natural runoff simulation method based on digital twin according to claim 1, characterized in that: The construction of the operation behavior model includes: constructing a basin operation behavior model based on a hydrological and physical model, specifically including a water diversion project operation module, a parameter information module, a reservoir scheduling operation module, and a data transmission module. The operation process data of the water conservancy project can be obtained by combining the geometric and physical characteristic parameters of the target basin reflected in the geometric model and the hydrological and physical model with the current reservoir scheduling operation module and the water diversion project operation module.

5. The natural runoff simulation method based on digital twin according to claim 1, characterized in that S2 include: S2.1: Read the status data of the real-time monitoring basin at regular intervals to ensure the real-time update of the hydrological data. The status data of the basin includes rainfall, flow velocity, surface water level and groundwater level. The corresponding runoff data can be calculated through the flow velocity and the size characteristics of the geometric model; S2.

2. Use the watershed status data to drive the hydrological physics model and operation behavior model in the digital twin, simulate the runoff to simulate the water cycle process, and generate runoff simulation data; where the runoff simulation data is non-natural runoff that does not exclude human influence and interference; S2.3, synchronizing the state data of the real-time monitoring basin to the digital twin, updating the state of the digital twin and storing the state data of the real-time monitoring basin in the database; S2.

4. Compare the runoff simulation data of the digital twin with the actual monitored runoff data, and calculate the deviation between the two. If the deviation is greater than the threshold, adjust and optimize the parameters of the digital twin based on the deviation using the Kalman filter algorithm, and repeat S2.1-S2.

4. If the deviation is less than the threshold, it is determined that the digital twin update is completed.

6. A natural runoff simulation system based on digital twins, characterized in that: The natural runoff simulation method based on digital twins as described in any one of claims 1 to 5 is adopted, including a real-time monitoring subsystem, a digital twin construction and update subsystem, and a real-time simulation subsystem. The real-time monitoring subsystem is used to obtain the status data of the target watershed in real time; the digital twin construction and update subsystem is used to construct a corresponding digital twin according to the status data of the target watershed obtained by the real-time monitoring subsystem, and update the digital twin according to the periodically updated status data; the real-time simulation subsystem is used to use the digital twin updated in real time by the digital twin construction and update subsystem to simulate in real time to obtain natural runoff without human influence and interference.

7. A natural runoff simulation system based on digital twin according to claim 6, characterized in that: The real-time monitoring subsystem includes: A rainfall monitoring unit for monitoring rainfall, including: an information collection device for a tipping bucket rain gauge and a radar rain gauge, a communication device, and a power module; Surface water level and groundwater level monitoring units for monitoring water levels, including: water level data monitoring and acquisition modules for buoy, radar and pressure level gauges, GPRS modules, and transmission network status data; A flow rate monitoring unit for monitoring flow rate, including: a communication server for an electromagnetic flow meter and an acoustic Doppler current profiler (ADCP), and a WEB information monitoring system; Surface water level and groundwater level monitoring unit for monitoring groundwater level, including: radar water level gauge and pressure sensor, communication device, power supply module; The centralized control management unit used for data integration management automatically reads data from other monitoring units at regular intervals to ensure real-time updating of hydrological data.

8. The natural runoff simulation system based on digital twin according to claim 6, characterized in that: The digital twin construction and update subsystem includes a construction module and an update module. The construction module is used to construct the corresponding digital twin according to the geometric shape, physical parameters and operating rules of the target watershed. The update module is used to periodically obtain the status data of the target watershed collected by the real-time monitoring subsystem to update the digital twin and ensure data synchronization.

9. The natural runoff simulation system based on digital twin according to claim 6, characterized in that: The real-time simulation subsystem includes: The removal module is used to remove the operation process data of the water conservancy projects in the basin from the digital twin and generate the underlying surface simulation scenario without human influence and interference; The preheating module is used to hot-start the digital twin model after the removal module processing by using the current hydrological and meteorological conditions combined with real-time monitoring data, saving preheating time; The real-time simulation module is used to update the data information of the digital twin and simulate the natural runoff without human influence and interference.

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