Navigation cascade scheme determination method and device for channelized unnavigable river channel

Abstract

The invention discloses a navigation cascade scheme determination method and device for a channelized unnavigable river channel, and relates to the field of water transportation engineering, and the method comprises the steps: obtaining the scheduling operation data of a channelized river channel cascade hub in a target water area range; based on a preset water flow continuity and momentum equation, a numerical simulation model is established through fluid dynamics software, the numerical simulation model is used for analyzing the upstream and downstream water flow connection condition of each cascade hub of the whole river reach of the water area, and cascade hydraulic data are obtained; based on the dispatching operation data and the cascade hydraulic data, the structural safety, the water passing capacity and the cargo passing capacity of the hub barrage are evaluated, and a barrage evaluation result is obtained; and based on the barrage evaluation result and the shipping cascade arrangement rule, a navigation cascade arrangement scheme is determined by applying a multi-target comprehensive optimization algorithm. According to the invention, the technical problem of low navigation efficiency of a navigation cascade scheme of a channelized unnavigable river channel designed in the related technology is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of waterway engineering or other related fields, in particular, to a method and device for determining a navigation gradient scheme of a channelized non-navigable river. BACKGROUND

[0002] The channelized non-navigable river refers to a natural river that is reconstructed by constructing dams, ship locks and embankments and the like engineering measures, aiming to achieve the purposes of power generation, agricultural irrigation or flood control and the like, but due to the insufficient consideration of navigation demand or the influence of water resource allocation such as the conflict between power generation and navigation water use when designing, these rivers have the physical conditions for navigation, but have not been effectively utilized as a waterway for a long time, which not only causes the idle of waterway resources, but also limits the play of comprehensive transportation benefits.

[0003] In order to improve this situation and realize efficient navigation of the channelized river, it is necessary to construct or improve navigation structures such as ship locks, ship lifts and the like at each navigation gradient, so as to ensure the full connection of upstream and downstream water levels and the improvement of navigation efficiency.

[0004] The related art has obvious shortcomings in designing the navigation gradient scheme of the channelized non-navigable river: mainly relying on traditional design principles and experience, lacking the systematic application of numerical simulation and multi-objective optimization, and being difficult to accurately grasp the waterway hydrological conditions, resulting in low navigation efficiency, poor water resource utilization and high engineering investment and the like problems.

[0005] In view of the above problems, no effective solution has been proposed at present. SUMMARY

[0006] The embodiment of the present application provides a method and device for determining a navigation gradient scheme of a channelized non-navigable river, so as to at least solve the technical problem of low navigation efficiency of the designed navigation gradient scheme of the channelized non-navigable river in the related art.

[0007] According to an aspect of the embodiment of the present application, a method for determining a navigation gradient scheme of a channelized non-navigable river is provided, comprising: obtaining dispatching operation data of channelized river gradient hubs in a target water area; based on a preset water flow continuity and momentum equation, a numerical simulation model is established by using fluid dynamics software, wherein the numerical simulation model is used to analyze the water flow connection of upstream and downstream of each gradient hub in the whole river section of the water area, and gradient hydraulic data is obtained; based on the dispatching operation data and the gradient hydraulic data, the structural safety, water passing capacity and cargo passing capacity of the hub river dam are evaluated, and a river dam evaluation result is obtained; based on the river dam evaluation result and a navigation gradient arrangement rule, a multi-objective comprehensive optimization algorithm is applied to determine a navigation gradient arrangement scheme.

[0008] Optionally, the step of obtaining the scheduling operation data of the cascade hydropower stations of the already-dredged river channel in the target water area range comprises: collecting the distance between stages, dam height, installed capacity of power stations, power generation capacity, reservoir capacity, construction time, and navigation structures of each cascade hydropower station of the already-dredged river channel in the target water area range to obtain the scheduling operation data.

[0009] Optionally, the step of establishing the numerical simulation model based on the preset water flow continuity and momentum equation by using fluid dynamics software comprises: collecting surveying data of the cascade hydropower stations of the already-dredged river channel and the dredged channel, and splicing a topographic map of the target water area range based on the surveying data, wherein the elevation datum in the topographic map is consistent, and each topographic point in the topographic map has a unified coordinate system; and constructing a model by using fluid dynamics software according to the Reynolds time-averaged water flow continuity and momentum equation to obtain the numerical simulation model, wherein the boundary conditions of the numerical simulation model include a bank boundary, an inlet boundary, an outlet boundary, and a moving boundary.

[0010] Optionally, the step of analyzing the water flow connection of the upstream and downstream of each cascade hydropower station of the whole river section of the water area to obtain the cascade hydraulic data comprises: analyzing the water flow connection of the upstream and downstream of each cascade hydropower station of the whole river section of the water area by using the numerical simulation model; analyzing the change of the water flow at the bend position and the river fork position under different flow rates based on the water flow connection to obtain the change of the water flow at different positions under the characteristic flow rate; and simulating the water flow characteristics of the already-dredged river channel by using the numerical simulation model based on the change of the water flow at different positions under the characteristic flow rate to obtain the cascade hydraulic data.

[0011] According to another aspect of the embodiment of the present application, a device for determining a navigation cascade scheme of an already-dredged non-navigable river channel is also provided, which comprises: a hydropower station resource acquisition unit configured to acquire scheduling operation data of cascade hydropower stations of an already-dredged river channel in a target water area range; a simulation model construction unit configured to establish a numerical simulation model based on a preset water flow continuity and momentum equation by using fluid dynamics software, wherein the numerical simulation model is used to analyze the water flow connection of the upstream and downstream of each cascade hydropower station of the whole river section of the water area to obtain cascade hydraulic data; a dam evaluation unit configured to evaluate the structural safety, water passing capacity, and cargo passing capacity of a hydropower station dam based on the scheduling operation data and the cascade hydraulic data to obtain a dam evaluation result; and a navigation cascade arrangement scheme determination unit configured to determine a navigation cascade arrangement scheme by using a multi-objective comprehensive optimization algorithm based on the dam evaluation result and a navigation cascade arrangement rule.

[0012] According to another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium comprising a stored computer program which, when executed by a processor, controls an apparatus in which the computer-readable storage medium is located to perform any of the above-mentioned methods for determining a navigation cascade arrangement of a navigable river channel.

[0013] According to another aspect of the embodiments of the present application, there is also provided an electronic device comprising one or more processors and memory storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to carry out any of the above-mentioned methods for determining a navigation cascade arrangement of a navigable river channel.

[0014] According to another aspect of the embodiments of the present application, there is also provided a computer program product comprising a computer program which, when executed by a processor, carries out the steps of any of the above-mentioned methods for determining a navigation cascade arrangement of a navigable river channel.

[0015] In the present disclosure, dispatching operation data of a navigable cascade hub of a navigable river channel in a target water area is acquired; a numerical simulation model is established by using fluid dynamics software based on a preset water flow continuity equation and momentum equation, wherein the numerical simulation model is used to analyze water flow connection of upstream and downstream of each cascade hub of the whole river section of the water area to obtain cascade hydraulic data; based on the dispatching operation data and the cascade hydraulic data, structural safety, water passing capacity and cargo passing capacity of a hub dam are evaluated to obtain a hub dam evaluation result; and based on the hub dam evaluation result and a navigation cascade arrangement rule, a multi-objective comprehensive optimization algorithm is applied to determine a navigation cascade arrangement scheme.

[0016] From the above disclosure, the dispatching operation data of the navigable cascade hub of the navigable river channel in the target water area can be systematically collected and analyzed, and then based on the preset water flow continuity equation and momentum equation, the numerical simulation model is established by using the advanced fluid dynamics software, the water flow connection of the upstream and downstream of each cascade of the whole river section is analyzed by the model, the navigation water level and the water flow condition can be more accurately predicted and evaluated, the accurate hydraulic data support is provided for improving the navigation efficiency, the errors and uncertainties that may exist in the traditional design method are avoided, and then based on the structural safety evaluation, the water passing capacity and the cargo passing capacity analysis result of the hub dam, and the navigation cascade arrangement rule, the multi-objective comprehensive optimization algorithm is used to determine the navigation cascade arrangement scheme, the optimal balance solution is found to ensure that the navigation efficiency is improved, and the minimization of engineering economy and environmental impact is also taken into account, so that the technical problems of the low navigation efficiency of the designed navigable cascade arrangement of the navigable river channel in the related art are solved. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0018] Figure 1 is a flow chart of an optional method for determining a navigation ladder scheme of a channelized unnavigable river according to an embodiment of the present application;

[0019] Figure 2 is a schematic diagram of an optional grid arrangement division according to an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of an optional terrain interpolation according to an embodiment of the present application;

[0021] Figure 4 is an optional regional water depth distribution map of a target water area range when encountering a 20-year flood according to an embodiment of the present application;

[0022] Figure 5 is an optional regional water level distribution map of a target water area range when encountering a 20-year flood according to an embodiment of the present application;

[0023] Figure 6 is an optional regional flow velocity distribution map of a target water area range when encountering a 20-year flood according to an embodiment of the present application;

[0024] Figure 7 is an optional flow velocity distribution map of a target water area range when encountering a 20-year flood according to an embodiment of the present application;

[0025] Figure 8 is a schematic diagram of an optional device for determining a navigation ladder scheme of a channelized unnavigable river according to an embodiment of the present application;

[0026] Figure 9 is a hardware structure block diagram of an electronic device (or a mobile device) for executing a method for determining a navigation ladder scheme of a channelized unnavigable river according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the present application.

[0028] It is to be understood that the terms "first", "second", and the like, used in the description and the claims of the application and the above description of the drawings merely serve the purpose of differentiating between similar objects and do not necessarily imply a specific order or sequence of steps. It is to be understood that the data used in this way can be interchanged, where appropriate, so that the embodiments of the application described herein can be carried out in other than the order shown or described herein. Furthermore, the terms "comprise" and "comprising" and any variations thereof are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or apparatus that comprises a list of steps or elements as opposed to an exhaustive recitation of steps or elements, wherein such steps or elements are not mutually exclusive, but can include a wider field of equivalents.

[0029] To facilitate the understanding of the present application for those skilled in the art, the following explanations are made for some terms or names involved in the embodiments of the present application:

[0030] A canalized river refers to a natural river transformed into an artificial canalized section with stepped water level differences through the construction of dams, locks, dikes and other engineering measures, and its original intention is mostly for power generation, agricultural irrigation or flood control.

[0031] Computational Fluid Dynamics, abbreviated as CFD, is a numerical simulation technology used to predict and analyze fluid flow and its accompanying heat and mass transfer phenomena. In the present application, CFD is used to simulate the water flow characteristics of a canalized river to evaluate the water flow conditions and provide accurate hydraulic data support for the design of a navigable cascade.

[0032] Analytic Hierarchy Process, abbreviated as AHP, is a decision analysis method used to handle complex decision-making problems involving multiple evaluation criteria and schemes. It converts qualitative objectives into quantitative weights by constructing a hierarchical structure model, which helps to balance engineering investment, navigation efficiency, urban inundation and land acquisition and demolition, etc. in the present application.

[0033] Visual Simulation for Interactive Simulation Models, abbreviated as VISSIM, is a traffic simulation software used to simulate and analyze traffic flow behavior. In the present application, it is used to simulate the efficiency of passing through a dam by simulating a ship traffic flow model to calculate the average time for a ship to pass through a dam and the annual navigation guarantee rate.

[0034] Long Short-Term Memory network, abbreviated as LSTM, is a recurrent neural network structure that is good at processing sequence data and is particularly suitable for time series prediction tasks. In the present invention, LSTM is used for water level prediction, inputting historical water level and rainfall data to predict future water level changes to assist dynamic scheduling decisions.

[0035] Density-Based Spatial Clustering of Applications with Noise, abbreviated as DBSCAN, is a density-based clustering algorithm that can discover clusters of arbitrary shape while excluding noise points. In the application of the present invention, historical ship AIS data is used for spatio-temporal clustering to predict the number of future ships passing through the dam, thereby optimizing the scheduling plan.

[0036] Building Information Modeling, abbreviated as BIM, is an integrated modeling process for building design, construction and management. In the engineering practice of the present invention, BIM is used for simulation coupling to help quantify the relationship between targets, provide data support and assist engineering decision-making.

[0037] Automatic Identification System, abbreviated as AIS, is a system for automatic tracking and identification of ships on water, which automatically exchanges information such as position, speed, heading, etc. through radio frequency. In the present invention, AIS is used for ship identification to achieve accurate positioning and optimize navigation scheduling.

[0038] It should be noted that the method and device for determining the navigation cascade scheme of the already-dredged non-navigable river channel in the present disclosure can be used in the field of water transport engineering technology when designing an efficient navigation cascade scheme for an already-dredged non-navigable river channel, and can also be used in any field other than water transport engineering technology when designing an efficient navigation cascade scheme for an already-dredged non-navigable river channel. The application field of the method and device for determining the navigation cascade scheme of the already-dredged non-navigable river channel in the present disclosure is not limited.

[0039] It should be noted that in the present disclosure, customer information is collected and analyzed to provide corresponding operation portals for users to choose to agree or refuse the automatic decision result; if the user chooses to refuse, the expert decision-making process is entered.

[0040] The following embodiments of the present application can be applied to various systems / applications / devices for determining the navigation ladder scheme of the already channeled non-navigable river. The present application can be applied to water conservancy engineering, waterway engineering and shipping management scenarios, such as water conservancy engineering planning and design scenarios. In the already channeled non-navigable river, the present application can be used for the design and optimization of the new navigation ladder to ensure the coordination of navigation and multiple functions such as power generation, irrigation and flood control. For the already channeled river section with insufficient navigation conditions, the present application can provide improvement suggestions to improve the navigation efficiency and safety of the waterway.

[0041] The present application reduces the number of navigation ladders by removing or merging part of the hubs, thereby shortening the ship lock time and improving the navigation capacity. At the same time, by using numerical simulation technology, the present application realizes the accurate connection of upstream and downstream water levels, improves the navigation guarantee rate, and reduces the ship waiting time. The hubs are cooperatively scheduled to improve the response speed to extreme hydrological conditions and increase the overall risk resistance of the system.

[0042] The present application will be described in detail below in conjunction with various embodiments.

[0043] Embodiment one

[0044] According to the embodiments of the present application, an embodiment of a method for determining the navigation ladder scheme of the already channeled non-navigable river is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in a different order.

[0045] Figure 1 is a flowchart of an optional method for determining the navigation ladder scheme of the already channeled non-navigable river according to the embodiments of the present application, as shown in Figure 1 The method comprises the following steps:

[0046] Step S101, obtaining the scheduling operation data of the already channeled river ladder hub in the target water area range.

[0047] Optionally, the step of obtaining the scheduling operation data of the already channeled river ladder hub in the target water area range comprises: collecting the ladder spacing, dam height, power station installed capacity and power generation, reservoir capacity, construction time and navigation building conditions of each ladder hub of the already channeled river in the target water area range to obtain the scheduling operation data.

[0048] The present embodiment can collect the specific parameters of each ladder hub in the already channeled non-navigable river in the target water area range, including but not limited to the ladder spacing, dam height, power station installed capacity and annual power generation, reservoir capacity, and construction time of the ladder hub. Since the rationality of the existing river layout, the influence of the dam on the water flow, and the efficiency of the existing navigation facilities are understood.

[0049] Among them, the present situation of navigable buildings is evaluated, and the present embodiment can obtain the situation of navigable buildings of each hub, such as the number, scale, technical state and passing capacity of ship locks and ship lifts, which helps to determine whether the existing facilities meet the demand of improving the navigation efficiency or whether new or improved navigation facilities are needed.

[0050] It should be noted that in addition to hardware information, past scheduling operation data also needs to be collected, including but not limited to water level change records, navigation flow statistics, ship lockage time, navigation delay cause analysis, etc. The present embodiment integrates historical operation statistical data and future development planning, such as expected navigation demand growth, water and electricity supply and demand change prediction, and the influence of climate change on hydrological conditions. Since the scheduling operation data may have errors or omissions, the present embodiment suggests combining field investigation to verify and supplement the collected data to ensure the accuracy and integrity of the data.

[0051] During the collection of data, the present embodiment attaches importance to the standardization of data, including the use of unified measurement units, time reference and data format, to ensure the reliability and authority of the data and avoid deviations in the analysis results due to different data sources.

[0052] In step S102, a numerical simulation model is established based on the preset water flow continuity and momentum equation using fluid dynamics software, wherein the numerical simulation model is used to analyze the water flow connection of the upstream and downstream of each cascade hub in the entire river section of the water area, and cascade hydraulic data is obtained.

[0053] Optionally, the step of establishing a numerical simulation model based on the preset water flow continuity and momentum equation using fluid dynamics software includes: collecting surveying and mapping data of the cascade hub and the channelized waterway of the already channelized river, and splicing a topographic map of the target water area range based on the surveying and mapping data, wherein the elevation datum in the topographic map is consistent, and the coordinates of each topographic point in the topographic map have been unified; using fluid dynamics software to build a model according to the Reynolds time-averaged water flow continuity and momentum equation, to obtain the numerical simulation model, wherein the boundary conditions of the numerical simulation model include the bank boundary, the inlet boundary, the outlet boundary and the moving boundary.

[0054] In the present embodiment, surveying and mapping data of the cascade hub and the channelized waterway of the already channelized river can be collected to ensure that the data covers the entire target water area range. The collection process needs to pay attention to the accuracy and integrity of the surveying and mapping, including accurate depiction of the river terrain, dam structure, channel layout, etc. After obtaining the surveying and mapping data, it needs to be spliced to form a complete topographic map of the target water area range. The splicing process should ensure the consistency of the elevation datum to avoid model errors caused by differences in the datum. In addition, the topographic points in the topographic map need to be unified to the same coordinate system for spatial analysis and calculation by fluid dynamics software.

[0055] Based on the Reynolds time-averaged water flow continuity and momentum equations, the embodiment uses fluid dynamics software to build a model. During the model building process, boundary conditions need to be set in detail, including bank boundary, inlet boundary, outlet boundary and moving boundary. Among them, the bank boundary reflects the physical constraints of the river bank, the inlet and outlet boundaries involve the input and output of external flow, and the moving boundary reflects the dynamic changes of water level and flow rate. The accurate setting of boundary conditions is directly related to the simulation effect and credibility of the model.

[0056] Optionally, the step of analyzing the water flow connection of the upstream and downstream of each cascade hub in the entire river section of the water area to obtain the cascade hydraulic data comprises: analyzing the water flow connection of the upstream and downstream of each cascade hub in the entire river section of the water area through a numerical simulation model; based on the water flow connection, analyzing the changes of water flow at the bend position and the river bifurcation position under different flow rates to obtain the change of water flow at different positions under the characteristic flow rate; based on the change of water flow at different positions under the characteristic flow rate, simulating the water flow characteristics of the already channeled river through the numerical simulation model to obtain the cascade hydraulic data.

[0057] Using the numerical simulation model built, the embodiment deeply analyzes the water flow connection of the upstream and downstream of each cascade hub in the entire river section of the water area, including evaluating the changes of water flow at key positions such as bends and river bifurcations under different flow rates, and the influence of these changes on navigation efficiency and water level control. Through model simulation, the specific change of water flow at different positions under the characteristic flow rate can be obtained, which is the basis for analyzing the cascade hydraulic data.

[0058] Based on the water flow change under the characteristic flow rate, the embodiment further simulates the water flow characteristics of the already channeled river through the numerical simulation model, including key parameters such as water level fluctuation, flow rate distribution and turbulence intensity. Through model simulation, not only the water flow condition can be intuitively presented, but also the influence of water flow on navigation safety and water level stability can be quantitatively evaluated, and finally the cascade hydraulic data is obtained, which provides a basis for cascade scheme optimization. Considering the seasonal changes of water flow conditions, the influence of extreme weather events and the growth of future navigation demand, the embodiment recommends multi-scenario simulation to explore the change law of cascade hydraulic data under different conditions.

[0059] In step S103, based on the scheduling operation data and the cascade hydraulic data, the structural safety, the water passing capacity and the cargo passing capacity of the hub dam are evaluated to obtain the dam evaluation result.

[0060] Optionally, based on the scheduling operation data and the cascade hydraulic data, the structural safety, the water passing capacity and the cargo passing capacity of the hub river dam are evaluated to obtain a hub river dam evaluation result, including: in the evaluation of the structural safety of the hub river dam, the dam body material and the structural integrity are detected, the load and the anti-sliding stability are evaluated, and the dam body aging and damage are evaluated to obtain a structural safety evaluation result, wherein, in the detection of the dam body material and the structural integrity, the dam body concrete / mortar strength, the crack distribution parameters, the leakage condition, the steel reinforcement corrosion degree of the reinforced concrete dam, and whether there are weak interlayers, landslide signs or foundation settlement are detected; in the evaluation of the load and the anti-sliding stability, the anti-sliding and the anti-inclination safety factors of the dam body under various disaster load combinations are calculated; in the evaluation of the dam body aging and damage, the influence of the service life and various damage factors on the dam body is analyzed; in the evaluation of the water passing capacity of the hub river dam, the efficiency of the flood discharge facilities of the hub river dam and the rationality of the flood control are analyzed, wherein, in the analysis of the efficiency of the flood discharge facilities of the hub river dam, the flow capacity of the spillway and the flood discharge tunnel is calculated, the design flood discharge flow and the actual maximum flood discharge are compared, the operation state of the gate opening and closing equipment is checked, and the influence of the river channel siltation on the water passing section is analyzed; in the analysis of the rationality of the flood control, whether the flood control scheme in the flood season meets the flood control standard is evaluated, and the matching degree of the flood forecasting system and the dispatching rules is checked; in the evaluation of the cargo passing capacity of the hub river dam, the adaptability of the navigation facilities of the hub river dam and the navigation condition guarantee are analyzed, wherein, in the analysis of the adaptability of the navigation facilities of the hub river dam, whether the size of the ship lock / elevated ship lock meets the current navigation standard, the ship passing time and the efficiency are evaluated, the structural safety of the navigation facilities and the safety degree of the mechanical and electrical equipment are detected, and in the analysis of the navigation condition guarantee of the hub river dam, the influence degree of the water level difference between the upstream and the downstream on the ship passing through the dam is analyzed, and whether the guarantee rate of the minimum navigation water level meets the navigation requirement is evaluated.

[0061] In the detection of the structural safety of the hub river dam, the dam body material and the structural integrity, the load and the anti-sliding stability, and the dam body aging and damage evaluation are covered. Specifically, the structural integrity detection involves evaluating the strength of the dam body concrete or mortar, the width and depth of the crack distribution, the leakage condition, and analyzing the steel reinforcement corrosion degree of the reinforced concrete dam. In addition, whether there are weak interlayers, landslide signs or foundation settlement is checked to fully understand the physical state of the dam body. In the load and anti-sliding stability evaluation, the anti-sliding and anti-inclination safety factors of the dam body under various disaster load combinations such as design flood, earthquake, uplift pressure, etc. are calculated, and compared with the current specification requirements (such as "Concrete Gravity Dam Design Specification" SL 319) to ensure that the dam body design meets the safety standards.

[0062] In the evaluation of the water passing capacity of the river dam, the embodiment relates to the analysis of the efficiency of the flood discharge facility and the rationality of flood regulation. The specific method can include calculating the flow capacity of the spillway and the flood discharge tunnel, comparing the design flood discharge flow with the historical maximum flood discharge, checking the operation state of the gate opening and closing equipment, and evaluating the influence of river sedimentation on the water passing section. The rationality of flood regulation analysis needs to evaluate whether the flood control scheme in the flood season meets the flood control standard to ensure the coordination between the flood forecasting system and the regulation procedure.

[0063] In the analysis of the cargo passing capacity, the embodiment emphasizes the evaluation of the adaptability of the navigation facility and the guarantee of the navigation condition. On the one hand, it checks whether the size of the ship lock and the ship lift meets the current navigation standard, such as whether the length, width and sill depth of the lock chamber meet the requirements of the Inland Waterway Navigation Standard GB 50139. On the other hand, it evaluates the efficiency of the ship passing through the dam, including the waiting time and the lock passing period. In addition, it needs to detect the structural safety of the navigation facility, such as the crack of the lock wall, the water sealing performance of the gate, and the reliability of the mechanical and electrical equipment, to ensure the integrity of the navigation facility.

[0064] After completing the above evaluation, the embodiment integrates the results of the structural safety evaluation, the water passing capacity analysis and the cargo passing capacity analysis to form a comprehensive river dam evaluation report. The evaluation report will be used as a basis for decision-making to determine whether the existing river dam needs to be reinforced, modified or demolished, and how to optimize the design scheme of the navigation cascade to improve the navigation efficiency and safety while ensuring the long-term stable operation of the river dam.

[0065] Step S104, based on the river dam evaluation results and the navigation cascade arrangement rules, a multi-objective comprehensive optimization algorithm is applied to determine the navigation cascade arrangement scheme.

[0066] Optionally, the navigation cascade arrangement rules include at least one of the following: a town submergence minimization principle, in combination with the overall planning of the towns along the line, the dam site is selected not to submerge the specified towns within the target water area; the dam site selection meets the arrangement requirements of the navigation structures and the flood discharge structures; in the case that the distance between the built cascade hubs is less than a preset distance threshold, the cascade hubs are merged; the principle of keeping the river water surface line basically within the channel, the normal storage water level is higher than the local beach elevation upstream of the hub; the principle of minimizing the engineering investment, controlling the excavation amount and the hub engineering construction investment.

[0067] Before determining the navigation cascade arrangement scheme, the embodiment clearly defines several important arrangement rules, including the town submergence minimization principle, the satisfaction of the arrangement requirements of the navigation and flood discharge structures, the reasonable merging principle of the built cascade, the control of the river water surface line and the principle of minimizing the engineering investment. These rules provide constraint conditions and optimization guidance for the subsequent optimization algorithm, ensuring that the design scheme can improve the navigation efficiency while considering the engineering economy and environmental protection requirements.

[0068] In order to convert the above complex optimization objectives into a computable form, the embodiment proposes to establish a target function with the number of steps, navigation head, ship tonnage, and through capacity as parameters. Each parameter will directly affect the economy, efficiency, and safety of the navigation steps. By assigning weights to these parameters, the multi-objective problem can be converted into a single objective problem, which is convenient for algorithm solving. Alternatively, the step of applying a multi-objective comprehensive optimization algorithm to determine the navigation step arrangement scheme comprises: establishing a target function with the number of steps, navigation head, ship tonnage, and through capacity as parameters; using a weighted sum strategy and a target planning strategy to convert the target function to obtain a target function conversion result; using a multi-stage progressive optimization algorithm to determine the navigation step arrangement constraint condition; based on the target function conversion result and the navigation step arrangement constraint condition, applying a multi-objective comprehensive optimization algorithm to determine the optimal balanced solution of the step arrangement scheme to obtain the navigation step arrangement scheme.

[0069] On the basis of the target function, the weighted sum strategy and the target planning strategy are used for conversion. The weighted sum strategy can reflect the importance of different objectives by adjusting the weights of each target parameter, ensuring that certain key objectives are not ignored during the optimization process. The target planning strategy sets an expected value for each target, and pursues "minimum total deviation" during the optimization process, ensuring that the navigation step scheme not only meets the specific target, but also effectively balances the relationship between all targets.

[0070] The embodiment sets the constraint conditions of the navigation step arrangement through a multi-stage progressive optimization algorithm. The constraint conditions include but are not limited to town inundation cost, engineering safety standard, ecological flow requirement, and lower limit of navigation efficiency, etc. These conditions not only limit the optimization space, but also ensure the feasibility and compliance of the scheme.

[0071] Based on the converted target function and the determined constraint conditions, the embodiment applies a multi-objective comprehensive optimization algorithm such as NSGA-II to find the optimal balanced solution of the step arrangement scheme. This algorithm can consider multiple objectives simultaneously and generate a series of non-inferior solutions, i.e., without sacrificing other indicators when improving a certain indicator. The most suitable navigation step arrangement scheme can be selected according to actual demand and preference. The embodiment incorporates dynamic adjustment strategy and scenario simulation analysis in the optimization process. The dynamic adjustment strategy allows the algorithm to adjust the optimization parameters according to real-time information, ensuring the timeliness of the scheme. Scenario simulation considers the performance of the scheme under different hydrological conditions and navigation demands, ensuring that the selected scheme maintains good navigation efficiency and engineering stability in various situations.

[0072] Optionally, after determining the navigation ladder arrangement scheme by applying the multi-objective comprehensive optimization algorithm, the method further comprises: acquiring water level parameters of the characteristic river section through pre-set water level sensors; identifying ship flow through the navigation building through pre-set flow sensors; monitoring the positions of each ship in the target water area range river channel through ship identification equipment and a video monitoring system; and based on the water level parameters, the ship flow and the positions of each ship, performing real-time scheduling of the multi-stage hub navigation situation of the entire river channel in the target water area range.

[0073] The embodiment realizes real-time acquisition of water level parameters of the characteristic river section through pre-set water level sensors. These sensors are deployed at key positions, such as the upstream and downstream of the multi-stage hub, the entrance and exit of the channel, and the sections susceptible to water level fluctuations, ensuring the comprehensiveness and accuracy of water level monitoring. The sensor type can be selected as needed, for example, a radar water level sensor or a pressure water level gauge can be selected, which can reliably transmit water level data to the central scheduling system. Through pre-set flow sensors, the embodiment can realize real-time identification of the ship flow through the navigation building. The flow sensor uses Doppler ultrasonic technology, which can not only measure the water flow velocity, but also estimate the number and type of ships, thereby providing real-time flow information for navigation scheduling, and can monitor the length of the ship queue and identify the degree of ship concentration during peak hours.

[0074] In addition, the embodiment can also combine a ship identification system (such as AIS) and a video monitoring system to realize real-time monitoring of the positions of each ship in the river channel. The AIS system can provide accurate position, heading, speed and other information of each ship, and the video monitoring system can capture the actual movement of the ship in the channel through a high-definition camera. The combination of the two can quickly identify the state and position of the ship and timely respond to possible navigation safety problems.

[0075] Based on the real-time collected water level parameters, ship flow and position information of each ship, the embodiment realizes all-around real-time scheduling of the multi-stage hub navigation situation of the entire river channel in the target water area range. The scheduling system analyzes the current water level fluctuation state, predicts the future water level change trend, evaluates the navigation capacity demand of the ship queue, and formulates reasonable scheduling strategies, such as adjusting the opening frequency of the ship lock, optimizing the ship lock order, starting emergency measures when the water level is too high or too low, etc. The decision support function of the system also includes learning and analysis of historical data, which can extract effective coping strategies from past scheduling practices to improve the accuracy and efficiency of decision-making.

[0076] The embodiment adopts a dynamic scheduling model architecture, combines a prediction module (such as water level prediction based on an LSTM neural network and ship flow prediction based on DBSCAN clustering) and an optimization scheduling algorithm (such as model predictive control MPC and an improved genetic algorithm), and dynamically adjusts a control strategy according to different scenarios and requirements. For example, in a normal navigation condition, ships pass through the lock according to the ship queue order, and the water level change range is controlled within a safe range; during flood scheduling, the safety of flood discharge is prioritized, and the flow is adjusted through the coordinated control (combined with PID and fuzzy control) of the lock gate group; and in a ship dense period, a "virtual anchorage" scheduling mode is enabled, the ship is guided to orderly wait through a mobile application, the lock passing sequence is optimized, and the navigation efficiency is improved.

[0077] Through the above steps, the scheduling operation data of the stepped hub of the already channeled river in the target water area range can be obtained; based on the preset water flow continuity and momentum equation, a numerical simulation model is established by using fluid dynamics software, wherein the numerical simulation model is used to analyze the water flow connection of the upstream and downstream of each stepped hub of the whole river section of the water area, and stepped hydraulic data is obtained; based on the scheduling operation data and the stepped hydraulic data, the structural safety, the water passing capacity and the cargo passing capacity of the hub dam are evaluated, and a hub dam evaluation result is obtained; based on the hub dam evaluation result and the navigation stepped arrangement rule, a multi-objective comprehensive optimization algorithm is applied to determine a navigation stepped arrangement scheme. In the embodiment, the scheduling operation data of the hub of the already channeled river in the target water area range can be systematically collected and analyzed, and then based on the preset water flow continuity and momentum equation, the numerical simulation model is established by using the advanced fluid dynamics software, the water flow connection of the upstream and downstream of each stepped hub of the whole river section is analyzed by using the model, the navigation water level and the water flow condition can be more accurately predicted and evaluated, the accurate hydraulic data support is provided for improving the navigation efficiency, the errors and uncertainties that may exist in the traditional design method are avoided, and then based on the structural safety evaluation, the water passing capacity and the cargo passing capacity analysis result of the hub dam, and the navigation stepped arrangement rule, the multi-objective comprehensive optimization algorithm is used to determine the navigation stepped arrangement scheme, the optimal balance solution is found, it is ensured that the navigation efficiency is improved, and the minimization of the engineering economy and the environmental impact is also considered, so that the technical problems of the navigation stepped scheme of the already channeled non-navigable river and the low navigation efficiency in the related art are solved.

[0078] The following will be described in detail in combination with another optional specific embodiment.

[0079] The embodiment of the present application takes Xianggui Canal as an example, and proposes a navigation cascade design method characterized by numerical simulation technology, multi-target cooperation and information means, so as to realize full connection of water levels between cascades, greatly improve navigation efficiency, and realize comprehensive utilization of water resources. By removing part of small dams, reducing the number of navigation structures, improving the navigation efficiency, shortening the navigation time, resetting the characteristic water level of each hub, realizing the connection of water levels between cascades, improving the navigation guarantee rate, and simultaneously using information means to realize the cooperation between cascades, the water resource utilization rate is improved, the engineering investment is reduced, and the investment income is improved.

[0080] In the first aspect, the present application proposes an efficient navigation cascade design method for a channelized non-navigable river, comprising the following steps:

[0081] Step S1: combing the dispatching and operation data of the built hub, and analyzing the navigation efficiency.

[0082] Taking Xianggui Canal project as an example, the distances between cascades, dam heights, power station installed capacity and power generation, reservoir capacity, construction time, navigation structures and the like of Xiangjiang section are systematically combed. The distance between cascades is used to determine whether to cancel the hub. According to the construction experience of Beijing-Hangzhou Canal and the like, when the distance between hubs is less than 20 km, the navigation efficiency is very low, and the hub should be cancelled. The dam height is closely related to the hub head. For the navigation hub in mountainous and hilly areas, when the head is less than 10 m, the cascade should be cancelled to improve the navigation efficiency. The power station installed capacity, power generation, reservoir capacity and construction time are used to determine the economic cost of removing or rebuilding the project. The navigation structure is used to determine whether the existing navigation structure can meet the demand and whether the navigation structure needs to be built.

[0083] Step S2: collecting topographic maps, and establishing a numerical simulation model by using CFD software to simulate and calculate the water level connection of the built cascades.

[0084] The surveying and mapping data of the built hub and the channelized waterway are collected to splice the topographic maps of the water area range. The topographic maps should be as complete and accurate as possible, especially the elevation datum should be unified, and the coordinate system should be coordinated. Based on the Reynolds time-averaged flow continuity and momentum equation, a numerical simulation model is established by using CFD software. By establishing a two-dimensional or three-dimensional numerical model, the water flow connection of the upstream and downstream of each cascade in the whole river section is analyzed in detail, the change of the water flow in special positions such as bends and river bifurcations under the characteristic flow is accurately calculated, the water flow characteristics of the channelized river are accurately simulated, and accurate hydraulic data support is provided for cascade optimization.

[0085] The Reynolds time-averaged flow continuity and momentum equation includes:

[0086] (1) Flow continuity equation.

[0087]

[0088] (2) x-direction momentum equation.

[0089]

[0090] (3) y-direction momentum equation.

[0091]

[0092] where t is time, unit s; u, v are flow velocities along x, y directions, unit m / s; h is water depth; η is river bed surface elevation, determined according to design requirements and topographic mapping, unit m; g is gravity acceleration. Take 9.8 m / s 2 ; ε xx , ε yy , ε xy are turbulent viscosity coefficients, take αu * h, α = 3-5; u * is friction velocity, unit m / s, u * = (τ0 / ρ)^0.5; where τ0 is bed shear stress (unit: pascal, Pa), ρ is water density, take 1000 kg / m 3 .

[0093] The boundary conditions of the numerical simulation model usually include bank boundary, inlet boundary, outlet boundary and moving boundary, etc. The model adopts the following boundary conditions.

[0094] (1) Initial condition.

[0095] For a given study domain, at time t = 0,

[0096] h(x,y,t)| t＝0 = h0(x,y)

[0097] r(x,y,t)| t＝0 = r0(x,y)

[0098] s(x,y,t)| t＝0 = s0(x,y)

[0099] Where h0, r0, s0 are water level (unit m) and flow component (unit m / s) at initial time, respectively.

[0100] (2) Boundary condition.

[0101] ① Open boundary.

[0102] r = r B (t), s = s B (t), or h = h B (t)

[0103] where r B , s B are known flow hydrographs, h B is a known water level hydrograph.

[0104] ② solid wall boundary, i.e. the water and land boundary, by the impermeability of the wall surface, the normal flow velocity is equal to zero, and the tangential flow velocity is determined by the Manning-Chézy formula. If the angle between the normal flow velocity and the x-axis is θ, then the conversion relationship between r and s and v n and v t is:

[0105]

[0106] where:

[0107] Grid division:

[0108] In the case of setting the scheme, the grid arrangement is divided as shown in Figure 2 , and the terrain interpolation is shown in Figure 3 . Among them, the grid accuracy of the canal area is 20m, the grid accuracy of the river channel is 30m, and the grid accuracy of the calculation boundary area is about 1.0km.

[0109] In the case of setting the scheme, the water depth of the region when encountering a 20-year flood is shown in Figure 4 , and the water level distribution of the region when encountering a 20-year flood is shown in Figure 5 .

[0110] It can be seen that the water depth and water level size and distribution characteristics of each part in the project water area range have little change compared with the natural situation. The flow velocity distribution of the region when encountering a 20-year flood is shown in Figure 6 , and the flow velocity distribution of the diversion port when encountering a 20-year flood is shown in Figure 7 .

[0111] It can be seen that the flow velocity in the entire water area range can reach 2.0m / s or more. The flow velocity in the canal is relatively small, generally not more than 1.0m / s.

[0112] Step S3: Evaluate the structural safety, water passing capacity and cargo passing capacity of the existing dam, and propose a hub dismantling scheme.

[0113] Judging the structural safety of the dam is an important link. The dam that does not meet the safety requirements should be removed, and the value of the dam should be evaluated. The structural safety evaluation of the dam includes: dam material and structural integrity, load and anti-sliding stability, aging and damage evaluation.

[0114] For dam body material and structural integrity, the strength of dam body concrete / mortar, crack distribution (width, depth), leakage, and the degree of reinforcement corrosion for reinforced concrete dam can be detected. The stability of dam foundation and abutment can be analyzed to check if there is a weak interlayer, landslide signs or foundation settlement.

[0115] For load and anti-sliding stability, the anti-sliding and anti-inclination safety factors of dam body under the load combination of design flood, earthquake, uplift pressure, etc. can be calculated and compared with the requirements of the specification (such as “Design Code for Concrete Gravity Dam” SL 319).

[0116] For aging and damage assessment, the influence of freeze-thaw, erosion, chemical corrosion, etc. on the dam body can be analyzed in combination with the service life, and the “Guidelines for Safety Evaluation of Reservoir Dams” SL 258 can be referred to.

[0117] The contents of overwater capacity assessment include: efficiency of flood discharge facilities, rationality of flood regulation. For efficiency of flood discharge facilities, the overwater capacity of spillway and flood discharge tunnel is calculated, the actual maximum flood discharge is compared with the design flood discharge, and the operation status of gate opening and closing equipment is checked. The influence of river sedimentation (such as the height of sedimentation in front of the dam) on the overwater section is analyzed, and the discharge capacity is calculated through a hydraulic model or formula (such as the wide crest weir flow formula).

[0118] For rationality of flood regulation, it is assessed whether the flood control scheme in flood season meets the flood control standard, and the matching of flood forecasting system and regulation procedure is checked.

[0119] The contents of cargo throughput capacity assessment include: adaptability of navigation facilities and guarantee of navigation conditions. For adaptability of navigation facilities, the size (length, width, sill water depth) of ship lock / lift is checked to see if it meets the current navigation standard (such as “Navigation Standard for Inland Rivers” GB 50139), and the ship passing time and efficiency are assessed. The structural safety (such as crack in lock wall, gate water sealing performance) and reliability of mechanical and electrical equipment (such as hoist, hydraulic system) of navigation facilities are detected.

[0120] For guarantee of navigation conditions, the influence of upstream and downstream water level difference on ship passing is analyzed, and whether the minimum navigation water level guarantee rate meets the design requirement (such as 98% guarantee rate) is assessed.

[0121] Taking Xianggui Canal as an example, the eight cascade dams on Xiangjiang River were generally built within 20 years, which did not reach the design service life of 50 years. The structural safety of the check dams can meet the future use requirements after inspection. Shuangpai Hub on Xiaoshui River was built in 1962, which exceeded the design service life. It is a dangerous dam and should be demolished.

[0122] Step S4: Analyze the influencing factors of hub layout and determine the principles of navigation cascade layout.

[0123] The investigation of the main towns along the canalized waterway, population, cultivated land area, riverbed topography and elevation of the land along the river bank is carried out. The following principles for the arrangement of the shipping steps are proposed:

[0124] (1) The dam site selection is based on the principle of not submerging the important towns along the waterway, which is beneficial to the development of the city and the improvement of the ecological environment in combination with the overall planning of the towns along the waterway.

[0125] (2) The dam site selection should meet the arrangement requirements of the navigation structures and the water retaining and releasing structures, and consider the long-term development needs; the straight river sections with good topography and geology are preferred; the river sections with straightened bends can also be selected, and the ship lock and the water release gate are dispersedly arranged.

[0126] (3) If the distance between the built steps is less than 20 km or the water head is less than 10 m, the adjacent steps can be combined.

[0127] (4) The normal storage level can be slightly higher than the local land elevation of the upper reaches of the hub, and the basic river water surface line is not out of the river channel as the principle to control the loss of submergence.

[0128] (5) The engineering investment is reduced as much as possible, including the control of the excavation amount, the construction investment of the hub project, the land acquisition and relocation investment, etc.

[0129] Step S5: The target function is established with the number of steps, navigation water head, tonnage of ships, and through capacity as parameters, and the multi-objective comprehensive optimization algorithm is applied to determine the optimal balanced solution of the step arrangement scheme.

[0130] The town submergence, land acquisition and relocation, engineering investment, and ecological environment impact are set as the constraint conditions, the genetic algorithm is used to optimize the number, scale, and operation and scheduling scheme of the steps, and the multi-objective comprehensive optimization algorithm is applied to seek the optimal balanced solution among the targets.

[0131] Among the multi-objective conflicts such as engineering investment, navigation efficiency, town submergence, and land acquisition and relocation, the optimal scheme considering the economic, social, and environmental benefits can be proposed through the sequence of "quantitative target-balance trade-off-dynamic adjustment" under the premise of meeting the rigid constraints (such as safety and ecology), and the multi-objective collaborative optimization rather than the maximization of a single target is finally realized.

[0132] Firstly, the multi-objective optimization is solved.

[0133] 1. Target layering and weight quantification.

[0134] The priority of the targets such as engineering investment, navigation efficiency, town submergence, and land acquisition and relocation is determined (such as town submergence and land acquisition and relocation as rigid targets, and engineering investment and navigation efficiency as flexible targets), and the qualitative targets are converted into quantitative weights through the analytic hierarchy process (AHP) or Delphi method. For example:

[0135] Set the "town flood minimization" weight higher than "investment minimization", ensure that livelihoods are prioritized;

[0136] Use "delay time" and "navigation tonnage" to quantify navigation efficiency and form comparable numerical targets with investment costs.

[0137] Suitable for scenarios with clear target priorities (such as projects involving major livelihoods or ecology).

[0138] 2. Pareto optimal solution set generation.

[0139] Use non-dominated sorting (such as NSGA-II algorithm) to generate Pareto front, that is, a set of "cannot improve one target without compromising other targets" optimal solutions. For example: in the shipping hub project, generate "investment increases by 10% but navigation efficiency improves by 20%", "investment decreases by 5% but inundation area expands by 30%" and other balanced solutions for decision-makers to choose according to actual needs. The advantage is to retain the trade-off relationship of multiple objectives and avoid the limitations of single optimal solution.

[0140] 3. Transformation and collaborative optimization of objective functions.

[0141] Weighted summation method: combine multiple objectives into a single objective function, F = w1 x engineering investment + w2 x navigation efficiency loss + w3 x inundation cost + w4 x land acquisition and relocation cost, and adjust the weights w to reflect the target priority. According to the average score of industry experts, w1 is 0.2, w2 is 0.2, w2 is 0.25, and w4 is 0.35.

[0142] Goal programming method: set the expected value for each target (such as the upper limit of investment, the lower limit of navigation efficiency), and optimize the target to "minimize the total deviation", which is suitable for scenarios with clear index requirements (such as requiring navigation guarantee rate ≥ 95%).

[0143] Second, conflict coordination and decision support strategy.

[0144] 1. Multi-stage progressive optimization.

[0145] First stage: focus on core targets and relax secondary constraints, such as first ensuring dam safety and ecological flow, then optimizing investment and efficiency; that is, increase the priority of dam safety and ecological flow, and under the constraint condition of dam safety and ecological flow, compare engineering investment and navigation efficiency.

[0146] Second stage: refine and adjust within the feasible solution range, gradually balance multiple objectives. First determine the red line of reservoir inundation, then optimize the dam type within the red line to reduce investment and improve navigation capacity.

[0147] 2. Industry expert participatory decision-making.

[0148] Through expert demonstrations and other means, the demands of stakeholders such as urban residents, shipping departments, and environmental protection agencies are converted into constraint conditions.

[0149] 3. Dynamic adaptation and scenario analysis.

[0150] Simulate target conflicts under different scenarios (such as extreme floods and surges in shipping demand), and optimize solutions to meet the feasibility of multiple scenarios. In channel design, both daily navigation efficiency and flood discharge channels during flood season are considered to avoid conflicts between efficiency and safety.

[0151] After that, typical tools in engineering practice can be used to implement optimization adjustment. First, simulation coupling is performed: combining BIM (Building Information Modeling), hydrological models, and other tools, the correlation between each target (such as the impact of dam height on investment, flooded area, and navigation depth) is quantified to provide data support for optimization. Then, machine learning is used for assistance: through neural network prediction of land acquisition and relocation costs, navigation delay losses, and other factors, the calculation efficiency of multi-objective optimization is improved. Sensitivity analysis: identify the parameters that have the greatest impact on target conflicts (such as dam material prices and shipping volume growth rates), and prioritize optimization of key variables to reduce conflict levels.

[0152] Optionally, a multi-objective comprehensive optimization algorithm is applied to seek the optimal balance solution between each target. Specific methods can include:

[0153] (1) Establish a target optimization system. Establish an engineering investment- shipping revenue function, and analyze economic benefits based on life cycle cost. Calculate the average time of ships passing through the dam and the annual navigation guarantee rate through ship scheduling simulation and waiting time, transit period. Calculate the ecological flow satisfaction based on the hydrological model, and calculate the safety factor of the dam body against sliding based on structural mechanics.

[0154] (2) Set decision variable encoding. Determine the maximum possible number of stages based on the river drop and navigation demand; determine the shipping cascade scale based on dam height and reservoir capacity; determine the scheduling scheme based on water level control targets and discharge flow strategy.

[0155] (3) Build fitness function. Calculate the navigation water level fluctuation range by simulating the cascade water flow state; simulate the transit efficiency using the ship traffic flow model.

[0156] 1) Penalty function design:

[0157] Ecological flow not up to standard: Penalty = α × (ecological flow gap / design flow).

[0158] Safety factor insufficient: Penalty = β × (1.3-actual safety factor).

[0159] (α, β are weight coefficients, set according to specification requirements).

[0160] 2) Constraint handling strategy:

[0161] Feasible first principle: feasible solution is preferred to infeasible one even if it has lower fitness.

[0162] Dynamic penalty function: penalty weight increases with iteration number to accelerate convergence to feasible region.

[0163] 3) Adaptive operator design.

[0164] Crossover probability:

[0165] Mutation probability:

[0166] where f is the fitness of individual, f max f min is the maximum / minimum fitness of population.

[0167] (4) Hierarchical solution strategy for cascade optimization. The following multi-scale optimization framework is established:

[0168] 1) Upper level: cascade structure optimization (static).

[0169] Decision variables: number of cascade N, height of each cascade H i , reservoir capacity V i .

[0170] Constraints: total fall of river ∑H i ≤ H max , inundated area in reservoir area ≤ environmental threshold.

[0171] 2) Lower level: optimization of scheduling scheme (dynamic).

[0172] Decision variables: daily water level scheduling curve Z(t), discharge Q(t) of each cascade.

[0173] Constraints: navigation water level amplitude ≤ 0.5 m / h, flood control limit water level ≤ Z_{max}.

[0174] Step S6: set water level sensor, ship identification system, and obtain real-time information of river water level, flow, ship position and running state, etc., to realize all-round real-time scheduling of multi-cascade navigation of the whole river.

[0175] By setting the water level sensor, the water level parameters of the characteristic river section are obtained; by setting the flow sensor, the ship flow passing through the navigation structure is identified; by the AIS ship identification equipment, the precise positioning of the ship can be realized; by the video monitoring system, the ship position is identified and monitored.

[0176] Real-time data processing flow, as follows:

[0177] 1) Edge-cloud collaborative computing.

[0178] Edge node: Perform data filtering (Kalman filter), outlier detection (3σ principle).

[0179] Cloud platform: Use Kafka stream processing framework to real-time fuse water level (10s / time), ship position (1s / time) and other multi-source data.

[0180] 2) Data storage strategy.

[0181] Time series data: Store water level / flow historical data (retain for 10 years).

[0182] Ship trajectory: Store AIS trajectory (archive by voyage).

[0183] Dispatch log: Record operation log (support traceability audit).

[0184] (3) Navigation scheduling algorithm and control implementation.

[0185] 1) Dynamic scheduling model architecture.

[0186] Prediction module includes water level prediction and ship flow prediction.

[0187] Water level prediction: LSTM neural network, input historical water level + rainfall data, predict future 12 hours water level (error ≤3cm).

[0188] Ship flow prediction: Spatio-temporal clustering based on historical AIS data (DBSCAN algorithm), predict future 2 hours ship number passing through the dam.

[0189] 2) Optimization scheduling algorithm.

[0190] Objective function:

[0191] (T i is the waiting time of the ship, C i is the energy consumption cost, E i is the ecological flow deviation).

[0192] Solution method:

[0193] Short period (15min): Model predictive control (MPC), rolling optimization of current period scheduling scheme.

[0194] Long period (1 day): Improved genetic algorithm (combine real-time data to update initial population).

[0195] (3) Application layer function and interaction design.

[0196] 1) Dispatch center visualization system.

[0197] Three-dimensional GIS display:

[0198] Real-time rendering of river terrain, cascade hub, and ship position.

[0199] Water level warning: automatically marked red when exceeding the warning water level, and triggered sound and light alarm.

[0200] 2) Decision support module.

[0201] Intelligent recommended scheduling scheme: input current water level + ship queue, automatically generate 3 sets of candidate schemes (with risk assessment).

[0202] Historical case library: retrieve optimal scheduling records under similar scenarios according to hydrological conditions.

[0203] 3) Ship end interaction design, with the following functions:

[0204] Lock reservation: submit the draft depth and estimated arrival time, and obtain the lock period reservation code.

[0205] Real-time navigation: display the waiting time of the front cascade and recommend the speed (based on real-time water flow speed).

[0206] Early warning reception: flood, fog, and other warning information push (Beidou short message backup).

[0207] The embodiment of the present application can collect the scheduling operation data of the built hub, including the distance between each cascade, the height of the dam, the installed capacity of the power station and the power generation, the reservoir capacity, the construction time, the navigation building condition, etc., and then use CFD software to establish a numerical simulation model to simulate and calculate the water level connection of each built cascade, evaluate the structural safety, water passing capacity and cargo passing capacity of the existing dam, and determine the optimal balanced solution of the cascade arrangement scheme by using a multi-objective optimization algorithm.

[0208] The embodiment of the present application can improve the navigation efficiency and shorten the ship transit time by removing and merging the hub, use CFD software to establish a numerical simulation model, realize the water level connection between cascades through system design, improve the navigation guarantee rate, obtain the optimal balanced solution of the cascade arrangement scheme through a multi-objective comprehensive optimization algorithm, realize the overall real-time scheduling of the multi-cascade navigation condition of each hub height coordination of the entire river channel, and improve the water resource utilization rate.

[0209] The following will be described in detail in conjunction with another embodiment.

[0210] Embodiment two

[0211] The navigation cascade scheme determination device for a channelized non-navigable river channel provided in the embodiment comprises a plurality of implementation units, each implementation unit corresponding to each implementation step in the above embodiment one.

[0212] Figure 8 is a schematic diagram of an optional navigable grade scheme determination device for a channelled unnavigable river according to an embodiment of the application, as shown, the navigable grade scheme determination device for the channelled unnavigable river can comprise: a hub resource acquisition unit 81, a simulation model construction unit 82, a dam evaluation unit 83, and a navigable grade arrangement scheme determination unit 84. Figure 8

[0213] The hub resource acquisition unit 81 is configured to acquire dispatching operation data of the channelled river grade hub in the target water area.

[0214] The simulation model construction unit 82 is configured to establish a numerical simulation model based on a preset water flow continuity equation and momentum equation using fluid dynamics software, wherein the numerical simulation model is used to analyze the water flow connection of the upstream and downstream of each grade hub of the entire river section of the water area, and obtain grade hydraulic data.

[0215] The dam evaluation unit 83 is configured to evaluate the structural safety, water passing capacity and cargo passing capacity of the hub dam based on the dispatching operation data and the grade hydraulic data, and obtain dam evaluation results.

[0216] The navigable grade arrangement scheme determination unit 84 is configured to determine a navigable grade arrangement scheme based on the dam evaluation results and the navigation grade arrangement rules using a multi-objective comprehensive optimization algorithm.

[0217] ​The navigation cascade scheme determination device for the already channeled non-navigable river can obtain the dispatching operation data of the cascade hub of the already channeled river in the target water area range through the hub resource obtaining unit 81, establish a numerical simulation model by using fluid dynamics software based on the preset water flow continuity and momentum equation through the simulation model construction unit 82, wherein the numerical simulation model is used to analyze the water flow connection of the upstream and downstream of each cascade hub of the whole river section of the water area, and cascade hydraulic data is obtained, the structural safety, water passing capacity and cargo passing capacity of the hub river dam are evaluated based on the dispatching operation data and the cascade hydraulic data through the river dam evaluation unit 83, and dam evaluation results are obtained, and the navigation cascade arrangement scheme is determined based on the dam evaluation results and the navigation cascade arrangement rule through the navigation cascade arrangement scheme determination unit 84, and a multi-objective comprehensive optimization algorithm is applied. In this embodiment, the dispatching operation data of the hub of the already channeled river in the target water area range can be systematically collected and analyzed, and then based on the preset water flow continuity and momentum equation, the numerical simulation model is established by using the advanced fluid dynamics software, the water flow connection of the upstream and downstream of each cascade hub of the whole river section is analyzed by the model, the navigation water level and the water flow condition can be more accurately predicted and evaluated, the accurate hydraulic data support is provided for improving the navigation efficiency, the errors and uncertainties that may exist in the traditional design method are avoided, and then based on the analysis results of the structural safety evaluation, the water passing capacity and the cargo passing capacity of the dam, and the navigation cascade arrangement rule, the multi-objective comprehensive optimization algorithm is used to determine the navigation cascade arrangement scheme, the optimal balance solution is found, the navigation efficiency is improved, and the minimization of engineering economy and environmental impact is also considered, so as to solve the technical problems of the navigation cascade scheme of the already channeled non-navigable river designed in the related technology and the low navigation efficiency.

[0218] Optionally, the hub resource obtaining unit comprises a data collection module configured to collect the cascade spacing, dam height, power station installed capacity and power generation, reservoir capacity, construction time and navigation structure of each cascade hub of the already channeled river in the target water area range, and obtain the dispatching operation data.

[0219] Optionally, the simulation model construction unit comprises a surveying data collection module configured to collect surveying data of the cascade hub of the already channeled river and the channeled channel, and splice the topographic map of the target water area range based on the surveying data, wherein the elevation datum in the topographic map is consistent, and the coordinate system of each topographic point in the topographic map is unified; and a model construction module configured to construct a model by using fluid dynamics software according to the Reynolds time-averaged water flow continuity and momentum equation, and obtain a numerical simulation model, wherein the boundary conditions of the numerical simulation model comprise a bank boundary, an inlet boundary, an outlet boundary and a moving boundary.

[0220] Optionally, the waterway navigation grade scheme determination device for the already channeled unnavigable river also comprises: an upstream and downstream analysis module for analyzing water flow connection conditions of each grade hub upstream and downstream of the water area through a numerical simulation model; a water flow position change analysis module for analyzing water flow changes in the bend position and the river mouth position under different flow rates based on the water flow connection conditions to obtain water flow changes in different positions under characteristic flow rates; and a water flow simulation module for simulating water flow characteristics of the already channeled river through the numerical simulation model based on the water flow changes in different positions under the characteristic flow rates to obtain grade hydraulic data.

[0221] Optionally, the dam evaluation unit comprises: a first dam detection module for detecting dam body materials and structural integrity, evaluating load and anti-sliding stability, and evaluating dam body aging and damage to obtain a structure safety evaluation result when evaluating the structural safety of the hub dam, wherein when detecting the dam body materials and structural integrity, the dam body concrete / mortar strength, crack distribution parameters, leakage conditions, and steel reinforcement corrosion degree of the steel reinforced concrete dam are detected to check whether there are weak interlayers, landslide signs, or foundation settlement; a second dam detection module for evaluating load and anti-sliding stability, including checking the anti-sliding and anti-inclination safety factors of the dam body under various disaster load combinations, and including analyzing the influence of service life and various damage factors on the dam body when evaluating the dam body aging and damage; a third dam detection module for analyzing the efficiency of the hub dam flood discharge facilities and the rationality of flood regulation when evaluating the water passing capacity of the hub dam, wherein when analyzing the efficiency of the hub dam flood discharge facilities, the overflow capacity of the spillway and the flood discharge tunnel is calculated, the design flood discharge flow and the actual maximum flood discharge are compared, the operation state of the gate opening and closing equipment is checked, and the influence of river sedimentation on the water passing section is analyzed, and when analyzing the rationality of flood regulation, whether the flood control standard is met by the flood control scheme during the flood season is evaluated, and the matching degree of the flood forecasting system and the regulation procedure is checked; and a fourth dam detection module for analyzing the adaptability of the hub dam navigation facilities and the navigation condition guarantee when evaluating the cargo passing capacity of the hub dam, wherein when analyzing the adaptability of the hub dam navigation facilities, whether the size of the ship lock / ship lift meets the current navigation standard, the ship passing time and efficiency are evaluated, the structural safety of the navigation facilities and the safety degree of the mechanical and electrical equipment are detected, and when analyzing the navigation condition guarantee of the hub dam, the influence of the upstream and downstream water level difference on the ship passing is analyzed, and whether the minimum navigation water level guarantee rate meets the navigation requirement is evaluated.

[0222] Optionally, the shipping cascade arrangement rule comprises at least one of the following: a town submergence minimization principle, in combination with a town overall planning along the line, a dam site selection not to submerge a specified town within a target water area range; a dam site selection to meet arrangement requirements of navigation structures and retaining and releasing water structures; a merging of cascades in a case where a distance between built cascades is less than a preset distance threshold; a principle of a river water surface line substantially not out of a river channel, a normal storage water level higher than a local beach elevation upstream of the cascade; a minimum engineering investment principle, a control of excavation amount and a cascade engineering construction investment.

[0223] Optionally, the navigation cascade arrangement scheme determination unit comprises: a function establishment module configured to establish a target function with a cascade number, a navigation water head, a ship tonnage and a passing capacity as parameters; a function conversion module configured to convert the target function by using a weighted summation strategy and a target planning strategy to obtain a target function conversion result; a constraint condition determination module configured to determine navigation cascade arrangement constraint conditions by using a multi-stage progressive optimization algorithm; and a navigation cascade arrangement scheme determination module configured to determine an optimal balanced solution of the cascade arrangement scheme based on the target function conversion result and the navigation cascade arrangement constraint conditions by using a multi-objective comprehensive optimization algorithm to obtain the navigation cascade arrangement scheme.

[0224] Optionally, the navigation cascade scheme determination device for the already channeled and non-navigable river further comprises: a first sensor detection unit configured to obtain water level parameters of a characteristic river section by using a pre-set water level sensor after the navigation cascade arrangement scheme is determined by using the multi-objective comprehensive optimization algorithm; a second sensor detection unit configured to identify ship flow passing through the navigation structure by using a pre-set flow sensor; a ship identification unit configured to monitor ship positions of each ship in the target water area range by using a ship identification device and a video monitoring system; and a cascade hub scheduling unit configured to schedule a real-time navigation of the multi-cascade hub of the whole river in the target water area range based on the water level parameters, the ship flow and the ship positions of each ship.

[0225] The navigation cascade scheme determination device for the already channeled and non-navigable river can further comprise a processor and a memory, and the hub resource acquisition unit 81, the simulation model construction unit 82, the dam evaluation unit 83 and the navigation cascade arrangement scheme determination unit 84 are stored in the memory as program units, and the corresponding functions are realized by the processor executing the program units stored in the memory.

[0226] The processor comprises a core, and the core retrieves the corresponding program units from the memory. The core can be one or more, and the efficient navigation cascade design for the already channeled and non-navigable river is realized by adjusting the core parameters.

[0227] The aforementioned memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0228] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored computer program, wherein, when the computer program is running, it controls the device where the computer-readable storage medium is located to execute the method for determining the navigation cascade scheme of a channelized but non-navigable waterway as described in any of the above embodiments.

[0229] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the method for determining the navigation cascade scheme of a channelized but non-navigable waterway as described in any of the above embodiments.

[0230] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method for determining the navigation cascade scheme of a channelized but non-navigable waterway as described in various embodiments of this application.

[0231] This application also provides a computer program product, including a non-volatile computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method for determining the navigation cascade scheme of a channelized but unnavigable waterway as described in various embodiments of this application.

[0232] Figure 9 This is a hardware structure block diagram of an electronic device (or mobile device) for determining a navigation cascade scheme in a channelized but unnavigable waterway according to an embodiment of the present invention. Figure 9 As shown, an electronic device may include one or more ( Figure 9 The processor (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and memory 904 for storing data are illustrated using 902a, 902b, ..., 902n. In addition, it may include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a keyboard, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 9 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, the electronic device may also include components that are more... Figure 9more or less components than those shown, or configurations of components having different configurations or Figure 9

[0233] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0234] In the above-described embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0235] In several embodiments provided in the present application, it should be understood that the disclosed technical contents can be implemented by other ways. Among them, the above-described device embodiments are only schematic, for example, the division of the units can be a logical function division, and actual implementation can have another division way, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interfaces, units or modules, which can be electrical or other forms.

[0236] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the present embodiment scheme.

[0237] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0238] ​The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, essentially or in other words, the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to make a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0239] The above is only the preferred embodiment of the present application, and it should be pointed out that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements should be considered as the protection scope of the present application.

Claims

1. A method for determining the navigation cascade scheme for a channelized but non-navigable waterway, characterized in that, include: Obtain scheduling and operation data of the canalized river cascade hubs within the target water area; Based on the preset equations of water flow continuity and momentum, a numerical simulation model is established using fluid dynamics software. The numerical simulation model is used to analyze the water flow connection between the upstream and downstream of each cascade hub in the entire river section and to obtain cascade hydraulic data. Based on the scheduling and operation data and the cascade hydraulic data, the structural safety, water passage capacity and cargo passage capacity of the hub dam are evaluated to obtain the dam evaluation results; Based on the dam evaluation results and the navigation cascade layout rules, a multi-objective comprehensive optimization algorithm is applied to determine the navigation cascade layout scheme.

2. The method for determining the navigation tier scheme according to claim 1, characterized in that, The steps for obtaining scheduling and operation data of canalized river cascade hubs within the target water area include: The scheduling and operation data are obtained by collecting information on the spacing between the cascades, dam height, installed capacity and power generation of the power stations, reservoir capacity, construction time, and navigation structures of each cascade hub in the canalized waterway within the target water area.

3. The method for determining the navigation tier scheme according to claim 1, characterized in that, The steps for establishing a numerical simulation model using fluid dynamics software based on preset equations for water flow continuity and momentum include: Collect mapping data of canalized river cascade hubs and canalized waterways, and stitch together topographic maps of the target water area based on the mapping data. The elevation datums of the topographic maps are consistent, and the coordinate systems of the topographic points in the topographic maps are unified. Based on Reynolds' time-averaged flow continuity and momentum equations, a numerical simulation model was constructed using fluid dynamics software. The boundary conditions of the numerical simulation model include the shore boundary, inlet boundary, outlet boundary, and moving boundary.

4. The method for determining the navigation tier scheme according to claim 1, characterized in that, The steps for analyzing the upstream and downstream flow connections of each cascade hub across the entire river section to obtain cascade hydraulic data include: The numerical simulation model is used to analyze the water flow connection between the upstream and downstream of each cascade hub in the entire river section. Based on the aforementioned water flow connection, the changes in water flow at bends and river junctions under different flow rates are analyzed to obtain the changes in water flow at different locations under characteristic flow rates. Based on the variation of water flow at different locations under the aforementioned characteristic flow rate, the flow characteristics of the channelized river are simulated using the numerical simulation model to obtain the cascade hydraulic data.

5. The method for determining the navigation tier scheme according to claim 1, characterized in that, Based on the aforementioned scheduling and operation data and the aforementioned cascade hydraulic data, the steps for evaluating the structural safety, water passage capacity, and cargo throughput capacity of the dam, and obtaining the dam evaluation results, include: When assessing the structural safety of the dam, the integrity of the dam materials and structure is tested, load and anti-sliding stability are evaluated, and aging and damage of the dam are assessed to obtain the structural safety assessment results. Specifically, testing the integrity of the dam materials and structure includes testing the strength of the concrete / masonry, crack distribution parameters, leakage, and the degree of steel corrosion in reinforced concrete dams, and investigating for the presence of weak interlayers, signs of landslides, or foundation settlement. Assessing load and anti-sliding stability includes calculating the dam's anti-sliding and anti-overturning safety factors under various combinations of disaster loads. Assessing aging and damage of the dam includes: Analyze the impact of service life and various damage factors on the dam body; When assessing the water-passing capacity of the dam, the efficiency of the dam's flood discharge facilities and the rationality of flood control are analyzed. The analysis of the dam's flood discharge facility efficiency includes calculating the flow capacity of the spillway and flood discharge tunnel, comparing the designed flood discharge flow with the actual maximum flood discharge, checking the operating status of the gate opening and closing equipment, and analyzing the impact of river siltation on the water-passing cross-section. The analysis of the rationality of flood control includes assessing whether the flood season water level control scheme meets flood control standards and verifying the matching degree between the flood forecasting system and the control procedures. When assessing the cargo throughput capacity of the dam, the adaptability of the dam's navigation facilities and the guarantee of navigation conditions are analyzed. The analysis of the adaptability of the dam's navigation facilities includes: checking whether the dimensions of the locks / ship lifts meet current navigation standards; assessing the time and efficiency of vessel passage; and testing the structural safety of the navigation facilities and the safety of the electromechanical equipment. The analysis of the guarantee of navigation conditions includes: analyzing the impact of the upstream and downstream water level difference on vessel passage; and assessing whether the minimum navigation water level guarantee rate meets navigation requirements.

6. The method for determining the navigation tier scheme according to claim 1, characterized in that, The shipping cascade layout rules include at least one of the following: The principle of minimizing urban inundation is followed, and the dam site is selected in conjunction with the overall planning of towns along the route to ensure that the designated towns within the target water area are not inundated. The dam site selection meets the layout requirements of navigation structures and water-retaining structures; If the distance between existing cascade hubs is less than a preset distance threshold, the cascade hubs will be merged. The principle is to keep the water level in the river channel basically within the riverbed, and the normal water level is higher than the local beach elevation upstream of the hub. The principle of minimizing project investment is applied to control the amount of excavation and the investment in key infrastructure projects.

7. The method for determining the navigation tier scheme according to claim 1, characterized in that, The steps for determining the navigation tier layout scheme using a multi-objective integrated optimization algorithm include: Establish an objective function with parameters such as the number of cascades, navigation head, ship tonnage, and throughput capacity; The objective function is transformed using a weighted summation strategy and a goal programming strategy to obtain the transformed objective function result; A multi-stage progressive optimization algorithm was adopted to determine the constraints for the navigation tier layout; Based on the objective function transformation result and the constraints of the navigation cascade layout, a multi-objective integrated optimization algorithm is applied to determine the optimal equilibrium solution of the cascade layout scheme, thus obtaining the navigation cascade layout scheme.

8. The method for determining the navigation tier scheme according to claim 1, characterized in that, After determining the navigation tiered layout scheme using a multi-objective integrated optimization algorithm, the following steps are also included: Water level parameters of the characteristic river section are obtained by using a pre-set water level sensor; The flow of ships passing through navigation structures is identified by pre-set flow sensors; The location of each vessel within the target waterway is monitored using vessel identification equipment and video surveillance systems. Based on the water level parameters, the vessel flow rate, and the vessel positions, real-time scheduling of navigation conditions at multiple cascade hubs along the entire river within the target water area is implemented.

9. A device for determining the navigation cascade scheme of a channelized but non-navigable waterway, characterized in that, include: The hub resource acquisition unit is used to acquire scheduling and operation data of the canalized river cascade hubs within the target water area; The simulation model building unit is used to establish a numerical simulation model based on the preset flow continuity and momentum equations using fluid dynamics software. The numerical simulation model is used to analyze the flow connection between the upstream and downstream of each cascade hub in the entire river section and obtain cascade hydraulic data. The dam assessment unit is used to assess the structural safety, water passage capacity, and cargo passage capacity of the key dam based on the scheduling and operation data and the cascade hydraulic data, and to obtain the dam assessment results. The navigation cascade layout scheme determination unit is used to determine the navigation cascade layout scheme based on the dam evaluation results and the navigation cascade layout rules, using a multi-objective comprehensive optimization algorithm.

10. An electronic device, characterized in that, It includes one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the method for determining the navigation cascade scheme of a channelized non-navigable waterway as described in any one of claims 1 to 8.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the method for determining the navigation cascade scheme of a channelized but non-navigable waterway as described in any one of claims 1 to 8.

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