A river hydrological surveying and mapping method and system

Abstract

The present invention discloses a river hydrological mapping method and system, which relates to the field of river mapping technology, and solves the problem of not classifying rivers based on volume characteristics of different rivers, and then making abnormal judgments based on the flow velocity performance of rivers with different characteristics. The present invention identifies whether the volume characteristics inside certain characteristic equal-area partitions have undergone relevant changes through the flow velocity changes of different characteristic equal-area partitions. The volume characteristics are related to the quicksand characteristics. When the volume characteristics become smaller, it proves that the quicksand accumulation in this area is serious. An unmanned ship can be dispatched for field survey. Based on the flow velocity changes in the corresponding area, it can be determined in real time whether there is quicksand accumulation or other conditions in the corresponding area, and the quicksand abnormal conditions in the corresponding characteristic equal-area partitions can be determined in real time and displayed in time.

Description

Technical Field

[0001] The present invention relates to the technical field of river surveying and mapping, and in particular to a river hydrological surveying and mapping method and system. Background Art

[0002] River hydrological mapping is an important task, which involves social development, environmental protection and water resources planning. In today's fast-developing society, the rational use and protection of river resources has become increasingly important.

[0003] The application with publication number CN115727821A relates to the technical field of river hydrological surveying and mapping, and in particular to a river hydrological surveying and mapping method and system, which performs multiple surveys of rivers at the same time. During surveying and mapping, the influence of large-volume debris on the surveying and mapping accuracy is reduced, and when the water level rises sharply and the water flow rate accelerates sharply, the damage of large-volume debris to the hydrological detection module is reduced; including: hydrological detection module; lifting module; blocking module; data collection module; data transmission module; data analysis module: analyzes and processes data, and transmits the analyzed and processed data to the control end; data storage module: regularly stores data; control end: displays the analyzed and processed data in the form of text, and remotely controls the hydrological detection module, lifting module, and blocking module.

[0004] When conducting specific surveying and mapping work on the hydrology of the Yellow River, specific surveying and mapping instruments are generally used to conduct field surveys on the water flow velocity and internal quicksand conditions of the designated river channel. However, this type of field survey and mapping method has a large workload and does not classify the river channels based on the volume characteristics of different river channels. It does not then conduct anomaly judgments based on the flow velocity performance of rivers with different characteristics to identify whether there is quicksand accumulation or other conditions in the corresponding river channel area. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a river hydrological surveying and mapping method and system, which solves the problem of not classifying rivers based on the volume characteristics of different rivers, and then making abnormality judgments based on the flow velocity performance of rivers with different characteristics.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A river hydrological surveying and mapping method comprises the following steps:

[0007] S1) Send an unmanned boat to conduct geographical survey of the river in the designated area. Based on the radar acoustic wave sensor inside the unmanned boat, the internal contour parameters of the river in the designated area are determined one by one. Based on the determined contour parameters, a contour model of the river is generated. The specific sub-steps are as follows:

[0008] S21, based on the determined contour model, locking the edge contour lines on both sides opposite to each other in the contour model, dividing the edge contour lines on both sides into a number of equal segments, wherein the length of each segment is less than 1 m, and marking the points between the segments as equal division points;

[0009] S22, digitally marking the points of the edge contour line, and the digitally marked points include the initial point and the end point, and the digital markings are: 1, 2, ..., n, and the points inside the edge contour line on the other side are marked with the same digital markings, and the marking directions are consistent, and several points with the same digital markings are connected to divide the contour model into several equal partitions;

[0010] S23, based on the determined plurality of equal partitions, select the numerical features associated with the equal partitions from the contour model, and determine the volume parameters T of the equal partitions. i , where i represents different equal partitions, starting from the equal partition marked with the number 1 and ending with the equal partition marked with the data n, several sets of volume parameters T i Perform sorting and confirm the volume sorting sequence;

[0011] S2), locking the edge contour lines of the contour model, dividing the two groups of edge contour lines into equal number of equal segments and determining equal division points, dividing the contour model into a number of equal division points based on the determined equal division points, and simultaneously confirming the volume parameters of different equal divisions to confirm the volume sorting sequence;

[0012] S3), based on the confirmed volume sorting sequence, according to the numerical characteristics of adjacent volume parameters in the sequence, several groups of volume parameters are feature classified, and then several equal areas that have completed feature classification are merged to confirm equal areas with the same characteristics. The specific sub-steps are:

[0013] S31, suppose i=1, 2, ..., m, and propose the volume sorting sequence as {T 1 , T 2 ,……,T m}, from the first volume parameter T in this sequence 1 Start by identifying T 1 With T 2 The volume difference between them is Cz1, where Cz1=|T 1 -T 2 |:

[0014] If Cz1<Y1, where Y1 is the preset value, T 1 With T 2 Divide into the same characteristic volume parameters, and then identify T 2 With T 3 The volume difference between them is Cz2. If Cz2<Y1, then T1 , T 2 and T 3 Divide into the same characteristic volume parameters and confirm T 3 With T 4 The volume difference between them is evaluated and the volume parameters with the same characteristics are confirmed one by one. If Cz2≥Y1, then 3 The difference is confirmed in sequence from the beginning, and the subsequent volume parameters with the same characteristics are confirmed one by one;

[0015] If Cz1≥Y1, then from T 2 Start confirming T 2 With T 3 The volume difference Cz2 between them is calculated, and the confirmed volume difference is compared with the preset value Y1, and the subsequent parameters with the same characteristics are confirmed one by one;

[0016] S32, based on the confirmed same-feature volume parameters, dividing the equal areas associated with the corresponding volume parameters into same-feature equal areas, and confirming different same-feature equal areas in the contour model one by one;

[0017] S4) Determine velocity survey points in several equal-featured zones confirmed in the contour model, conduct velocity survey at designated points in the real river, and conduct internal analysis of the river based on different survey velocities given by different velocity survey points, and generate specific analysis signals for display; the specific sub-steps are:

[0018] S41. Set a flow survey point at the middle position of each equal-characteristic partition, use a designated flow meter to conduct real-time survey of the water flow velocity at the flow survey point, and calibrate the water flow velocity of different flow survey points measured in real time as LS k , where k represents different flow velocity survey points;

[0019] S42, determine the first group of equal-characteristic zones according to the water flow direction, and calibrate the water flow velocity of the flow velocity survey point in the first group of equal-characteristic zones as LS 1 Based on this velocity survey point and the length of the river channel, determine the length L1 of this velocity survey point from the next group of equal-characteristic partitions, use L1÷LS1=T1 to determine the associated time T1, and determine a group of time intervals [T1-t1, T1+t1], where t1 is a preset time value, and average the several groups of water flow velocities surveyed in the second group of equal-characteristic partitions within this time interval [T1-Y2, T1+Y2] to determine the second group of water flow velocities LS 2 ;

[0020] S43, based on the determined second group of water flow rates LS 2, using the method of step S42, determine the water flow rate LS of the second group of equal-characteristic partitions and the subsequent third group of equal-characteristic partitions 3 , and so on, confirm the flow velocities of the subsequent equal-characteristic partitions one by one, and determine the flow rate ratio column based on the confirmed flow velocities: LS 1 :LS 2 :……:LS v , where k = 1, 2, ..., v;

[0021] S44, confirming the volume parameters of different equal-characteristic zones one by one, and determining the volume parameter ratio column corresponding to the equal-characteristic zones according to the same ratio confirmation method of the water flow velocity, and the ratios at the same positions of the flow velocity ratio column and the volume parameter ratio column belong to the same equal-characteristic zone;

[0022] S45. Determine the common multiple of the first ratio of the flow velocity ratio column and the volume parameter ratio column, and based on the determined common multiple, make geometric adjustments to other ratios within the flow velocity ratio column and the volume parameter ratio column, perform difference processing on the ratios at the same sorting position in the flow velocity ratio column and the volume parameter ratio column, determine the processed difference ZZ, and ZZ>0, identify whether ZZ satisfies: ZZ≤Y3, where Y3 is a preset value, if so, no processing is performed; if not, lock the equal-feature partition corresponding to this sorting position ratio and generate a survey anomaly signal, which is displayed on the external display terminal.

[0023] Preferably, a river hydrological surveying and mapping system comprises:

[0024] The model generation end determines the internal contour parameters of the river channel in the specified area one by one based on the data surveyed by the radar acoustic wave sensor inside the unmanned boat, and generates the contour model of the river channel based on the determined contour parameters;

[0025] At the equal-area division end, the edge contour lines of the contour model are preferentially locked, the two groups of edge contour lines are equally divided into equal segments of the same number and the equal division points are determined, the contour model is divided into a number of equal areas based on the determined equal division points, and the volume parameters of different equal areas are simultaneously confirmed to confirm the volume sorting sequence;

[0026] At the feature classification end, based on the confirmed volume sorting sequence, several groups of volume parameters are feature classified according to the numerical features of adjacent volume parameters in the sequence, and then several equal areas that have completed feature classification are merged to confirm equal areas with the same features;

[0027] At the flow velocity survey processing end, flow velocity survey points are determined within several equal-featured partitions confirmed in the contour model, flow velocity surveys are conducted at designated points in the actual river channel, and based on the different survey velocities given at different flow velocity survey points, internal analysis of the river channel is performed, and specific analysis signals are generated for display.

[0028] The present invention provides a river hydrological mapping method and system. Compared with the prior art, it has the following beneficial effects:

[0029] The present invention uses an unmanned boat to perform relevant confirmation on the contour model of the river channel, and then performs partition confirmation based on the confirmed contour model, and performs same-feature confirmation based on the volume parameters of different partitions, and divides some partitions with relatively similar volume parameter characteristics into same-feature partitions. This partition confirmation and division method is to better conduct river channel survey and facilitate the subsequent numerical survey processing process of relevant personnel;

[0030] Subsequently, based on the changes in flow velocity in different characteristic equal-zones, it is identified whether the volume characteristics within certain characteristic equal-zones have undergone relevant changes. The volume characteristics are related to the quicksand characteristics. When the volume characteristics become smaller, it proves that the quicksand accumulation in this area is serious. Unmanned boats can be dispatched for field surveys. Based on the changes in flow velocity in the corresponding area, it can be determined in real time whether there is quicksand accumulation or other conditions in the corresponding area. The quicksand abnormalities in the corresponding characteristic equal-zones can be determined in real time and displayed in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the process of the present invention;

[0032] Figure 2 It is a schematic diagram of the principle framework of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Example 1

[0035] See also Figure 1 , the present application provides a river hydrological mapping method, comprising the following steps:

[0036] S1), dispatching an unmanned boat to conduct geographical survey of the river in the designated area, and based on the radar acoustic wave sensor inside the unmanned boat, determining the internal contour parameters of the river in the designated area one by one, and generating a contour model of the river based on the determined contour parameters. Specifically, the unmanned boat is a related equipment located on the surface of the river for surveying, such as an unmanned boat used in the process of mountain surveying, and the unmanned boat is equipped with a corresponding radar acoustic wave device inside, which can determine the contour parameters of different areas inside the river one by one, and generate an overall contour model of the corresponding river based on the determined contour parameters. Since the method of generating a three-dimensional model based on acoustic wave detection scanning is more common in the prior art, it will not be described in detail here. During acoustic wave detection, a model will be established based on the relevant values ​​of the emission parameters and the return parameters, so that the contour model of the river can be locked;

[0037] S2), lock the edge contour line of the contour model (that is, the river bank edge line of the river channel), divide the two groups of edge contour lines into equal number of equal segments and determine the equal division points, divide the contour model into several equal divisions based on the determined equal division points, and simultaneously confirm the volume parameters of different equal divisions to confirm the volume sorting sequence. Specifically, in order to divide the river channel into several areas with the same characteristics, it is necessary to conduct a comprehensive assessment based on different volume parameters, and divide the river channel areas with the same volume parameter characteristics into the same type of characteristic areas, so as to complete the relevant confirmation of the river channel areas with the same characteristics. Among them, the specific sub-steps of synchronous confirmation are:

[0038] S21, based on the determined contour model, locking the edge contour lines on both sides opposite to each other in the contour model (the edge contour lines have been calibrated by the operator after the contour model is generated), dividing the edge contour lines on both sides into a number of equal segments, and the length of each equal segment is less than 1m, and calibrating the points between the equal segments as equal division points;

[0039] S22, digitally marking the points of the edge contour line, and the digitally marked points include the initial point and the end point, and the digital markings are: 1, 2, ..., n, wherein when the digital marking is 1, it represents that this point is the initial point of the edge contour line, when i is 2, it represents that this point is the first group of equally divided points on one side of the initial point of the edge contour line, and when i is n, it represents that this point is the end point on the edge contour line, and the points inside the edge contour line on the other side are marked with the same digital marking, and the marking directions are consistent, and several points with the same digital marking are connected to divide the contour model into several equally divided areas;

[0040] S23, based on the determined plurality of equal partitions, select the numerical features associated with the equal partitions from the contour model (it can be understood as truncating the contour model into a plurality of different spatial regions, whose numerical features include width, depth and contour features of different regions), and determine the volume parameter T of the equal partitions. i , where i represents different equal partitions, starting from the equal partition marked with the number 1 and ending with the equal partition marked with the data n, several sets of volume parameters T i Perform sorting and confirm the volume sorting sequence;

[0041] In order to better complete the river channel characteristic zoning, the river channel is divided into different areas first, and then the volume parameters of different areas are confirmed. If the volume parameters between adjacent areas are too different, then the equal areas do not belong to the same type of characteristics, which means that the difference is large. Then the corresponding area may be the river channel widening or deepening. In this way, such river channel areas can be confirmed one by one to lock different river channel characteristic areas;

[0042] S3), based on the confirmed volume sorting sequence, according to the numerical characteristics of adjacent volume parameters in the sequence, several groups of volume parameters are feature classified, and then several equal areas that have completed feature classification are merged to confirm the equal areas with the same characteristics, wherein the specific sub-steps of confirmation are:

[0043] S31, suppose i=1, 2, ..., m, and propose the volume sorting sequence as {T 1 , T 2 ,……,T m}, from the first volume parameter T in this sequence 1 Start by identifying T 1 With T 2 The volume difference between them is Cz1, where Cz1=|T 1 -T 2 |:

[0044] If Cz1<Y1, where Y1 is a preset value, the specific value is determined by the operator based on experience. 1 With T 2 Divide into the same characteristic volume parameters, and then identify T 2 With T 3 The volume difference between them is Cz2. If Cz2<Y1, then T 1 , T 2 and T 3 Divide into the same characteristic volume parameters and confirm T 3 With T 4 The volume difference between them is evaluated and the volume parameters with the same characteristics are confirmed one by one. If Cz2≥Y1, then 3The difference is confirmed in sequence from the beginning, and the subsequent volume parameters with the same characteristics are confirmed one by one;

[0045] If Cz1≥Y1, then from T 2 Start confirming T 2 With T 3 The volume difference Cz2 between them is calculated, and the confirmed volume difference is compared with the preset value Y1, and the subsequent parameters with the same characteristics are confirmed one by one;

[0046] For example: the proposed volume sorting sequence is {35, 37, 38.5, 37, 36.5, 40, 43, 45, 44, 47, 49, 51}, where Y1 is set to 3, then the difference between 35 and 37 is 2, the difference between 37 and 38.5 is 1.5, the difference between 38.5 and 37 and between 37 and 36.5 is 1.5 and 0.5 respectively, then after the above numerical confirmation, the first group of same-feature volume parameters can be determined to be 35, 37, 38.5, 37, 36.5, because the difference between 36.5 and 40 is 3.5, it is out of the original feature confirmation process, so it does not belong to the previous group of same-feature volume parameters, but to the next group of same-feature volume parameters, and this method can be used to confirm the subsequent different same-feature parameters of 40, 43, 45, 44 and 47, 49, 51;

[0047] S32. Based on the confirmed same-feature volume parameters, the equal-areas associated with the corresponding volume parameters are divided into same-feature equal-areas, and different same-feature equal-areas in the contour model are confirmed one by one.

[0048] Specifically, the volume inside each different equal-feature partition is changed one by one, and the volume parameters corresponding to the equal-feature partitions with the same characteristics are almost the same. Therefore, flow velocity survey can be carried out in different equal-feature partitions with the same characteristics. Based on the flow velocity changes in the equal-feature partitions with different characteristics, it is possible to identify whether the volume characteristics inside certain equal-feature partitions have undergone relevant changes. Their volume characteristics are related to the quicksand characteristics. When the volume characteristics become smaller, it proves that the quicksand accumulation in this area is serious, and an unmanned ship can be dispatched for field survey.

[0049] S4) Determine the velocity survey points in several equal-featured zones confirmed in the contour model, conduct velocity survey at the designated points of the real river, and conduct internal analysis of the river based on the different survey velocities given by different velocity survey points, and generate specific analysis signals for display, wherein the specific sub-steps of conducting internal analysis of the river are:

[0050] S41. Set a velocity survey point at the middle position of each equal-characteristic partition (the middle position is the center point, and the center point can be directly confirmed based on the surface display of the equal-characteristic partition), use a designated flow meter to conduct real-time survey of the water flow velocity at the velocity survey point, and calibrate the water flow velocity of different velocity survey points surveyed in real time as LS k , where k represents different flow velocity survey points;

[0051] S42, determine the first group of equal-characteristic partitions according to the water flow direction (the water flow direction has been pre-calibrated in the contour model), and calibrate the water flow velocity of the flow velocity survey point in the first group of equal-characteristic partitions as LS 1 Based on this velocity survey point and the length of the river channel, determine the length L1 of this velocity survey point from the next group of equal-characteristic partitions, use L1÷LS1=T1 to determine the associated time T1, and determine a group of time intervals [T1-t1, T1+t1], where t1 is a preset time value, and its specific value is determined by the operator based on experience. Perform average processing on several groups of water flow velocities surveyed in the second group of equal-characteristic partitions within this time interval [T1-Y2, T1+Y2] to determine the second group of water flow velocities LS 2 ;

[0052] S43, based on the determined second group of water flow rates LS 2 , using the method of step S42, determine the water flow rate LS of the second group of equal-characteristic partitions and the subsequent third group of equal-characteristic partitions 3 , and so on, confirm the flow velocities of the subsequent equal-characteristic partitions one by one, and determine the flow rate ratio column based on the confirmed flow velocities: LS 1 :LS 2 :……:LS v , where k = 1, 2, ..., v;

[0053] S44, confirming the volume parameters of different equal-characteristic zones one by one, and determining the volume parameter ratio column corresponding to the equal-characteristic zones according to the same ratio confirmation method of the water flow velocity, and the ratios at the same positions of the flow velocity ratio column and the volume parameter ratio column belong to the same equal-characteristic zone;

[0054] S45, determine the common multiple of the first ratio of the flow rate ratio column and the volume parameter ratio column, and based on the determined common multiple, adjust the other ratios in the flow rate ratio column and the volume parameter ratio column in geometric proportion. For example: the flow rate ratio column is 1:2:3, and its volume parameter ratio column is 3:4:5, then the common multiple of the first group of ratios is 3, then the flow rate ratio column is changed to 3:6:9 after adjustment, and its volume parameter ratio column remains unchanged, and the ratios at the same sorting position in the flow rate ratio column and the volume parameter ratio column are adjusted in geometric proportion. Perform difference processing to determine the processing difference ZZ, and ZZ>0, and identify whether ZZ satisfies: ZZ≤Y3, where Y3 is a preset value, and its specific value is determined by the operator based on experience. If so, no processing is performed. If not, the same characteristic equal partition corresponding to this sorting position ratio is locked and a survey abnormality signal is generated and displayed in the external display terminal. When external personnel view this survey abnormality signal through the display terminal, it is necessary to dispatch an unmanned ship for field survey to assess whether there is quicksand accumulation or other conditions in this area;

[0055] This method can effectively determine whether there is quicksand accumulation or other conditions in the corresponding area based on the change in flow velocity, and can determine the quicksand abnormality of the corresponding characteristic equal-zone in real time and display it in time.

[0056] Example 2

[0057] Combination Figure 2 , a river hydrological surveying and mapping system, comprising:

[0058] The model generation end determines the internal contour parameters of the river channel in the specified area one by one based on the data surveyed by the radar acoustic wave sensor inside the unmanned boat, and generates the contour model of the river channel based on the determined contour parameters;

[0059] At the equal-area division end, the edge contour lines of the contour model are preferentially locked, the two groups of edge contour lines are equally divided into equal segments of the same number and the equal division points are determined, the contour model is divided into a number of equal areas based on the determined equal division points, and the volume parameters of different equal areas are simultaneously confirmed to confirm the volume sorting sequence;

[0060] At the feature classification end, based on the confirmed volume sorting sequence, several groups of volume parameters are feature classified according to the numerical features of adjacent volume parameters in the sequence, and then several equal areas that have completed feature classification are merged to confirm equal areas with the same features;

[0061] At the flow velocity survey processing end, flow velocity survey points are determined within several equal-featured partitions confirmed in the contour model, flow velocity surveys are conducted at designated points in the actual river channel, and based on the different survey velocities given at different flow velocity survey points, internal analysis of the river channel is performed, and specific analysis signals are generated for display.

[0062] Example 3

[0063] The specific implementation process of this embodiment includes the entire implementation process of the above two groups of embodiments.

[0064] Some of the data in the above formulas are numerically calculated by removing their dimensions. Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0065] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A river hydrological surveying and mapping method, characterized in that: The following steps are involved: S1), dispatching an unmanned boat to conduct geographical survey of the river in the designated area, determining the internal contour parameters of the river in the designated area one by one based on the radar acoustic wave sensor inside the unmanned boat, and generating a contour model of the river based on the determined contour parameters; S2), locking the edge contour lines of the contour model, dividing the two groups of edge contour lines into equal number of equal segments and determining equal division points, dividing the contour model into a number of equal division points based on the determined equal division points, and simultaneously confirming the volume parameters of different equal divisions to confirm the volume sorting sequence; S3), based on the confirmed volume sorting sequence, according to the numerical characteristics of adjacent volume parameters in the sequence, several groups of volume parameters are feature classified, and then several equal areas that have completed feature classification are merged to confirm equal areas with the same characteristics. The specific sub-steps are: S31, suppose i=1, 2, ..., m, and propose the volume sorting sequence as {T1, T2, ..., T m }, starting from the first volume parameter T1 in this sequence, identify the volume difference Cz1 between T1 and T2, where Cz1=|T1-T2|: If Cz1<Y1, where Y1 is a preset value, T1 and T2 are classified as the same characteristic volume parameters, and then the volume difference Cz2 between T2 and T3 is identified. If Cz2<Y1, T1, T2 and T3 are classified as the same characteristic volume parameters, and the volume difference between T3 and T4 is confirmed and relevant evaluation is performed, and the same characteristic volume parameters are confirmed one by one. If Cz2≥Y1, the difference confirmation is performed in sequence from T3 onwards, and the subsequent same characteristic volume parameters are confirmed one by one. If Cz1 ≥ Y1, the volume difference Cz2 between T2 and T3 is confirmed starting from T2, and the confirmed volume difference is compared with the preset value Y1, and the subsequent parameters with the same characteristics are confirmed one by one; S32, based on the confirmed same-feature volume parameters, dividing the equal-areas associated with the corresponding volume parameters into same-feature equal-areas, and confirming different same-feature equal-areas in the contour model one by one; S4) Determine the velocity survey points in several equal-featured zones confirmed in the contour model, conduct velocity survey at designated points in the real river, and conduct internal analysis of the river based on the different survey velocities given by different velocity survey points, and generate specific analysis signals for display.

2. A river hydrological surveying and mapping method according to claim 1, characterized in that: In step S2, the specific sub-steps of confirming the volume parameters of different equal partitions are: S21, based on the determined contour model, locking the edge contour lines on both sides opposite to each other in the contour model, dividing the edge contour lines on both sides into a number of equal segments, wherein the length of each segment is less than 1 m, and marking the points between the segments as equal division points; S22, digitally marking the points of the edge contour line, and the digitally marked points include the initial point and the end point, and the digital markings are: 1, 2, ..., n, and the points inside the edge contour line on the other side are marked with the same digital markings, and the marking directions are consistent, and several points with the same digital markings are connected to divide the contour model into several equal partitions; S23, based on the determined plurality of equal partitions, select the numerical features associated with the equal partitions from the contour model, and determine the volume parameters T of the equal partitions. i , where i represents different equal partitions, starting from the equal partition marked with the number 1 and ending with the equal partition marked with the data n, several sets of volume parameters T i Perform sorting and confirm the volume sorting sequence.

3. A river hydrological surveying and mapping method according to claim 1, characterized in that: In step S4, the specific sub-steps of performing the internal analysis of the river channel are: S41. Set a flow survey point at the middle position of each equal-characteristic partition, use a designated flow meter to conduct real-time survey of the water flow velocity at the flow survey point, and calibrate the water flow velocity of different flow survey points measured in real time as LS k , where k represents different flow velocity survey points; S42, determine the first group of equal-characteristic zones according to the water flow direction, calibrate the water flow velocity of the flow velocity survey point in the first group of equal-characteristic zones as LS1, determine the length L1 of the flow velocity survey point to the next group of equal-characteristic zones based on the flow velocity survey point and the river length, use L1÷LS1=T1 to determine the associated time length T1, and determine a group of time length intervals [T1-t1, T1+t1], where t1 is a preset time value, perform average processing on several groups of water flow velocities surveyed in the second group of equal-characteristic zones within this time length interval [T1-Y2, T1+Y2], and determine the second group of water flow velocity LS2; S43, based on the determined second group of water flow velocity LS2, the method of step S42 is adopted to determine the water flow velocity LS3 of the subsequent third group of equal-characteristic equal-divisions of the second group, and so on, the water flow velocities of the subsequent equal-characteristic equal-divisions are confirmed one by one, and based on the confirmed water flow velocities one by one, the flow velocity ratio sequence is determined: LS1: LS2: ...: LS v , where k = 1, 2, ..., v; S44, confirming the volume parameters of different equal-characteristic zones one by one, and determining the volume parameter ratio column corresponding to the equal-characteristic zones according to the same ratio confirmation method of the water flow velocity, and the ratios at the same positions of the flow velocity ratio column and the volume parameter ratio column belong to the same equal-characteristic zone; S45. Determine the common multiple of the first ratio of the flow rate ratio column and the volume parameter ratio column, and based on the determined common multiple, make proportional adjustments to other ratios within the flow rate ratio column and the volume parameter ratio column, perform difference processing on the ratios at the same sorting position in the flow rate ratio column and the volume parameter ratio column, determine the processed difference ZZ, and ZZ>0, identify whether ZZ satisfies: ZZ≤Y3, where Y3 is a preset value. If so, no processing is performed.

4. A river hydrological surveying and mapping method according to claim 3, characterized in that: If the processed difference ZZ does not satisfy ZZ≤Y3, the equal-characteristic partition corresponding to this sorting position ratio is locked and a survey anomaly signal is generated and displayed on the external display terminal.

5. A river hydrological surveying and mapping system, which operates based on the river hydrological surveying and mapping method according to any one of claims 1 to 4, characterized in that: include: The model generation end determines the internal contour parameters of the river channel in the specified area one by one based on the data surveyed by the radar acoustic wave sensor inside the unmanned boat, and generates the contour model of the river channel based on the determined contour parameters; At the equal-area division end, the edge contour lines of the contour model are preferentially locked, the two groups of edge contour lines are equally divided into equal segments of the same number and the equal division points are determined, the contour model is divided into a number of equal areas based on the determined equal division points, and the volume parameters of different equal areas are simultaneously confirmed to confirm the volume sorting sequence; At the feature classification end, based on the confirmed volume sorting sequence, several groups of volume parameters are feature classified according to the numerical features of adjacent volume parameters in the sequence, and then several equal areas that have completed feature classification are merged to confirm equal areas with the same features; At the flow velocity survey processing end, flow velocity survey points are determined within several equal-featured partitions confirmed in the contour model, flow velocity surveys are conducted at designated points in the actual river channel, and based on the different survey velocities given at different flow velocity survey points, internal analysis of the river channel is performed, and specific analysis signals are generated for display.

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