River hydrological monitoring and early warning method based on digital twinning

Abstract

The invention provides a river hydrological monitoring and early warning method based on digital twinning, and relates to the field of river hydrological monitoring and early warning, and the method comprises the steps: accessing current monitoring data to a target digital twinning model, and obtaining a visualization result corresponding to current hydrological monitoring; determining alternative rescue boats according to the current help seeking point location and the number of rescued people; all alternative rescue point locations are determined from all the preset point locations; determining all alternative rescue paths according to all the first paths and all the second paths, and determining a first target rescue path from the target rescue boat to the target rescue site and a second target rescue path from the intelligent terminal to the target rescue site from all the alternative rescue paths according to the first consumed time duration and the second consumed time duration, and generating an early warning instruction according to the first target rescue path and the second target rescue path. According to the method, the optimal rescue path can be dynamically determined by comprehensively considering the water flow velocity, the water level change and the position relation between the rescue boat and the rescue point.

Description

Technical Field

[0001] The present invention relates to the field of river hydrological monitoring and early warning, and in particular to a river hydrological monitoring and early warning method based on digital twins. Background Art

[0002] When flood disasters occur, some people will be trapped. At this time, rescue boats are usually dispatched to rescue the trapped people. However, due to the complex terrain and uncertainty of the ground water level, it often takes a lot of time to constantly adjust the rescue route to approach the trapped people, which makes the rescue efficiency low and even leads to rescue failure.

[0003] Hydrological monitoring methods based on digital twins are widely used in monitoring and early warning of flood disasters. For example, the Chinese invention patent CN118862697 A discloses a flood disaster emergency simulation method and system based on digital twins, which collects environmental data related to flood disasters in real time; establishes a digital twin model of the flood disaster area; predicts the propagation path, water depth and flow rate of the flood; identifies patterns and anomalies; formulates emergency plans based on historical flood disaster response experience; after the emergency response to the flood disaster is completed, the execution effect of the emergency plan is evaluated, lessons learned are summarized, and the digital twin model and emergency plan are optimized; for example, CN 116245008 A's Chinese invention patent discloses a method for dynamic estimation of basin hydrological model parameters based on digital twins, including obtaining the geometry, physical properties and hydrological information of targets along the basin within L kilometers upstream and downstream of the test section of the hydrological station, and constructing a prototype model of the basin; bringing historical data from the original database into the prototype model for training to form a digital twin model for dynamic estimation of hydrological parameters; arranging monitoring equipment along the basin within L kilometers upstream and downstream of the test section of the hydrological station, and the monitoring equipment regularly transmits the monitoring data to a remote terminal, and inputs it into the digital twin model for calculation to estimate the values ​​of various hydrological parameters in the next sampling period.

[0004] However, the prior art does not provide a corresponding response plan based on the hydrological monitoring results of digital twins when people are trapped, so as to assist in the rapid rescue of trapped people, and there is no river hydrological monitoring and early warning method based on digital twins. Summary of the invention

[0005] The present invention provides a river hydrological monitoring and early warning method based on digital twins, which can allocate paths for smart terminals and rescue boats based on the river hydrological monitoring of digital twins, combined with the effective paths and time spent on rescue, thereby saving rescue time and improving rescue efficiency.

[0006] In a first aspect, the present invention provides a river hydrological monitoring and early warning method based on digital twins, comprising:

[0007] Connect each current monitoring data obtained from all river monitoring points to the target digital twin model, and obtain the visualization results corresponding to the current hydrological monitoring output by the target digital twin model, wherein the current monitoring data includes the current water level data and the current water flow velocity data, and the visualization results include the target water level data and the target water flow velocity data of each river at different preset points;

[0008] Receive and respond to any distress signal from the smart terminal, the distress signal at least including the current distress point and the number of rescued people, and determine all candidate rescue boats according to the current distress point and the number of rescued people;

[0009] According to the target water level data of each river channel at different preset points, all the alternative rescue points corresponding to the current rescue point are determined from all the preset points. For each alternative rescue point, all the first paths and all the first time durations from the current rescue point to each alternative rescue point are determined, all the second paths from each alternative rescue boat to each alternative rescue point are determined, and each second time duration is determined according to the target water flow velocity data;

[0010] Determine all alternative rescue paths according to all first paths and all second paths corresponding to each alternative rescue point, determine a first target rescue path from a target rescue boat to a target rescue location and a second target rescue path from a smart terminal to a target rescue location from all alternative rescue paths according to a first time duration and a second time duration of each alternative rescue path, generate an early warning instruction according to the first target rescue path and the second target rescue path, the early warning instruction is used to send the second target rescue path to the smart terminal, and send the first target rescue path to the target rescue boat;

[0011] The target digital twin model is constructed based on historical terrain data, historical river data and architectural landform data corresponding to the historical river. The historical river data includes historical water level data and historical water flow velocity data.

[0012] According to the river hydrological monitoring and early warning method based on digital twins provided by the present invention, the step of determining all candidate rescue boats according to the current rescue point and the number of rescued persons includes:

[0013] Taking the current rescue point as the center of the circle, determining a preset range with a preset length as the radius, and determining all initial rescue boats within the preset range;

[0014] The maximum number of persons carried by each initial rescue boat is determined, and all initial rescue boats that meet the requirements for the number of persons to be rescued are determined as all candidate rescue boats.

[0015] According to the river hydrological monitoring and early warning method based on digital twins provided by the present invention, according to the target water level data of each river at different preset points, all candidate rescue points corresponding to the current rescue point are determined from all preset points, including:

[0016] Determine all preset points where the target water level data is less than the preset water level data as all pending rescue points;

[0017] For each pending rescue point, when it is determined that there is no unreachable event in the path from the smart terminal to the pending rescue point, the pending rescue point is determined as an alternative rescue point, and all pending rescue points are traversed until all alternative rescue points are determined;

[0018] The unreachable events include:

[0019] The water level at any point in the path is greater than the preset water level;

[0020] There is a path obstacle at any point in the path;

[0021] Alternatively, there is a risk of debris flow at any point along the path.

[0022] According to the river hydrological monitoring and early warning method based on digital twins provided by the present invention, after all preset points whose target water level data is less than the preset water level data are determined as all pending rescue points, the method further includes:

[0023] Determine all preset points where the target water level data is greater than or equal to the preset water level data as all abnormal points;

[0024] An abnormal warning instruction is generated according to all abnormal points, and the abnormal warning instruction is used to instruct to display all the abnormal points in a preset display interface of the target digital twin model.

[0025] According to the river hydrological monitoring and early warning method based on digital twins provided by the present invention, the determining of all first paths and all first time durations from the current rescue point to each alternative rescue point, the determining of all second paths from each alternative rescue boat to each alternative rescue point, and the determining of each second time duration according to the target water flow velocity data include:

[0026] For each candidate rescue point, determine the path from the current rescue point to the candidate rescue point as a first path, determine a first time duration according to the first path and a preset pedestrian speed, traverse all candidate rescue points, and determine each first time duration corresponding to each first path;

[0027] Determine the paths from all the candidate rescue boats to the candidate rescue points as all the second paths, determine each second time duration according to each second path and the target water flow rate, traverse all the candidate rescue points, and determine each second time duration corresponding to each second path;

[0028] Among them, different second paths correspond to different target water flow rates.

[0029] According to the river hydrological monitoring and early warning method based on digital twins provided by the present invention, the determining of each second duration according to each second path and the target water flow velocity includes:

[0030] Determine the preset operating speed for each alternative rescue boat;

[0031] Determining the actual operating speed of each candidate rescue boat according to the preset operating speed of each candidate rescue boat and the target water flow rate;

[0032] The duration of each second time is determined according to each second path and the actual running speed.

[0033] According to the river hydrological monitoring and early warning method based on digital twins provided by the present invention, all the alternative rescue paths are determined according to all the first paths and all the second paths corresponding to each alternative rescue point, including:

[0034] For each candidate rescue point, determine a first path and a second path connected to the candidate rescue point, and determine a path formed by the first path, the candidate rescue point and the second path as the candidate rescue path;

[0035] Traverse all alternative rescue points until all alternative rescue paths are determined.

[0036] According to the river hydrological monitoring and early warning method based on digital twins provided by the present invention, the first target rescue path from the target rescue boat to the target rescue location and the second target rescue path from the smart terminal to the target rescue location are determined from all the alternative rescue paths according to the first time duration and the second time duration of each alternative rescue path, including:

[0037] For each alternative rescue path, determine the total duration corresponding to the alternative rescue path according to the first duration and the second duration;

[0038] Sort all total durations in ascending order, select a target total duration according to the sorting order, and determine a first target duration and a second target duration corresponding to the target total duration;

[0039] Determine the longest one of the first target duration and the second target duration as the target duration. If it is determined that the target duration is not the lowest duration among the paths corresponding to the target duration, reselect the target total duration according to the sorting order until it is determined that the target duration is the lowest duration among the paths corresponding to the target duration, and determine the rescue path corresponding to the target total duration as the target rescue path.

[0040] A first target rescue path and a second target rescue path corresponding to the target rescue path are determined.

[0041] According to the river hydrological monitoring and early warning method based on digital twins provided by the present invention, before obtaining the visualization result corresponding to the current hydrological monitoring output by the target digital twin model, the method further includes:

[0042] For any river channel, both sides of the river channel are equally divided, and the division points corresponding to the river channel are determined as the preset points. All river channels are traversed to determine all preset points.

[0043] According to the river hydrological monitoring and early warning method based on digital twins provided by the present invention, after generating an early warning instruction according to the first target rescue path and the second target rescue path, the method further includes:

[0044] Displaying the first target rescue path and the second target rescue path in a preset display interface of the target digital twin model;

[0045] Receiving first positioning information from the smart terminal and second positioning information from the target rescue boat;

[0046] In the first target rescue path of the preset display interface, the smart terminal is displayed according to the first positioning information, and in the second target rescue path of the preset display interface, the target rescue boat is displayed according to the second positioning information;

[0047] After a preset time interval, the first positioning information from the smart terminal and the second positioning information from the target rescue boat are received again, and the positions of the smart terminal and the target rescue boat are updated in the preset display interface.

[0048] The present invention can dynamically determine the optimal rescue path by comprehensively considering the water flow velocity, water level changes, and the positional relationship between the rescue boat and the rescue point. The dynamic path optimization capability provided by the present invention makes the rescue operation more flexible and efficient, adapting to the rescue needs in different situations. It can receive and respond to the distress signal from the smart terminal, determine the alternative rescue boat according to the rescue point and the number of rescued people, and further combine the target water level data and target water flow velocity data output by the target digital twin model to accurately calculate the alternative rescue path, greatly improving the efficiency and success rate of the rescue, and reducing the delay caused by improper path selection;

[0049] The present invention can also obtain the hydrological conditions of the river in real time and convert them into visualization results by connecting the current monitoring data of all river monitoring points to the target digital twin model. This not only improves the real-time nature of monitoring, but also enables managers to understand the overall hydrological conditions of the river more clearly through intuitive visualization methods, facilitating quick decision-making. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0051] Figure 1 It is a flow chart of the river hydrological monitoring and early warning method based on digital twin provided by the present invention;

[0052] Figure 2 It is a structural schematic diagram of a river hydrological monitoring and early warning device based on digital twin provided by the present invention;

[0053] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0055] Figure 1 It is a flow chart of a river hydrological monitoring and early warning method based on digital twins provided by the present invention. The river hydrological monitoring and early warning method based on digital twins includes:

[0056] Step 101: Connect each current monitoring data obtained from all river monitoring points to the target digital twin model, and obtain the visualization results corresponding to the current hydrological monitoring output by the target digital twin model, wherein the current monitoring data includes current water level data and current water flow velocity data, and the visualization results include target water level data and target water flow velocity data of each river at different preset points;

[0057] Step 102: Receive and respond to any distress signal from the smart terminal, wherein the distress signal at least includes a current distress point and a number of rescued persons, and determine all candidate rescue boats according to the current distress point and the number of rescued persons;

[0058] Step 103: According to the target water level data of each river channel at different preset points, all the alternative rescue points corresponding to the current rescue point are determined from all the preset points. For each alternative rescue point, all the first paths and all the first time durations from the current rescue point to each alternative rescue point are determined, all the second paths from each alternative rescue boat to each alternative rescue point are determined, and each second time duration is determined according to the target water flow velocity data;

[0059] Step 104: determine all alternative rescue paths according to all first paths and all second paths corresponding to each alternative rescue point, determine a first target rescue path from a target rescue boat to a target rescue location and a second target rescue path from a smart terminal to a target rescue location from all alternative rescue paths according to a first time duration and a second time duration of each alternative rescue path, generate an early warning instruction according to the first target rescue path and the second target rescue path, and the early warning instruction is used to send the second target rescue path to the smart terminal, and send the first target rescue path to the target rescue boat;

[0060] The target digital twin model is constructed based on historical terrain data, historical river data and architectural landform data corresponding to the historical river. The historical river data includes historical water level data and historical water flow velocity data.

[0061] In step 101, the current monitoring data obtained from all river monitoring points are connected to the target digital twin model. After processing the current water level data and the current water flow velocity data, the target digital twin model outputs the visualization results corresponding to the current hydrological monitoring, including the target water level data and the target water flow velocity data of each river at different preset points. The present invention ensures the dynamic grasp of the hydrological conditions of the river by accessing real-time monitoring data, converts complex hydrological data into intuitive visualization results, facilitates managers to quickly understand and analyze the hydrological conditions of the river, and uses the digital twin model to process data to improve the accuracy and reliability of the data.

[0062] Optionally, a large amount of hydrological data needs to be uploaded every day at the river monitoring points, such as water level, flow rate, sediment content, etc. Some of this data is uploaded automatically, and some needs to be recorded manually, and then uploaded by the measuring station to the superior department and stored in the unit server. After the data is entered into the server, the corresponding visualization results of the current hydrological monitoring are output, including the target water level data and target water flow rate data of each river at different preset points.

[0063] Optionally, the present invention can also adopt the same logical method to collect data required by other software, such as meteorological data, user data, etc., and display these data in the preset display interface of the target digital twin model.

[0064] Optionally, before obtaining the visualization result corresponding to the current hydrological monitoring output by the target digital twin model, the method further includes:

[0065] For any river channel, both sides of the river channel are equally divided, and the division points corresponding to the river channel are determined as the preset points. All river channels are traversed to determine all preset points.

[0066] Optionally, for each river channel, first determine its starting point and end point, and then divide it equally on both sides of the river channel. The equidistant here can be set according to actual needs, for example, every 100 meters, 500 meters or other suitable distances, through equidistant division, determine multiple division points on the river channel, these points are preset points, traverse all river channels, that is, repeat the above river channel division steps, ensure that each river channel is divided equally, and determine the corresponding preset points, record the preset points of all river channels, and divide the river channel equally to ensure that the distribution of preset points is more uniform, thereby improving the accuracy of hydrological monitoring. The determination of preset points helps to more clearly display the hydrological conditions of the river channel in the digital twin model. Through visual display, managers can intuitively see the water level and water flow velocity data of the river channel at different preset points, so as to better understand the overall hydrological conditions of the river channel and provide data support for the subsequent determination of target rescue points and path allocation.

[0067] Optionally, the target digital twin model is constructed according to historical terrain data, historical river data and architectural landform data corresponding to the historical river. The historical river data includes historical water level data and historical water flow velocity data. For historical terrain data, the present invention can scan by drone, and use drones with real-time differential positioning technology RTK to take pictures at high altitude, locate the differential signal of the base station in real time, and then solve the coordinate position on the receiver. The data positioning accuracy can reach the centimeter level. The role of using RTK differential positioning is to reduce the longitude and latitude errors of the photos and ensure the accuracy of the model. In the process of aerial survey, image control points are usually used to correct the model accuracy. The image control points use the fixed solution coordinates of the total station. When generating the model, the image control point coordinates are imported and adjusted with the RTK coordinates. The accuracy of the model can be controlled within one meter, which is very important for digital twins and flood control scheduling. When performing oblique photography tasks, sufficient light and good weather conditions are required to obtain high-quality image data. In the case of bad weather or insufficient light, problems such as blurred images and uneven light may occur, affecting the quality and accuracy of the data. In addition, oblique photography requires photographing buildings from different angles and heights. If sufficient data cannot be obtained at certain angles or heights, the integrity and accuracy of the data will also be affected. If data is found to be missing or of insufficient quality, manual reshooting is required to obtain complete and high-quality data to ensure the accuracy and precision of the data. Manual reshooting can obtain missing data by adjusting the shooting angle and height, selecting appropriate weather and lighting conditions, and integrating and correcting it with previous data to ensure data consistency and accuracy. Based on previous oblique photography data and data processing results, determine the areas and buildings that need to be reshooted. Determine the best time and conditions for reshooting based on weather forecasts and lighting conditions. Generally speaking, it is necessary to choose a time with clear weather and sufficient light for reshooting.

[0068] Optionally, the target digital twin model in the present invention can also be combined with DEM elevation map processing. Specifically, the elevation data are all block rectangles. The target range area is obtained by merging multiple rectangles, and the surrounding elevation data is added to merge them into a whole block. The DEM elevation data is gridded using a clipping tool. Before reading the elevation data, it should be ensured that the elevation data has been correctly set up for projection, and then resampling, range stretching, pixel type conversion and other processing are performed. The existing river data are basically one-dimensional and two-dimensional data. The present invention can restore the riverbed appearance 1:1 based on the existing data. In an optional embodiment, the elevation data related to the river can be obtained. The point cloud data obtained by an unmanned ship or other laser radar LiDAR technology can be used. Through data preprocessing, river extraction, river feature extraction, and river terrain analysis, the river DEM data is visualized in the form of elevation maps, three-dimensional models, etc., to intuitively display the river terrain and geomorphic features. The river DEM data is made into a river map using geographic information system (GIS) software or professional map making software for easy use and sharing.

[0069] Optionally, the reason for restoring the landform with digital twins is to better understand and simulate natural systems, and use digital twin technology to perform high-precision digital modeling of buildings in order to simulate, analyze and manage various situations and possibilities of buildings, so as to have a more intuitive understanding of building disaster statistics, including flooding displays, heat maps, etc.

[0070] In step 102, receiving and responding to distress signals from smart terminals, the signals include the current distress point and the number of people to be rescued, and then determining all possible alternative rescue boats. The determining of all possible alternative rescue boats according to the current distress point and the number of people to be rescued includes:

[0071] Taking the current rescue point as the center of the circle, determining a preset range with a preset length as the radius, and determining all initial rescue boats within the preset range;

[0072] The maximum number of persons carried by each initial rescue boat is determined, and all initial rescue boats that meet the requirements for the number of persons to be rescued are determined as all candidate rescue boats.

[0073] Optionally, with the current rescue point as the center, a circular area with a preset length as the radius is determined as the preset range. The preset length can be set according to actual conditions, for example, it can be determined according to factors such as the travel speed of the rescue boat and the rescue time requirement. Next, the system needs to determine all the initial rescue boats within the preset range, which can be achieved through a geographic information system (GIS) or similar positioning technology. All rescue boats within the preset range are marked and recorded. For each initial rescue boat, the system needs to obtain the key information of its maximum number of passengers, which can be pre-stored in a database for quick query when needed. Finally, the system will compare the relationship between the maximum number of passengers of each initial rescue boat and the number of rescued people. Only those initial rescue boats whose maximum number of passengers is greater than the number of rescued people will be determined as alternative rescue boats.

[0074] In step 103, according to the target water level data of each river channel at different preset points, all candidate rescue points corresponding to the current rescue point are determined from all preset points, including:

[0075] Determine all preset points where the target water level data is less than the preset water level data as all pending rescue points;

[0076] For each pending rescue point, when it is determined that there is no unreachable event in the path from the smart terminal to the pending rescue point, the pending rescue point is determined as an alternative rescue point, and all pending rescue points are traversed until all alternative rescue points are determined;

[0077] The unreachable events include:

[0078] The water level at any point in the path is greater than the preset water level;

[0079] There is a path obstacle at any point in the path;

[0080] Alternatively, there is a risk of debris flow at any point along the path.

[0081] Optionally, the present invention will screen out all preset points whose target water levels are lower than the preset water levels based on the comparison between the target water level data and the preset water level data. These points are preliminarily determined as pending rescue points. The preset water level is usually set according to the characteristics of the river, historical water level data and the safety standards of the rescue operation. For each pending rescue point, it is necessary to evaluate whether the path from the smart terminal, that is, the point where the distress signal is sent, to the pending rescue point is reachable, which includes checking whether each point in the path meets the following conditions: Water level condition: The water level of any point in the path must be lower than or equal to the preset water level. to ensure that the rescue boat or rescue personnel can pass safely; obstacle condition: there are no path obstacles that cannot be bypassed in the path, such as fallen trees, damaged bridges, etc.; debris flow risk condition: there is no debris flow risk at any point in the path, that is, there is no possibility of debris flow or the debris flow has been controlled. If the pending rescue point meets all the above conditions, that is, there is no unreachable event in the path, then the pending rescue point is determined as an alternative rescue point. The present invention will traverse all pending rescue points and repeat the above evaluation process until all qualified alternative rescue points are determined.

[0082] Optionally, after determining all preset points whose target water level data is less than the preset water level data as all pending rescue points, the method further includes:

[0083] Determine all preset points where the target water level data is greater than or equal to the preset water level data as all abnormal points;

[0084] An abnormal warning instruction is generated according to all abnormal points, and the abnormal warning instruction is used to instruct to display all the abnormal points in a preset display interface of the target digital twin model.

[0085] Optionally, after all preset points whose target water level data is less than the preset water level data are determined as pending rescue points, the system will further analyze the remaining water level data. For example, all preset points whose target water level data is greater than or equal to the preset water level data will be marked as abnormal points. The water level conditions of these points have reached or are about to reach or exceed the safety threshold. For all identified abnormal points, the present invention will generate corresponding abnormal warning instructions, which may include detailed information about the abnormal points, such as location, water level data, etc. The main purpose of the abnormal warning instructions is to instruct the preset display interface of the target digital twin model to display these abnormal points in a visual manner so that relevant personnel can quickly identify and locate potential risk areas. The preset display interface of the target digital twin model will highlight the abnormal points according to the received abnormal warning instructions. This can be achieved through color coding, flashing prompts, annotations, etc., to ensure that the abnormal points can attract the attention of the operator.

[0086] Optionally, the determining of all first paths and all first durations from the current rescue point to each candidate rescue point, determining all second paths from each candidate rescue boat to each candidate rescue point, and determining each second duration according to the target water flow velocity data, includes:

[0087] For each candidate rescue point, determine the path from the current rescue point to the candidate rescue point as a first path, determine a first time duration according to the first path and a preset pedestrian speed, traverse all candidate rescue points, and determine each first time duration corresponding to each first path;

[0088] Determine the paths from all the candidate rescue boats to the candidate rescue points as all the second paths, determine each second time duration according to each second path and the target water flow rate, traverse all the candidate rescue points, and determine each second time duration corresponding to each second path;

[0089] Among them, different second paths correspond to different target water flow rates.

[0090] Optionally, for each alternative rescue point, all possible paths from the current rescue point to the alternative rescue point will be determined first. These paths are called first paths. When determining the first path, the system will consider the complexity of the terrain, the location of infrastructure such as bridges and ferries, and possible obstacles; then, the system will calculate the first time duration from the current rescue point to each alternative rescue point based on the preset pedestrian speed and the length of the first path, and traverse all alternative rescue points to ensure that each alternative rescue point has a corresponding first path and first time duration.

[0091] Further, similar to determining the first path, the present invention will determine all possible paths from each alternative rescue boat to each alternative rescue point. These paths are called second paths. When determining the second path, the system will take into account the influence of water flow. Since the water flow velocity of the river may be different at different locations and depths, the target water flow velocity corresponding to each second path will also be different. According to the actual length of each second path and the corresponding target water flow velocity, the second time duration from each alternative rescue boat to each alternative rescue point is calculated. The corresponding target water flow velocity is obtained by the water flow simulation function in the digital twin model, traversing all alternative rescue boats and all alternative rescue points to ensure that each rescue boat has a corresponding second path and second time duration to each alternative rescue point. By accurately calculating the time duration of each path, the present invention can provide rescue personnel with a more accurate arrival time prediction, help to plan rescue routes more reasonably, improve rescue efficiency, and can more accurately allocate rescue boats and rescued people to the target place according to the time duration of different paths to avoid waste and redundancy of resources.

[0092] Optionally, determining each second duration according to each second path and the target water flow rate includes:

[0093] Determine the preset operating speed for each alternative rescue boat;

[0094] Determining the actual operating speed of each candidate rescue boat according to the preset operating speed of each candidate rescue boat and the target water flow rate;

[0095] The duration of each second time is determined according to each second path and the actual running speed.

[0096] Optionally, the present invention presets a preset operating speed for each alternative rescue boat, which is set based on the performance of the rescue boat, the proficiency of the driver and safety standards. The preset operating speed is usually a relatively stable value, but in actual operation it may be fine-tuned according to specific circumstances. After determining the preset operating speed of the alternative rescue boat, the system will calculate the actual operating speed of each alternative rescue boat in combination with the target water flow rate. The calculation of the actual operating speed will take into account the driving or hindering effect of the water flow on the rescue boat, and dynamically calculate the actual operating speed of each alternative rescue boat under different water flow conditions. After obtaining the actual operating speed of each alternative rescue boat, the second time duration is calculated according to the length of each second path. The calculation of the second time duration takes into account the complexity of the path, possible obstacles and the actual operating speed changes of the rescue boat on the path, and traverses all alternative rescue boats and all alternative rescue points to ensure that each rescue boat has a corresponding second path and second time duration to each alternative rescue point. The present invention can take into account the impact of different water flow conditions on the movement of rescue boats, so that accurate rescue time prediction can be provided in different environments. By introducing the preset operating speed of the alternative rescue boat and calculating the actual operating speed in combination with the target water flow rate, the second time duration can be calculated more accurately, thereby improving the accuracy of the entire rescue plan.

[0097] In step 104, based on all the first paths and second paths corresponding to each alternative rescue point, the first target rescue path from the target rescue boat to the target rescue location and the second target rescue path from the smart terminal to the target rescue location are determined, and warning instructions are generated based on these paths, and the corresponding rescue paths are sent to the smart terminal and the target rescue boat.

[0098] Optionally, determining all candidate rescue paths according to all first paths and all second paths corresponding to each candidate rescue point includes:

[0099] For each candidate rescue point, determine a first path and a second path connected to the candidate rescue point, and determine a path formed by the first path, the candidate rescue point and the second path as the candidate rescue path;

[0100] Traverse all alternative rescue points until all alternative rescue paths are determined.

[0101] Optionally, for each alternative rescue point, the present invention will determine all first paths and second paths connected to the point, the first path is a path starting from the current rescue point, passing through various terrains and obstacles, and finally reaching the alternative rescue point, and the second path is a path starting from the alternative rescue boat, taking into account the influence of water flow, and finally reaching the same alternative rescue point. After determining all first paths and second paths connected to the alternative rescue points, the system will combine them to form alternative rescue paths. In order to ensure that all possible rescue paths are taken into account, the system will traverse all alternative rescue points, and repeat the above steps for each alternative rescue point until all alternative rescue paths are determined. By combining the first path and the second path, the system can generate multiple possible rescue paths, thereby improving the diversity of rescue paths.

[0102] Optionally, the determining, according to the first time duration and the second time duration of each alternative rescue path, a first target rescue path from the target rescue boat to the target rescue location and a second target rescue path from the smart terminal to the target rescue location from all the alternative rescue paths includes:

[0103] For each alternative rescue path, determine the total duration corresponding to the alternative rescue path according to the first duration and the second duration;

[0104] Sort all total durations in ascending order, select a target total duration according to the sorting order, and determine a first target duration and a second target duration corresponding to the target total duration;

[0105] Determine the longest one of the first target duration and the second target duration as the target duration. If it is determined that the target duration is not the lowest duration among the paths corresponding to the target duration, reselect the target total duration according to the sorting order until it is determined that the target duration is the lowest duration among the paths corresponding to the target duration, and determine the rescue path corresponding to the target total duration as the target rescue path.

[0106] A first target rescue path and a second target rescue path corresponding to the target rescue path are determined.

[0107] Optionally, in a river hydrological monitoring and early warning system based on digital twins, in order to determine the optimal rescue path from the target rescue boat to the target rescue location, the present invention combines the first time duration and the second time duration of the alternative rescue path to screen out the optimal first target rescue path and the second target rescue path. For each alternative rescue path, the present invention first calculates the total duration of the path based on its first time duration and the second time duration. The total duration is the sum of the first time duration and the second time duration. The total durations of all alternative rescue paths are sorted in order from small to large. After sorting, the system will select the target total duration in order. The target total duration may not be the duration corresponding to the final optimal path, but it is the shortest duration in the current sorting. For the selected target total duration, the present invention will determine the maximum value of the corresponding first target duration and the second target duration, and determine the maximum value as the target duration, because in actual rescue, the time corresponding to the maximum value often determines the arrival time and rescue efficiency of the entire rescue operation.

[0108] If the determined target time duration is not the lowest value among the corresponding alternative rescue paths, it is considered that the currently selected target total time duration may not be optimal. Assuming that the target time duration is the first time duration in the current target total time duration, if there are other paths in the alternative rescue paths with a first time duration shorter than the first time duration corresponding to the current target total time duration, the next target total time duration will be selected again according to the sorting order, and the above steps will be repeated until it is determined that the first time duration corresponding to the current target time duration is the lowest among the first time durations corresponding to all alternative rescue paths. At this time, the rescue path corresponding to the target total time duration is determined to be the target rescue path. Once the optimal target total time duration is found, the rescue path corresponding to the time duration will be determined to be the target rescue path, and the target rescue path is actually composed of two parts: the first target rescue path from the current rescue point to the optimal alternative rescue point, and the second target rescue path from the optimal alternative rescue point to the target rescue boat. The present invention comprehensively considers the comprehensive total time of the rescue path and the actual total rescue time, improves the rescue efficiency, and can ensure that the selected rescue path is optimal in terms of total time, and that the longer of the first time duration and the second time duration in the path is also the lowest value in the path category, thereby achieving optimal selection of the path.

[0109] Optionally, after generating a warning instruction according to the first target rescue path and the second target rescue path, the method further includes:

[0110] Displaying the first target rescue path and the second target rescue path in a preset display interface of the target digital twin model;

[0111] Receiving first positioning information from the smart terminal and second positioning information from the target rescue boat;

[0112] In the first target rescue path of the preset display interface, the smart terminal is displayed according to the first positioning information, and in the second target rescue path of the preset display interface, the target rescue boat is displayed according to the second positioning information;

[0113] After a preset time interval, the first positioning information from the smart terminal and the second positioning information from the target rescue boat are received again, and the positions of the smart terminal and the target rescue boat are updated in the preset display interface.

[0114] Optionally, in a river hydrological monitoring and early warning system based on digital twins, in order to monitor and display the progress of rescue operations in real time, the present invention can dynamically display and update the location information of smart terminals (such as equipment carried by rescuers) and target rescue boats in a preset display interface of the target digital twin model after generating an early warning instruction. Specifically, after generating an early warning instruction based on the first target rescue path and the second target rescue path, the present invention will first display the two paths in the preset display interface of the target digital twin model. These paths can be highlighted lines so that rescuers and monitoring personnel can clearly see the planned route of the rescue operation.

[0115] Optionally, during the early drone scanning, the vegetation, roads, inner lakes, etc. in the scanning area will also be scanned, but at the same time, since this part belongs to non-fine scanning, the model will be damaged or stretched to varying degrees. The present invention can restore the river landform, lake surface, road and other three-dimensional information in Unreal Engine, so that rescuers and monitoring personnel can more clearly implement rescue operations on preset planned routes according to road conditions.

[0116] The present invention will receive the first positioning information from the smart terminal and the second positioning information from the target rescue boat in real time. These positioning information are obtained through the positioning devices on the smart terminal and the target rescue boat, and they can reflect the current positions of the rescue personnel and the rescue boat in real time. In the first target rescue path of the preset display interface, the system will display the position of the smart terminal according to the first positioning information of the smart terminal, which can be achieved by marking an icon representing the smart terminal on the path, and the position of the icon will be updated in real time as the smart terminal moves. Similarly, in the second target rescue path of the preset display interface, the position of the target rescue boat will be displayed according to the second positioning information of the target rescue boat. It can also be achieved by marking an icon representing a rescue boat on the path. In order to ensure that the position information in the display interface is real-time and accurate, the system will receive the positioning information from the smart terminal and the target rescue boat again at a preset time interval (such as every second, every half second, etc.). After receiving the new positioning information, the position of the smart terminal and the target rescue boat will be updated in the preset display interface. The present invention can improve the transparency of the rescue operation by displaying and updating the position information of the smart terminal and the target rescue boat in real time in the preset display interface. This enables the monitoring personnel to clearly see the real-time position and movement trajectory of the rescue personnel and the rescue boat, so as to better understand the progress of the rescue operation.

[0117] The present invention can dynamically determine the optimal rescue path by comprehensively considering the water flow velocity, water level changes, and the positional relationship between the rescue boat and the rescue point. The dynamic path optimization capability provided by the present invention makes the rescue operation more flexible and efficient, adapting to the rescue needs in different situations. It can receive and respond to the distress signal from the smart terminal, determine the alternative rescue boat according to the rescue point and the number of rescued people, and further combine the target water level data and target water flow velocity data output by the target digital twin model to accurately calculate the alternative rescue path, greatly improving the efficiency and success rate of the rescue, and reducing the delay caused by improper path selection;

[0118] The present invention can also obtain the hydrological conditions of the river in real time and convert them into visualization results by connecting the current monitoring data of all river monitoring points to the target digital twin model. This not only improves the real-time nature of monitoring, but also enables managers to understand the overall hydrological conditions of the river more clearly through intuitive visualization methods, facilitating quick decision-making.

[0119] Figure 2It is a structural schematic diagram of the river hydrological monitoring and early warning device based on digital twin provided by the present invention, and the river hydrological monitoring and early warning device based on digital twin includes an acquisition unit 1, and the acquisition unit 1 is used to connect each current monitoring data acquired from all river monitoring points to the target digital twin model, and obtain the visualization result corresponding to the current hydrological monitoring output by the target digital twin model. The current monitoring data includes current water level data and current water flow velocity data, and the visualization result includes target water level data and target water flow velocity data of each river at different preset points. The working principle of the acquisition unit 1 can refer to the aforementioned step 101 and will not be repeated here.

[0120] The river hydrological monitoring and early warning device based on digital twin also includes a receiving unit 2, which is used to receive and respond to any distress signal from the smart terminal, and the distress signal at least includes the current distress point and the number of rescued people. All alternative rescue boats are determined according to the current distress point and the number of rescued people. The working principle of the receiving unit 2 can refer to the aforementioned step 102 and will not be repeated here.

[0121] The river hydrological monitoring and early warning device based on digital twin also includes a determination unit 3, which is used to determine all alternative rescue points corresponding to the current rescue point from all preset points according to the target water level data of each river at different preset points, and for each alternative rescue point, determine all first paths and all first time durations from the current rescue point to each alternative rescue point, determine all second paths from each alternative rescue boat to each alternative rescue point, and determine each second time duration according to the target water flow velocity data. The working principle of the determination unit 3 can refer to the aforementioned step 103 and will not be repeated here.

[0122] The river hydrological monitoring and early warning device based on digital twin also includes a generation unit 4, which is used to determine all alternative rescue paths according to all first paths and all second paths corresponding to each alternative rescue point, and determine a first target rescue path from a target rescue boat to a target rescue location and a second target rescue path from a smart terminal to a target rescue location from all alternative rescue paths according to a first duration and a second duration of each alternative rescue path, and generate an early warning instruction according to the first target rescue path and the second target rescue path, and the early warning instruction is used to send the second target rescue path to the smart terminal and send the first target rescue path to the target rescue boat. The working principle of the generation unit 4 can refer to the aforementioned step 104 and will not be repeated here.

[0123] The target digital twin model is constructed based on historical terrain data, historical river data and architectural landform data corresponding to the historical river. The historical river data includes historical water level data and historical water flow velocity data.

[0124] Optionally, in the river hydrological monitoring and early warning, the monitoring station has a large amount of hydrological related data. The present invention can realize that when the data changes, the model in the three-dimensional scene will also change with the change of the data, thereby realizing the two-way linkage of twins. Specifically, it is necessary to first define the data structure to store the various element attributes and variables in the scene, and then use the blueprint script or C++ to create objects and set their properties. According to the needs, the properties and variables of the objects are set in the blueprint or code, and these properties and variables can be modified at runtime. Write logic to control the behavior of the object at runtime, which can be a script created in the blueprint or C++ code. According to the runtime logic and the properties of the object, the three-dimensional content in the scene is dynamically generated or adjusted. The generated three-dimensional content is displayed in the three-dimensional scene so that the user can view and interact in the software. There are a large number of two-dimensional charts and some other data displays in hydrology. Taking cross-sectional data as an example, the measuring station needs to measure the water level, flow rate and other data of the specified cross section. The software will generate a relative two-dimensional chart to facilitate recording and viewing the corresponding data. But at the same time, there will also be a need to check the water level of a certain section on a certain day. At this time, it is necessary to link with the three-dimensional UI to reduce the operation frequency and display it more intuitively.

[0125] Optionally, the present invention can be applied to various fields, including industry, agriculture, urban management, etc., to improve monitoring efficiency and rescue efficiency. In the digital twin model, there are a large number of unmanned monitoring areas, and most of these areas monitor the situation in the area through monitoring. However, these monitorings have not been unified and integrated, and managed in a unified manner. The present invention has developed a monitoring access plug-in that can access most types of existing monitoring equipment, and also eliminates the cost of replacing monitoring equipment, and can achieve "no dead angle" real-time monitoring in the twin area. The software accesses the monitoring equipment, not only to view the situation in the monitored area in real time, but also to analyze the monitoring screen, and to promptly and effectively discover abnormalities in the area. Let's take an unmanned measuring station as an example. When the water level on the monitoring screen is abnormal, the software will automatically issue an alarm to remind the operator to check whether there is any abnormality in the area.

[0126] The present invention can dynamically determine the optimal rescue path by comprehensively considering the water flow velocity, water level changes, and the positional relationship between the rescue boat and the rescue point. The dynamic path optimization capability provided by the present invention makes the rescue operation more flexible and efficient, adapting to the rescue needs in different situations. It can receive and respond to the distress signal from the smart terminal, determine the alternative rescue boat according to the rescue point and the number of rescued people, and further combine the target water level data and target water flow velocity data output by the target digital twin model to accurately calculate the alternative rescue path, greatly improving the efficiency and success rate of the rescue, and reducing the delay caused by improper path selection;

[0127] The present invention can also obtain the hydrological conditions of the river in real time and convert them into visualization results by connecting the current monitoring data of all river monitoring points to the target digital twin model. This not only improves the real-time nature of monitoring, but also enables managers to understand the overall hydrological conditions of the river more clearly through intuitive visualization methods, facilitating quick decision-making.

[0128] Figure 3 Schematic diagram of the structure of the electronic device provided by the present invention. Figure 3As shown, the electronic device may include: a processor (processor) 110, a communication interface (Communications Interface) 120, a memory (memory) 130 and a communication bus 140, wherein the processor 110, the communication interface 120, and the memory 130 communicate with each other through the communication bus 140. The processor 110 can call the logic instructions in the memory 130 to execute the river hydrological monitoring and early warning method based on digital twins, which includes: connecting each current monitoring data obtained from all river monitoring points to the target digital twin model, and obtaining the visualization results corresponding to the current hydrological monitoring output by the target digital twin model, wherein the current monitoring data includes the current water level data and the current water flow velocity data, and the visualization results include the target water level data and the target water flow velocity data of each river at different preset points; receiving and responding to any distress signal from the smart terminal, wherein the distress signal includes at least the current distress point and the number of rescued people, and determining all alternative rescue boats according to the current distress point and the number of rescued people; according to the target water level data of each river at different preset points, determining all alternative rescue points corresponding to the current distress point from all preset points, and for each alternative rescue point, determining all first routes from the current distress point to each alternative rescue point. path and all first time durations, determine all second paths from each alternative rescue boat to each alternative rescue point, and determine each second time duration according to the target water flow velocity data; determine all alternative rescue paths according to all first paths and all second paths corresponding to each alternative rescue point, and determine the first target rescue path from the target rescue boat to the target rescue location and the second target rescue path from the smart terminal to the target rescue location from all alternative rescue paths according to the first time duration and the second time duration of each alternative rescue path, and generate an early warning instruction according to the first target rescue path and the second target rescue path, and the early warning instruction is used to send the second target rescue path to the smart terminal and send the first target rescue path to the target rescue boat; the target digital twin model is constructed according to historical terrain data, historical river data and architectural landform data corresponding to the historical river, and the historical river data includes historical water level data and historical water flow velocity data.

[0129] In addition, the logic instructions in the above-mentioned memory 130 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0130] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute a river hydrological monitoring and early warning method based on digital twins provided by the above methods, the method including: connecting each current monitoring data obtained from all river monitoring points to the target digital twin model, obtaining a visualization result corresponding to the current hydrological monitoring output by the target digital twin model, the current monitoring data including current water level data and current water flow velocity data, the visualization result including target water level data and target water flow velocity data for each river at different preset points; receiving and responding to any distress signal from an intelligent terminal, the distress signal including at least the current distress point and the number of rescued people, determining all alternative rescue boats according to the current distress point and the number of rescued people; determining all alternative rescue points corresponding to the current distress point from all preset points according to the target water level data of each river at different preset points, and At each alternative rescue point, determine all first paths and all first time durations from the current rescue point to each alternative rescue point, determine all second paths from each alternative rescue boat to each alternative rescue point, and determine each second time duration according to the target water flow velocity data; determine all alternative rescue paths according to all first paths and all second paths corresponding to each alternative rescue point, determine the first target rescue path from the target rescue boat to the target rescue location and the second target rescue path from the smart terminal to the target rescue location from all alternative rescue paths according to the first time duration and the second time duration of each alternative rescue path, generate an early warning instruction according to the first target rescue path and the second target rescue path, the early warning instruction is used to send the second target rescue path to the smart terminal, and send the first target rescue path to the target rescue boat; the target digital twin model is constructed based on historical terrain data, historical river data and architectural landform data corresponding to the historical river, and the historical river data includes historical water level data and historical water flow velocity data.

[0131] Optionally, disaster-prone areas are highlighted in the computer program product to issue warnings at any time. When a flood strikes, the computer program product will perform data analysis, select the best escape route, and plan it in the computer program product to facilitate emergency rescue.

[0132] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the river hydrological monitoring and early warning method based on digital twins provided by the above-mentioned methods, the method comprising: connecting each current monitoring data obtained from all river monitoring points to the target digital twin model, obtaining a visualization result corresponding to the current hydrological monitoring output by the target digital twin model, the current monitoring data including current water level data and current water flow velocity data, the visualization result including target water level data and target water flow velocity data for each river at different preset points; receiving and responding to any distress signal from an intelligent terminal, the distress signal including at least the current distress point and the number of rescued persons, determining all alternative rescue boats according to the current distress point and the number of rescued persons; determining all alternative rescue points corresponding to the current distress point from all preset points according to the target water level data of each river at different preset points, and for each alternative rescue point, determining the rescue point from the current All first paths and all first time durations from the rescue point to each alternative rescue point, determine all second paths from each alternative rescue boat to each alternative rescue point, and determine each second time duration according to the target water flow velocity data; determine all alternative rescue paths according to all first paths and all second paths corresponding to each alternative rescue point, and according to the first time duration and the second time duration of each alternative rescue path, determine the first target rescue path from the target rescue boat to the target rescue location and the second target rescue path from the smart terminal to the target rescue location from all alternative rescue paths, generate an early warning instruction according to the first target rescue path and the second target rescue path, and the early warning instruction is used to send the second target rescue path to the smart terminal and send the first target rescue path to the target rescue boat; the target digital twin model is constructed based on historical terrain data, historical river data and architectural landform data corresponding to the historical river, and the historical river data includes historical water level data and historical water flow velocity data.

[0133] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0134] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A river hydrological monitoring and early warning method based on digital twins, characterized in that: include: Connect each current monitoring data obtained from all river monitoring points to the target digital twin model, and obtain the visualization results corresponding to the current hydrological monitoring output by the target digital twin model, wherein the current monitoring data includes the current water level data and the current water flow velocity data, and the visualization results include the target water level data and the target water flow velocity data of each river at different preset points; Receive and respond to any distress signal from the smart terminal, the distress signal at least including the current distress point and the number of rescued people, and determine all candidate rescue boats according to the current distress point and the number of rescued people; According to the target water level data of each river channel at different preset points, all the alternative rescue points corresponding to the current rescue point are determined from all the preset points. For each alternative rescue point, all the first paths and all the first time durations from the current rescue point to each alternative rescue point are determined, all the second paths from each alternative rescue boat to each alternative rescue point are determined, and each second time duration is determined according to the target water flow velocity data; Determine all alternative rescue paths according to all first paths and all second paths corresponding to each alternative rescue point, determine a first target rescue path from a target rescue boat to a target rescue location and a second target rescue path from a smart terminal to a target rescue location from all alternative rescue paths according to a first time duration and a second time duration of each alternative rescue path, generate an early warning instruction according to the first target rescue path and the second target rescue path, the early warning instruction is used to send the second target rescue path to the smart terminal, and send the first target rescue path to the target rescue boat; The target digital twin model is constructed based on historical terrain data, historical river data and architectural landform data corresponding to the historical river. The historical river data includes historical water level data and historical water flow velocity data.

2. The river hydrological monitoring and early warning method based on digital twin according to claim 1 is characterized in that: The determining of all candidate rescue boats according to the current rescue point and the number of rescued persons includes: Taking the current rescue point as the center of the circle, determining a preset range with a preset length as the radius, and determining all initial rescue boats within the preset range; The maximum number of persons carried by each initial rescue boat is determined, and all initial rescue boats that meet the requirements for the number of persons to be rescued are determined as all candidate rescue boats.

3. The river hydrological monitoring and early warning method based on digital twin according to claim 1 is characterized in that: The method of determining all candidate rescue points corresponding to the current rescue point from all preset points according to the target water level data of each river channel at different preset points includes: Determine all preset points where the target water level data is less than the preset water level data as all pending rescue points; For each pending rescue point, when it is determined that there is no unreachable event in the path from the smart terminal to the pending rescue point, the pending rescue point is determined as an alternative rescue point, and all pending rescue points are traversed until all alternative rescue points are determined; The unreachable events include: The water level at any point in the path is greater than the preset water level; There is a path obstacle at any point in the path; Alternatively, there is a risk of debris flow at any point along the path.

4. The river hydrological monitoring and early warning method based on digital twin according to claim 1 is characterized in that: After all preset points whose target water level data is less than the preset water level data are determined as all pending rescue points, the method further includes: Determine all preset points where the target water level data is greater than or equal to the preset water level data as all abnormal points; An abnormal warning instruction is generated according to all abnormal points, and the abnormal warning instruction is used to instruct to display all the abnormal points in a preset display interface of the target digital twin model.

5. The river hydrological monitoring and early warning method based on digital twin according to claim 1 is characterized in that: The determining of all first paths and all first durations from the current rescue point to each candidate rescue point, determining all second paths from each candidate rescue boat to each candidate rescue point, and determining each second duration according to the target water flow velocity data, includes: For each candidate rescue point, determine the path from the current rescue point to the candidate rescue point as a first path, determine a first time duration according to the first path and a preset pedestrian speed, traverse all candidate rescue points, and determine each first time duration corresponding to each first path; Determine the paths from all the candidate rescue boats to the candidate rescue points as all the second paths, determine each second time duration according to each second path and the target water flow rate, traverse all the candidate rescue points, and determine each second time duration corresponding to each second path; Among them, different second paths correspond to different target water flow rates.

6. The river hydrological monitoring and early warning method based on digital twin according to claim 5 is characterized in that: Determining each second duration according to each second path and the target water flow rate includes: Determine the preset operating speed for each alternative rescue boat; Determining the actual operating speed of each candidate rescue boat according to the preset operating speed of each candidate rescue boat and the target water flow rate; The duration of each second time is determined according to each second path and the actual running speed.

7. The river hydrological monitoring and early warning method based on digital twin according to claim 1 is characterized in that: The step of determining all the candidate rescue paths according to all the first paths and all the second paths corresponding to each candidate rescue point includes: For each candidate rescue point, determine a first path and a second path connected to the candidate rescue point, and determine a path formed by the first path, the candidate rescue point and the second path as the candidate rescue path; Traverse all alternative rescue points until all alternative rescue paths are determined.

8. The river hydrological monitoring and early warning method based on digital twin according to claim 1 is characterized in that: The method of determining a first target rescue path from a target rescue boat to a target rescue location and a second target rescue path from a smart terminal to a target rescue location from all the candidate rescue paths according to the first time duration and the second time duration of each candidate rescue path includes: For each alternative rescue path, determine the total duration corresponding to the alternative rescue path according to the first duration and the second duration; Sort all total durations in ascending order, select a target total duration according to the sorting order, and determine a first target duration and a second target duration corresponding to the target total duration; Determine the longest one of the first target duration and the second target duration as the target duration. If it is determined that the target duration is not the lowest duration among the paths corresponding to the target duration, reselect the target total duration according to the sorting order until it is determined that the target duration is the lowest duration among the paths corresponding to the target duration, and determine the rescue path corresponding to the target total duration as the target rescue path. A first target rescue path and a second target rescue path corresponding to the target rescue path are determined.

9. The river hydrological monitoring and early warning method based on digital twin according to claim 1 is characterized in that: Before obtaining the visualization result corresponding to the current hydrological monitoring output by the target digital twin model, the method further includes: For any river channel, both sides of the river channel are equally divided, and the division points corresponding to the river channel are determined as the preset points. All river channels are traversed to determine all preset points.

10. The river hydrological monitoring and early warning method based on digital twin according to claim 1 is characterized in that: After generating a warning instruction according to the first target rescue path and the second target rescue path, the method further includes: Displaying the first target rescue path and the second target rescue path in a preset display interface of the target digital twin model; Receiving first positioning information from the smart terminal and second positioning information from the target rescue boat; In the first target rescue path of the preset display interface, the smart terminal is displayed according to the first positioning information, and in the second target rescue path of the preset display interface, the target rescue boat is displayed according to the second positioning information; After a preset time interval, the first positioning information from the smart terminal and the second positioning information from the target rescue boat are received again, and the positions of the smart terminal and the target rescue boat are updated in the preset display interface.

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