Hydrological water resource intelligent regulation system

Abstract

The application discloses a hydrology and water resource intelligent regulation and control system and relates to the technical field of intelligent regulation and control of water resources, and comprises: acquiring the space-time position data of a plurality of hydraulic beacons arranged at the release point of the upstream of a water system, the hydraulic beacons drifting with the water flow and periodically sending position information; generating the motion trajectory of each hydraulic beacon from the release point to the downstream receiving point based on the space-time position data of each hydraulic beacon; extracting a set of hydraulic characteristic parameters reflecting the current hydraulic transport characteristics of the water system based on the motion trajectory of each hydraulic beacon; determining the hydraulic connectivity state of the target water area based on the set of hydraulic characteristic parameters, and generating a regulation and control instruction for adjusting the water system regulation and control facility, and sending the regulation and control instruction to the corresponding water system regulation and control facility for execution. The hydraulic beacon can cover the entire monitoring river section with the water flow, and the overall perception of the hydraulic transport of the entire water system is realized.

Description

Technical Field

[0001] This invention relates to the field of intelligent water resource regulation technology, specifically to an intelligent hydrological and water resource regulation system. Background Technology

[0002] In water resource allocation and management, obtaining the true hydraulic connectivity and transport efficiency of a water system is a prerequisite for precise regulation. Existing water system regulation methods typically rely on setting up fixed hydrological monitoring stations at key cross-sections of the water system, using equipment such as water level gauges and current meters to collect local water level and flow velocity data, and then inputting the data into hydrodynamic or hydrological models for simulation calculations to predict the effects of different scheduling schemes, ultimately formulating regulation decisions.

[0003] The method based on fixed hydrological monitoring stations has a limited monitoring range and cannot fully capture the actual transport path and retention area of ​​water flow in complex river networks. Fixed hydrological monitoring stations can only obtain local hydraulic parameters at the set cross-section. The water flow propagation process between cross-sections, the swing of the main channel, and the retention phenomenon of water flow in complex terrain such as river bends and distributaries are difficult to effectively monitor. When the river system has a complex morphology or multiple distributaries, the limited number of fixed stations cannot fully reflect the continuous spatial transport behavior of water flow. Summary of the Invention

[0004] Existing monitoring methods that rely on fixed hydrological stations cannot effectively capture the water flow propagation path and stagnation area between station sections, and cannot obtain the hydraulic transport characteristics of the entire water system. In order to address the shortcomings of existing technologies, this invention provides an intelligent hydrological and water resources regulation system.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent hydrological and water resources regulation system, specifically comprising: Location information acquisition module: acquires the spatiotemporal location data of multiple hydraulic beacons deployed at the release point in the upstream of the water system. The hydraulic beacons drift with the water flow and periodically send location information. Motion trajectory generation module: Based on the spatiotemporal location data of each hydraulic beacon, generate the motion trajectory of each hydraulic beacon from the release point to the downstream receiving point; Data extraction module: Based on the motion trajectory of each hydraulic beacon, extracts a set of hydraulic feature parameters reflecting the current hydraulic transport characteristics of the water system; Control command generation module: Based on the set of hydraulic characteristic parameters, determine the hydraulic connectivity state of the target water area, generate control commands for regulating water system control facilities, and send the control commands to the corresponding water system control facilities for execution.

[0006] The system also includes a beacon retrieval module, which is intercepted and retrieved by a barrier net at the downstream receiving point. Maintenance personnel read the complete trajectory data stored inside the hydraulic beacon, clean and recharge the hydraulic beacon, and then transport it back to the upstream release point for the next round of monitoring cycle.

[0007] Preferably, the location information acquisition module deploys multiple hydraulic beacons onto the water surface at the release point upstream of the water system. Each hydraulic beacon has a unique beacon identification code, and the hydraulic beacon contains a positioning unit and a wireless transmission unit. Multiple receiving base stations are set up downstream of the water system and along the route. Each receiving base station receives the wireless signals sent by the passing hydraulic beacons at fixed time intervals and extracts the beacon identification code field, location coordinate field and transmission timestamp field from the wireless signals. All radio signal parsing data received by each receiving base station at different times are aggregated to the data aggregation node. The data aggregation node then groups the parsed data according to the beacon identification code to obtain the spatiotemporal location data set of each hydraulic beacon.

[0008] Preferably, the motion trajectory generation module reads the beacon identification code field of each spatiotemporal location record from the spatiotemporal location data set, and groups all spatiotemporal location records with the same beacon identification code field value into the same group; For each group's spatiotemporal location record, read the sending timestamp field from each record, sort the values ​​of the sending timestamp field in order from earliest to latest, and obtain the sequence of location points of each hydraulic beacon arranged in chronological order; Connect adjacent locations in the same hydraulic beacon's location sequence with line segments to obtain the trajectory of the hydraulic beacon in the water system from the release point to the downstream receiving point, where the release point is the first location in the location sequence and the downstream receiving point is the last location in the location sequence.

[0009] Preferably, the data extraction module obtains the first transmission timestamp corresponding to the first position point in the trajectory of each hydraulic beacon, obtains the second transmission timestamp corresponding to the last position point in the trajectory of each hydraulic beacon, and subtracts the first transmission timestamp from the second transmission timestamp to obtain the first propagation time experienced by each hydraulic beacon from the release point to the downstream receiving point. Sort all first propagation times according to their numerical values, and take the first propagation time in the middle position after sorting as the representative propagation time; Obtain the second lateral offset of the last position point in the motion trajectory of each hydraulic beacon relative to the line connecting the starting point and the ending point of the trajectory, calculate the standard deviation of all second lateral offsets, and use the standard deviation as the trajectory dispersion width. Obtain the total path length of each hydraulic beacon's trajectory and the straight-line distance between the starting and ending points of each trajectory. Divide the total path length by the straight-line distance to obtain the path tortuosity of each hydraulic beacon. Take the average of all path tortuosity as the representative path tortuosity. The propagation time, trajectory dispersion width, and path tortuosity are combined into a set of hydraulic characteristic parameters.

[0010] Preferably, the control instruction generation module compares the propagation time with the first propagation time threshold and the second propagation time threshold successively, wherein the first propagation time threshold is less than the second propagation time threshold; When the propagation time is less than or equal to the first propagation time threshold, the propagation speed is determined to be at the fast level. When the propagation time is greater than the first propagation time threshold and less than or equal to the second propagation time threshold, the propagation speed is determined to be at the medium speed level. When the propagation time is greater than the second propagation time threshold, the propagation speed is determined to be at the slow level. The trajectory diffusion width is compared with the first diffusion width threshold. When the trajectory diffusion width is greater than the first diffusion width threshold, it is determined that there is a diffusion stagnation state. The representative path detour degree is compared with the first detour degree threshold. When the representative path detour degree is greater than the first detour degree threshold, it is determined that there is a curve blockage state. Based on the comprehensive judgment results of the propagation speed level, whether there is a diffusion stagnation state, and whether there is a bend blockage state, the corresponding control command is generated. When the propagation speed is slow and both diffusion stagnation and bend blockage exist, a first control command is generated. The first control command is used to increase the discharge flow of the upstream reservoir and start the downstream pumping station. When the propagation speed is at a medium speed level and there is only a diffusion stagnation state, a second control command is generated. The second control command is used to adjust the opening of the water diversion gate of the water diversion channel to reduce the width of the water flow cross section. When the propagation speed is at a fast level and there is no diffusion stagnation or bend obstruction, a third control command is generated. The third control command is used to maintain the current operating status of each water system control facility. When the propagation speed is at a fast level but there is still a diffusion stagnation state, a fourth control command is generated. The fourth control command is used to activate the local flow boosting facility located upstream of the diffusion area. Read the target facility identification field and control parameter value field carried in the control instruction, and use the target facility identification field as an index to find the target facility communication address and water system control facility type corresponding to the target facility identification from the pre-stored water system control facility registration table; Based on the target facility's communication address, a data connection channel is established between the control terminal of the corresponding water system regulation facility and the wireless communication link. The control parameter values ​​are encoded into the instruction message format specified by the control terminal of the water system control facility type and sent to the control terminal through the data connection channel. The control terminal parses the command message, extracts the control parameter value, and drives the drive mechanism of the water system control facility to adjust its operating status to the position corresponding to the control parameter value.

[0011] This invention provides an intelligent hydrological and water resource regulation system, which has the following beneficial effects: This invention deploys multiple hydraulic beacons at an upstream release point in a water system, allowing them to drift naturally with the water flow. A shore-based receiving network captures the spatiotemporal location data of each hydraulic beacon, and based on this data, generates a complete trajectory of each beacon from the release point to the downstream receiving point. The hydraulic beacons reflect the actual transport path, lateral diffusion range, and longitudinal propagation speed of the water flow in the current water system. The hydraulic beacons can cover the entire monitored river section with the water flow, achieving comprehensive perception of hydraulic transport across the entire water system. Attached Figure Description

[0012] Figure 1 This is a system block diagram of the present invention. Detailed Implementation

[0013] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0014] Please see Figure 1 This invention provides an intelligent hydrological and water resources regulation system, comprising the following steps: Location information acquisition module: acquires the spatiotemporal location data of multiple hydraulic beacons deployed at the release point in the upstream of the water system. The hydraulic beacons drift with the water flow and periodically send location information. In this embodiment of the invention, the location information acquisition module needs to be specifically described. The location information acquisition module deploys multiple hydraulic beacons onto the water surface at the release point upstream of the water system. Each hydraulic beacon has a unique beacon identification code, and the hydraulic beacon contains a positioning unit and a wireless transmission unit. Multiple receiving base stations are set up downstream of the water system and along the route. Each receiving base station receives the wireless signals sent by the passing hydraulic beacons at fixed time intervals and extracts the beacon identification code field, location coordinate field and transmission timestamp field from the wireless signals. All radio signal parsing data received by each receiving base station at different times are aggregated to the data aggregation node. The data aggregation node then groups the parsed data according to the beacon identification code to obtain the spatiotemporal location data set of each hydraulic beacon.

[0015] It should be noted that a hydrodynamic beacon is a miniature buoy device with the ability to drift autonomously with the water flow. The outer shell of the hydrodynamic beacon adopts a waterproof and sealed structure, so that after deployment, the hydrodynamic beacon floats on the water surface or is suspended near the surface of the water body, moving naturally with the water flow. Each hydrodynamic beacon contains a positioning unit and a wireless transmission unit. The positioning unit is used to obtain the geographic coordinates of the current location of the hydrodynamic beacon in real time. The positioning method can be satellite positioning or shore-based positioning signal reception. The wireless transmission unit is used to periodically transmit the location information obtained by the positioning unit to the outside in the form of wireless signals. Each hydrodynamic beacon is assigned a unique beacon identification code at the factory, which is used to distinguish different hydrodynamic beacons when multiple hydrodynamic beacons exist in the water system at the same time. A receiving base station is a fixed wireless signal receiving device set up along both banks of a water system. The antenna coverage of the receiving base station covers a predetermined water surface area and is used to receive wireless signals sent by passing hydroelectric beacons. The receiving base station contains a signal demodulation unit and a data forwarding unit. The signal demodulation unit demodulates the baseband data from the high-frequency carrier of the received wireless signal, and the data forwarding unit sends the demodulated data to the data aggregation node through a wired or wireless backhaul link. The spatiotemporal location dataset refers to a set of data structures formed by grouping and organizing all hydroelectric beacon radio signal parsing data received by each receiving base station at different times according to the beacon identification code. Each hydroelectric beacon corresponds to a set of location record sequences sorted by time.

[0016] The location information acquisition module deploys multiple hydraulic beacons onto the water surface at a release point upstream of the river system. These release points are typically located at cross-sections with significant water flow capacity upstream, such as downstream of a reservoir spillway, a straight section of the river, or the starting point of a channel. Deployment can be done manually, one beacon at a time, or in batches via a release device. During deployment, each hydraulic beacon is activated. The positioning unit continuously receives positioning signals and calculates the current location coordinates. The wireless transmission unit periodically encapsulates the current location information into a wireless signal and transmits it at a preset fixed transmission interval. This fixed transmission interval can be set according to the time resolution requirements of the monitoring task, for example, every ten seconds or every thirty seconds. Multiple receiving base stations are set up downstream and along the river system. Each base station receives wireless signals transmitted by passing hydraulic beacons. The deployment locations of the receiving base stations are determined according to the river system's direction and network morphology, typically at key cross-sections, distributary junctions, river bends, and downstream receiving points. The antennas of each base station continuously monitor the wireless frequency band used by the hydraulic beacons. When a hydraulic beacon drifts with the current into the signal coverage area of ​​a base station, the base station's antenna captures the wireless signal and demodulates the baseband data from the high-frequency carrier wave. The demodulated baseband data is a binary encoded sequence. Following the frame format specified in the hydraulic beacon communication protocol, the base station sequentially parses the beacon identification code field, location coordinate field, and transmission timestamp field from the binary encoded sequence. The beacon identification code field contains the unique identifier of the hydraulic beacon transmitting the signal; the location coordinate field contains the longitude and latitude values ​​obtained by the positioning unit at the time of signal transmission; and the transmission timestamp field contains the precise time value when the positioning unit generated the location coordinates. All wireless signal parsing data received by each receiving base station at different times are aggregated to the data aggregation node. Each receiving base station packages the three data items obtained from each parsing—beacon identification code, location coordinates, and transmission timestamp—into a single receiving record via a wired communication link or a wireless backhaul link, and sends it to the data aggregation node in real time or in batches. The data aggregation node is a centralized data processing unit set up in the shore-based monitoring center or on a remote server. The data aggregation node includes: a receiving data buffer pool, which is used to temporarily store the received records from all receiving base stations. When a new monitoring cycle ends or the data in the buffer pool reaches a preset amount, the data aggregation node performs a grouping operation on all the received records in the buffer pool. The grouping operation is based on the beacon identification code: the data aggregation node traverses each received record in the buffer pool, reads the beacon identification code field value in the record, and groups all received records with the same beacon identification code field value into the same group. After grouping, each hydraulic beacon corresponds to one group. The received records within each group represent all the location reports captured by each receiving base station during the beacon's drift. The data aggregation node further sorts the received records within each group according to the order of their transmission timestamps. This sorting forms the spatiotemporal location data set for each hydraulic beacon. In the spatiotemporal location data set, each hydraulic beacon corresponds to a sequence of location records arranged in ascending time order. Each location record contains three pieces of information: beacon identification code, location coordinates, and transmission timestamp.

[0017] Motion trajectory generation module: Based on the spatiotemporal location data of each hydraulic beacon, generate the motion trajectory of each hydraulic beacon from the release point to the downstream receiving point; In this embodiment of the invention, the motion trajectory generation module needs to be specifically described. The motion trajectory generation module reads the beacon identification code field of each spatiotemporal location record from the spatiotemporal location data set and groups all spatiotemporal location records with the same beacon identification code field value into the same group. For each group's spatiotemporal location record, read the sending timestamp field from each record, sort the values ​​of the sending timestamp field in order from earliest to latest, and obtain the sequence of location points of each hydraulic beacon arranged in chronological order; Connect adjacent locations in the same hydraulic beacon's location sequence with line segments to obtain the trajectory of the hydraulic beacon in the water system from the release point to the downstream receiving point, where the release point is the first location in the location sequence and the downstream receiving point is the last location in the location sequence.

[0018] It should be noted that a location point sequence refers to a set of ordered data points formed by recording the spatiotemporal locations of the same hydraulic beacon captured at all receiving base stations and arranging them in ascending order of transmission timestamps. Each element in the location point sequence contains a location coordinate and a transmission timestamp. The location coordinate represents the spatial location of the hydraulic beacon at the corresponding time, and the transmission timestamp represents the precise time when the location coordinate was recorded. The release point refers to the location point with the earliest transmission timestamp in the location point sequence. It corresponds to the location where the hydraulic beacon is first captured by the receiving base station after being deployed into the water. The downstream receiving point refers to the location point with the latest transmission timestamp in the location point sequence. It corresponds to the location where the hydraulic beacon is finally captured by the receiving base station downstream of the water system. The trajectory refers to a continuous broken line obtained by connecting adjacent location points in the location point sequence of the same hydraulic beacon in turn with line segments. The trajectory shows the complete drift path of the hydraulic beacon in the water system from the release point to the downstream receiving point. The motion trajectory generation module reads the beacon identification code field of each spatiotemporal location record from the spatiotemporal location dataset. All spatiotemporal location records with the same beacon identification code field value are grouped into the same group. First, it iterates through all spatiotemporal location records in the dataset. For each record read, the beacon identification code field value is extracted. The motion trajectory generation module then establishes a grouping mapping structure, using the beacon identification code field value as the grouping key. For each spatiotemporal location record, it checks whether a matching beacon identification code field already exists in the grouping mapping structure. The group corresponding to the beacon identification code field value of each spatiotemporal location record: If it already exists, the spatiotemporal location record is appended to the corresponding group; if it does not exist, a new group is created in the group mapping structure with the beacon identification code field value, and the spatiotemporal location record is used as the first record of this group. After traversing all records in the spatiotemporal location data set, several groups equal to the number of hydraulic beacons are obtained. Each group corresponds to one hydraulic beacon, and the group contains all spatiotemporal location records of the hydraulic beacon captured by all receiving base stations during the drift process. For each spatiotemporal location record in a group, read the sending timestamp field of each record, sort the values ​​of the sending timestamp field in order from earliest to latest, and obtain the location sequence of each hydraulic beacon arranged in chronological order. For each group, extract the sending timestamp field values ​​of all spatiotemporal location records in the group, and establish an index association between the extracted sending timestamp field values ​​and the storage location of each spatiotemporal location record in the group. Then, a comparison sorting method is used to compare all the transmission timestamp field values ​​pairwise, and the earlier timestamp values ​​are placed before the later timestamp values. Based on the sorted timestamp order, the order of the corresponding spatiotemporal location records in the group is rearranged. After sorting, the first spatiotemporal location record in the group is the record with the earliest transmission timestamp, and the last spatiotemporal location record in the group is the record with the latest transmission timestamp. The rearranged group is the location point sequence of the hydraulic beacon. In the location point sequence, each location point contains three pieces of information: longitude coordinates, latitude coordinates, and transmission timestamp. The location points are arranged in ascending order of transmission timestamp, extending from the time when the hydraulic beacon was first captured to the time when it was last captured. Connect adjacent points in the same hydraulic beacon location sequence with line segments to obtain the trajectory of the hydraulic beacon in the water system from the release point to the downstream receiving point. For each hydraulic beacon location sequence, starting from the first location point, read the longitude and latitude coordinates of the first location point as the current connection start point; then read the longitude and latitude coordinates of the second location point as the current connection end point. In a two-dimensional plane coordinate system, draw a straight line segment from the current connection start point to the current connection end point. After completing the first line segment, use the second location point as the new current connection start point, read the third location point as the new current connection end point, and continue to draw the next straight line segment, and so on, until all adjacent locations in the location sequence are connected by line segments. Once connected, the continuous broken line formed by several line segments connected end to end is the trajectory of the hydraulic beacon from the release point to the downstream receiving point. The release point is the first location point in the location point sequence, which corresponds to the location where the hydraulic beacon is first captured by the receiving base station near the upstream release point. The downstream receiving point is the last location point in the location point sequence, which corresponds to the location where the hydraulic beacon is finally captured by the barrier net or receiving base station in the downstream of the river system. The trajectory completely records the spatial path that the hydraulic beacon takes from the release point to the downstream receiving point. The curvature of the path, the total length of the path, and the lateral offset of the trajectory endpoint directly reflect the actual transport process of water in the river channel.

[0019] Data extraction module: Based on the motion trajectory of each hydraulic beacon, extracts a set of hydraulic feature parameters reflecting the current hydraulic transport characteristics of the water system; In this embodiment of the invention, the data extraction module needs to be specifically described. The data extraction module obtains the first transmission timestamp corresponding to the first position point in the movement trajectory of each hydraulic beacon, obtains the second transmission timestamp corresponding to the last position point in the movement trajectory of each hydraulic beacon, and subtracts the first transmission timestamp from the second transmission timestamp to obtain the first propagation time experienced by each hydraulic beacon from the release point to the downstream receiving point. Sort all first propagation times according to their numerical values, and take the first propagation time in the middle position after sorting as the representative propagation time; Obtain the second lateral offset of the last position point in the motion trajectory of each hydraulic beacon relative to the line connecting the starting point and the ending point of the trajectory, calculate the standard deviation of all second lateral offsets, and use the standard deviation as the trajectory dispersion width. Obtain the total path length of each hydraulic beacon's trajectory and the straight-line distance between the starting and ending points of each trajectory. Divide the total path length by the straight-line distance to obtain the path tortuosity of each hydraulic beacon. Take the average of all path tortuosity as the representative path tortuosity. The propagation time, trajectory dispersion width, and path tortuosity are combined into a set of hydraulic characteristic parameters.

[0020] It should be noted that the first transmission timestamp refers to the transmission timestamp corresponding to the first position point in the trajectory of the hydraulic beacon, which is the earliest position point in the position point sequence. The second transmission timestamp refers to the transmission timestamp corresponding to the last position point in the trajectory of the hydraulic beacon, which is the latest position point in the position point sequence. The first propagation time is the time difference obtained by subtracting the first transmission timestamp from the second transmission timestamp. The first propagation time represents the total time length that a hydraulic beacon takes to drift from the release point to the downstream receiving point with the water flow. The smaller the value of the first propagation time, the faster the water flow moves from upstream to downstream, and the stronger the longitudinal hydraulic connectivity of the water system. The representative propagation time refers to the value of the first propagation time in the middle of the sorted sequence after all hydraulic beacons are sorted by numerical value. When the total number of hydraulic beacons is odd, the index of the middle position is the total number of hydraulic beacons plus one and divided by two. When the total number of hydraulic beacons is even, the index of the middle position is the average of the first propagation times corresponding to the two middle indexes. The purpose of the representative propagation time is to obtain a statistically representative propagation time value from multiple hydraulic beacons, so as to eliminate the interference of abnormal propagation times caused by individual hydraulic beacons accidentally getting caught in shore eddies or being temporarily blocked by floating objects on the overall assessment. The second lateral offset refers to the vertical distance from the last position point in the trajectory of the hydraulic beacon to the straight line connecting the starting and ending points of the trajectory. The starting point is the first position point in the trajectory, and the ending point is the last position point in the trajectory. Connecting the two with a straight line yields a reference straight line, which represents the shortest path direction of the water flow from the release point to the downstream receiving point. The value of the second lateral offset reflects the lateral deviation of the hydraulic beacon during water transport due to the influence of lateral circulation, river bends, or irregular turbulence. The trajectory dispersion width is a statistical quantity obtained by calculating the standard deviation of the second lateral offsets of all hydraulic beacons. The specific method for calculating the standard deviation is as follows: calculate the average value of all second lateral offsets, subtract the average value from each second lateral offset, square the result, sum all the squared values, divide by the total number of second lateral offsets, and finally take the square root. The larger the trajectory dispersion width, the more significant the mixing and diffusion of the water flow in the cross-sectional direction, and the more dispersed the transport path of the hydraulic beacon. The smaller the trajectory dispersion width, the more concentrated the water flow and the clearer the main channel. The total path length refers to the sum of the lengths of the line segments between adjacent points in the trajectory of the hydraulic beacon, that is, the actual unfolded length of the broken line of the trajectory. The straight-line distance refers to the Euclidean distance between the first and last points in the trajectory, that is, the straight-line span between the release point and the downstream receiving point. The path tortuosity is the ratio obtained by dividing the total path length by the straight-line distance. When the path tortuosity is greater than one, it indicates that the actual drift path of the hydraulic beacon is more curved than the straight path. The greater the path tortuosity, the higher the meandering of the water flow and the more significant the obstruction effect of the river bend. The representative path tortuosity is the value obtained by averaging the path tortuosity of all hydraulic beacons. The hydraulic characteristic parameter set refers to a set of parameters that combine three parameters: propagation time, trajectory dispersion width, and path tortuosity. The hydraulic characteristic parameter set describes the water transport efficiency, lateral diffusion degree, and longitudinal path curvature of the water system at the current moment. The system obtains the first transmission timestamp corresponding to the first position point in the trajectory of each hydraulic beacon, and the second transmission timestamp corresponding to the last position point in the trajectory of each hydraulic beacon. The first transmission timestamp is subtracted from the second transmission timestamp to obtain the first propagation time of each hydraulic beacon from the release point to the downstream receiving point. The system reads the trajectory of each hydraulic beacon in sequence. For each trajectory, the data extraction module accesses the position point sequence of the trajectory, reads the transmission timestamp field value attached to the first position point as the first transmission timestamp, and reads the transmission timestamp field value attached to the last position point as the second transmission timestamp. The value of the second transmission timestamp is subtracted from the value of the first transmission timestamp. The difference is the first propagation time of the hydraulic beacon. The value directly reflects the length of time required for water to move from the upstream release point to the downstream receiving point in the current water system. All first propagation times are sorted by numerical value, and the first propagation time in the middle position after sorting is taken as the representative propagation time. The first propagation times of all hydraulic beacons in the propagation time list are read and sorted by numerical comparison. The values ​​of each first propagation time are arranged in ascending order to obtain an ascending first propagation time sequence. Then, the middle position of the first propagation time sequence is determined. When the total number of hydraulic beacons is odd, the index corresponding to the middle position is the total number of hydraulic beacons plus one and divided by two. The first propagation time value at the index position is taken as the representative propagation time. When the total number of hydraulic beacons is even, the first propagation time values ​​at the middle two index positions are taken, and the average of the two is calculated. The average value is taken as the representative propagation time. The representative propagation time is a statistical median, which can effectively avoid the interference caused by abnormally large or small propagation time values ​​of individual hydraulic beacons due to accidental grounding, brief stagnation by eddies, or passing through local slow flow areas on the overall water flow transport velocity assessment. Obtain the second lateral offset of the last position point in each hydraulic beacon's trajectory relative to the line connecting the trajectory's start and end points. Calculate the standard deviation of all second lateral offsets and use this standard deviation as the trajectory dispersion width. For each hydraulic beacon's trajectory, read the longitude and latitude coordinates of the first position point as the trajectory's start point, and read the longitude and latitude coordinates of the last position point as the trajectory's end point. Connect the trajectory's start and end points with a straight line to obtain a trajectory reference line. Then calculate the vertical distance from the last position point to the trajectory reference line; this vertical distance is the second lateral offset. The vertical distance is calculated by representing the trajectory reference line as a plane line... The line equation is used to calculate the vertical distance by substituting the coordinates of the last position point into the distance calculation process from the point to the line. The second lateral offset of each hydraulic beacon is temporarily stored in the offset list. After calculating the second lateral offset of all hydraulic beacons, the average value of all second lateral offsets in the offset list is calculated first. Then, for each second lateral offset in the offset list, the square of the difference between it and the average value is calculated. All square values ​​are summed and then divided by the total number of second lateral offsets. Finally, the square root of the division result is taken to obtain the standard deviation value. The standard deviation value is the trajectory dispersion width, which reflects the degree of dispersion of the hydraulic beacon group in the lateral direction of the water flow. Obtain the total path length and straight-line distance between the starting and ending points of each hydraulic beacon's trajectory. Divide the total path length by the straight-line distance to obtain the path tortuosity of each hydraulic beacon. Take the average of all path tortuosity as the representative path tortuosity. For each hydraulic beacon's trajectory, sequentially read the longitude and latitude coordinates of adjacent points in the trajectory. Calculate the length of the line segment between each pair of adjacent points. The line segment length is calculated by summing the squares of the longitude and latitude differences between two adjacent points, taking the square root, and summing all the lengths of adjacent line segments. The sum is the total path length. Simultaneously, read the longitude coordinates of the first point on the trajectory. Using the latitude and longitude coordinates of the first and last locations, calculate the Euclidean distance between them. The Euclidean distance is the straight-line distance. Divide the total path length by the straight-line distance; the resulting ratio is the path tortuosity of the hydraulic beacon. Temporarily store the path tortuosity of each hydraulic beacon in a tortuosity list in memory. After calculating the path tortuosity of all hydraulic beacons, sum all the values ​​in the tortuosity list and divide by the total number of hydraulic beacons to obtain the arithmetic mean of the path tortuosity. Use the arithmetic mean as the representative path tortuosity. Combine the representative propagation time, trajectory dispersion width, and representative path tortuosity into a set of hydraulic characteristic parameters.

[0021] Control command generation module: Based on the set of hydraulic characteristic parameters, determine the hydraulic connectivity state of the target water area, generate control commands for regulating water system control facilities, and send the control commands to the corresponding water system control facilities for execution.

[0022] In this embodiment of the invention, the control instruction generation module needs to be specifically described. The control instruction generation module compares the propagation time with the first propagation time threshold and the second propagation time threshold successively, wherein the first propagation time threshold is less than the second propagation time threshold. When the propagation time is less than or equal to the first propagation time threshold, the propagation speed is determined to be at the fast level. When the propagation time is greater than the first propagation time threshold and less than or equal to the second propagation time threshold, the propagation speed is determined to be at the medium speed level. When the propagation time is greater than the second propagation time threshold, the propagation speed is determined to be at the slow level. The trajectory diffusion width is compared with a first diffusion width threshold. When the trajectory diffusion width is greater than the first diffusion width threshold, it is determined that there is a diffusion stagnation state. The representative path detour degree is compared with the first detour degree threshold. When the representative path detour degree is greater than the first detour degree threshold, it is determined that there is a curve blockage state. Based on the comprehensive judgment results of the propagation speed level, whether there is a diffusion stagnation state, and whether there is a bend blockage state, the corresponding control command is generated. When the propagation speed is slow and both diffusion stagnation and bend blockage exist, a first control command is generated. The first control command is used to increase the discharge flow of the upstream reservoir and start the downstream pumping station. When the propagation speed is at a medium speed level and there is only a diffusion stagnation state, a second control command is generated. The second control command is used to adjust the opening of the water diversion gate of the water diversion channel to reduce the width of the water flow cross section. When the propagation speed is at a fast level and there is no diffusion stagnation or bend obstruction, a third control command is generated. The third control command is used to maintain the current operating status of each water system control facility. When the propagation speed is at a fast level but there is still a diffusion stagnation state, a fourth control command is generated. The fourth control command is used to activate the local flow boosting facility located upstream of the diffusion area. Read the target facility identification field and control parameter value field carried in the control instruction, and use the target facility identification field as an index to find the target facility communication address and water system control facility type corresponding to the target facility identification from the pre-stored water system control facility registration table; Based on the target facility's communication address, a data connection channel is established between the control terminal of the corresponding water system regulation facility and the wireless communication link. The control parameter values ​​are encoded into the instruction message format specified by the control terminal of the water system control facility type and sent to the control terminal through the data connection channel. The control terminal parses the command message, extracts the control parameter value, and drives the drive mechanism of the water system control facility to adjust its operating status to the position corresponding to the control parameter value.

[0023] It should be noted that the first propagation time threshold and the second propagation time threshold are used to obtain historical propagation time records of multiple hydraulic beacons from the release point to the downstream receiving point under the historical normal operating conditions of the water system. The specific determination method is as follows: sort the historical propagation time records by numerical value, take the propagation time value at the quarter position after sorting as the first propagation time threshold, and take the propagation time value at the three-quarter position after sorting as the second propagation time threshold. The first propagation time threshold is the first time boundary value used to define the propagation speed level of water flow, distinguishing between fast and medium-speed levels. When the propagation time is less than or equal to the first propagation time threshold, it indicates that the time taken for the water flow to travel from the release point to the downstream receiving point is short, and the water flow propagates rapidly. The second propagation time threshold is the second time boundary value used to define the propagation speed level of water flow, and its value is greater than the first propagation time threshold. The function of the second propagation time threshold is to distinguish between medium-speed and slow-speed levels. When the propagation time is greater than or equal to the second propagation time threshold, it indicates that the water flow propagation time is significantly longer, and the longitudinal transport efficiency of the water system is low. "Fast level" refers to a hydraulic connectivity state with a short water flow propagation time and high transport efficiency. In this state, the water flow can transport hydraulic beacons from upstream to downstream at a relatively fast speed, indicating smooth longitudinal connectivity of the water system. "Medium-speed level" refers to a hydraulic connectivity state where the water flow propagation time is in the middle range of the normal range, indicating that the longitudinal connectivity of the water system is at a general level. "Slow speed level" refers to a hydraulic connectivity state in which the water flow propagation time is significantly longer and the transport efficiency is lower. It indicates that the water flow is slow due to insufficient upstream water supply, increased downstream backwater or channel resistance.

[0024] The first dispersion width threshold is a critical value used to determine whether a diffusion stagnation state exists. When the trajectory dispersion width is greater than the first dispersion width threshold, it indicates that the dispersion of hydraulic beacons in the cross-sectional direction of the water flow exceeds the normal range, and there is obvious lateral diffusion in the river channel. Some beacons may be swept into the low-speed backflow zone or stagnant water zone on the bank, forming a diffusion stagnation state. The first dispersion width threshold is determined by statistically analyzing the historical trajectory dispersion width data of the water system under normal water flow conditions. The first detour threshold is a critical value used to determine whether there is a bend obstruction. When the detour of the representative path is greater than the first detour threshold, it indicates that the actual drift path length of the hydraulic beacon is significantly greater than the straight distance from the release point to the downstream receiving point, the water flow path is highly curved, and the meandering shape of the river channel has an obstructing effect on the propulsion of the water flow. The first control command is generated when the propagation speed is at a slow level and both diffusion stagnation and bend obstruction exist simultaneously. The first control command is used to increase the discharge flow of the upstream reservoir and start the downstream pumping station to simultaneously enhance the hydraulic gradient and downstream drag force. The second control command is generated when the propagation speed is at a medium level and only diffusion stagnation exists. The second control command is used to adjust the opening of the diversion gate of the water diversion channel to reduce the width of the water flow cross section, thereby constricting the water flow and increasing the mainstream flow velocity to eliminate lateral diffusion. The third control command is generated when the propagation speed is at a fast level and neither diffusion stagnation nor bend obstruction exists. The third control command is used to maintain the current operating status of each water system control facility unchanged. The fourth control command is generated when the propagation speed is at a fast level but diffusion stagnation still exists. The fourth control command is used to activate the local flow enhancement facility located upstream of the diffusion area to locally enhance the water flow dynamics to disperse the stagnation area. The target facility identifier refers to the unique identification code carried in the control instruction to identify the specific water system control facility that needs to be controlled. The water system control facility includes at least one of the following: reservoir floodgate, water diversion gate of water diversion channel, water replenishment pumping station and local flow enhancement facility. The control parameter value refers to the specific value carried in the control instruction to specify the adjustment range of the water system control facility, such as the gate opening height value, the pumping station start-up platform value or the flow enhancement facility output power value. The control command generation module successively compares the representative propagation time with the first propagation time threshold and the second propagation time threshold to determine the propagation speed level. It reads the hydraulic characteristic parameter set and extracts the value of the representative propagation time from it. Then, the control command generation module compares the value of the representative propagation time with the first propagation time threshold. If the representative propagation time is less than or equal to the first propagation time threshold, the propagation speed is determined to be at the fast level. If the representative propagation time is greater than the first propagation time threshold, the representative propagation time is compared with the second propagation time threshold. If the representative propagation time is greater than the first propagation time threshold and less than or equal to the second propagation time threshold, the propagation speed is determined to be at the medium level. If the representative propagation time is greater than the second propagation time threshold, the propagation speed is determined to be at the slow level. The trajectory dispersion width is compared with the first dispersion width threshold to determine whether there is a diffusion stagnation state. The trajectory dispersion width value is extracted and compared with the first dispersion width threshold. When the trajectory dispersion width is greater than the first dispersion width threshold, it is determined that there is a diffusion stagnation state in the current water system, indicating that the hydraulic beacon has significant lateral dispersion during the drift process, and the material exchange between the main flow and the slow flow area on the bank is blocked. When the trajectory dispersion width is less than or equal to the first dispersion width threshold, it is determined that there is no diffusion stagnation state in the current water system. The representative path tortuosity is compared with the first tortuosity threshold to determine whether there is a bend obstruction state. The control module extracts the value of the representative path tortuosity from the hydraulic characteristic parameter set and compares the value of the representative path tortuosity with the first tortuosity threshold. When the representative path tortuosity is greater than the first tortuosity threshold, the control command generation module determines that there is a bend obstruction state in the current water system, indicating that the river channel is relatively meandering in the plane and the water flow is constrained by the river bend morphology, forming a large frictional resistance. When the representative path tortuosity is less than or equal to the first tortuosity threshold, the control command generation module determines that there is no bend obstruction state in the current water system. Based on the comprehensive judgment results of the propagation speed level, the existence of diffusion stagnation state, and the existence of bend obstruction state, the corresponding control command is generated. The three state information obtained from the three-step judgment are combined, and the corresponding control strategy is matched according to the combination result. When the propagation speed is at the slow level and both diffusion stagnation state and bend obstruction state exist at the same time, it indicates that the overall water system transport capacity is seriously insufficient, the water flow is slow and scattered, and is significantly constrained by bends. The control command generation module generates the first control command, which includes the gate opening parameter to increase the downstream reservoir discharge flow and the pump station operation parameter to start the downstream pump station. When the propagation speed is at the medium speed level and there is only diffusion stagnation and no bend obstruction, it indicates that the main flow propagation speed is acceptable, but the lateral convergence is insufficient. A second control command is generated. The second control command includes the gate closure ratio parameter for adjusting the opening of the diversion gate of the water diversion channel. The mainstream flow velocity is increased by reducing the width of the water flow cross-section. When the propagation speed is at the fast speed level and there is no diffusion stagnation or bend obstruction, it indicates that the hydraulic connectivity of the water system is good. A third control command is generated. The control parameter value in the third control command indicates that the current operating state remains unchanged. When the propagation speed is at the fast speed level but there is still diffusion stagnation, it indicates that the water flow propagates rapidly but there is local lateral diffusion. The control command generation module generates a fourth control command. The fourth control command includes the facility number and output power value of the upstream local flow enhancement facility in the diffusion area. The generated control commands are sent to the corresponding water system control facilities for execution. The target facility identification field and control parameter value field carried in the control commands are read. The target facility identification corresponds to the reservoir spillway and downstream pumping station in the first control command, the water diversion gate of the water intake channel in the second control command, and the local flow boosting facility in the fourth control command. Using the target facility identification field as an index, a matching record is searched from the pre-stored water system control facility registration table. Each record in the water system control facility registration table contains four pieces of information: facility identification, facility communication address, facility type, and facility rated parameters. The target facility communication address and water system control facility type are extracted from the matching record. Then, based on the target facility communication address, a connection request is initiated with the control terminal of the corresponding water system control facility through a wireless communication link. After the control terminal returns a confirmation response, a data connection channel is established. The control parameter values ​​are encoded according to the command message format specified by the control terminal of the water system control facility type, which usually includes fields such as message start identifier, equipment address code, function code, data field, and check code. After encoding, the instruction message is sent byte by byte to the control terminal through the data connection channel. After receiving the instruction message, the control terminal parses the message, extracts the function code and control parameter value, and after verifying that the check code is correct, the control terminal sends an execution signal to the drive mechanism. The drive mechanism adjusts the operating status of the water system control facilities according to the control parameter value: for gate facilities, the drive mechanism drives the gate to rise and fall to the opening position corresponding to the control parameter value; for pump station facilities, the drive mechanism starts and stops the corresponding number of water pump units according to the control parameter value; for flow boosting facilities, the drive mechanism adjusts the output power to the power level corresponding to the control parameter value.

[0025] It should be noted that the system also includes a beacon retrieval module. The beacon is intercepted and retrieved by the barrier net at the downstream receiving point. Maintenance personnel read the complete trajectory data stored inside the hydraulic beacon, clean and recharge the hydraulic beacon, and then transport it back to the upstream release point for the next round of monitoring cycle.

[0026] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0027] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0028] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0029] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0030] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the described technical solution.

Claims

1. A hydrological and water resources intelligent regulation and control system, characterized in that, include: Location information acquisition module: acquires the spatiotemporal location data of multiple hydraulic beacons deployed at the release point in the upstream of the water system. The hydraulic beacons drift with the water flow and periodically send location information. Motion trajectory generation module: Based on the spatiotemporal location data of each hydraulic beacon, generate the motion trajectory of each hydraulic beacon from the release point to the downstream receiving point; Data extraction module: Based on the motion trajectory of each hydraulic beacon, extracts a set of hydraulic feature parameters reflecting the current hydraulic transport characteristics of the water system; Control command generation module: Based on the set of hydraulic characteristic parameters, determine the hydraulic connectivity state of the target water area, generate control commands for regulating water system control facilities, and send the control commands to the corresponding water system control facilities for execution.

2. The intelligent hydrological and water resources regulation system according to claim 1, characterized in that, The location information acquisition module deploys multiple hydraulic beacons onto the water surface at the release point upstream of the water system. Each hydraulic beacon has a unique beacon identification code and contains a positioning unit and a wireless transmission unit. Multiple receiving base stations are set up downstream of the water system and along the route. Each receiving base station receives the wireless signals sent by the passing hydraulic beacons at fixed time intervals and extracts the beacon identification code field, location coordinate field and transmission timestamp field from the wireless signals. All radio signal parsing data received by each receiving base station at different times are aggregated to the data aggregation node. The data aggregation node then groups the parsed data according to the beacon identification code to obtain the spatiotemporal location data set of each hydraulic beacon.

3. The intelligent hydrological and water resources regulation system according to claim 1, characterized in that, The motion trajectory generation module reads the beacon identification code field of each spatiotemporal location record from the spatiotemporal location data set, and groups all spatiotemporal location records with the same beacon identification code field value into the same group; For each group's spatiotemporal location record, read the sending timestamp field from each record, sort the values ​​of the sending timestamp field in order from earliest to latest, and obtain the sequence of location points of each hydraulic beacon arranged in chronological order; Connect adjacent locations in the same hydraulic beacon's location sequence with line segments to obtain the trajectory of the hydraulic beacon in the water system from the release point to the downstream receiving point, where the release point is the first location in the location sequence and the downstream receiving point is the last location in the location sequence.

4. The intelligent hydrological and water resources regulation system according to claim 1, characterized in that, The data extraction module obtains the first transmission timestamp corresponding to the first position point in the trajectory of each hydraulic beacon, and obtains the second transmission timestamp corresponding to the last position point in the trajectory of each hydraulic beacon. The second transmission timestamp is subtracted from the first transmission timestamp to obtain the first propagation time experienced by each hydraulic beacon from the release point to the downstream receiving point. Sort all first propagation times according to their numerical values, and take the first propagation time in the middle position after sorting as the representative propagation time; Obtain the second lateral offset of the last position point in the motion trajectory of each hydraulic beacon relative to the line connecting the starting point and the ending point of the trajectory, calculate the standard deviation of all second lateral offsets, and use the standard deviation as the trajectory dispersion width. Obtain the total path length of each hydraulic beacon's trajectory and the straight-line distance between the starting and ending points of each trajectory. Divide the total path length by the straight-line distance to obtain the path tortuosity of each hydraulic beacon. Take the average of all path tortuosity as the representative path tortuosity. The propagation time, trajectory dispersion width, and path tortuosity are combined into a set of hydraulic characteristic parameters.

5. The intelligent hydrological and water resources regulation system according to claim 1, characterized in that, The control instruction generation module will successively compare the propagation time with the first propagation time threshold and the second propagation time threshold, wherein the first propagation time threshold is less than the second propagation time threshold; When the propagation time is less than or equal to the first propagation time threshold, the propagation speed is determined to be at the fast level. When the propagation time is greater than the first propagation time threshold and less than or equal to the second propagation time threshold, the propagation speed is determined to be at the medium speed level. When the propagation time is greater than the second propagation time threshold, the propagation speed is determined to be at the slow level.

6. The intelligent hydrological and water resources regulation system according to claim 4, characterized in that, The trajectory diffusion width is compared with the first diffusion width threshold. When the trajectory diffusion width is greater than the first diffusion width threshold, it is determined that there is a diffusion stagnation state. The representative path detour degree is compared with the first detour degree threshold. When the representative path detour degree is greater than the first detour degree threshold, it is determined that there is a curve blockage state.

7. The intelligent hydrological and water resources regulation system according to claim 5, characterized in that, Based on the comprehensive judgment results of the propagation speed level, whether there is a diffusion stagnation state, and whether there is a bend blockage state, the corresponding control command is generated. When the propagation speed is slow and both diffusion stagnation and bend blockage exist, a first control command is generated. The first control command is used to increase the discharge flow of the upstream reservoir and start the downstream pumping station. When the propagation speed is at a medium speed level and there is only a diffusion stagnation state, a second control command is generated. The second control command is used to adjust the opening of the water diversion gate of the water diversion channel to reduce the width of the water flow cross section. When the propagation speed is at a fast level and there is no diffusion stagnation or bend obstruction, a third control command is generated. The third control command is used to maintain the current operating status of each water system control facility. When the propagation speed is at a fast level but there is still a diffusion stagnation state, a fourth control command is generated. The fourth control command is used to activate the local flow boosting facility located upstream of the diffusion area.

8. The intelligent hydrological and water resources regulation system according to claim 7, characterized in that, Read the target facility identification field and control parameter value field carried in the control instruction, and use the target facility identification field as an index to find the target facility communication address and water system control facility type corresponding to the target facility identification from the pre-stored water system control facility registration table; Based on the target facility's communication address, a data connection channel is established between the control terminal of the corresponding water system regulation facility and the wireless communication link. The control parameter values ​​are encoded into the instruction message format specified by the control terminal of the water system control facility type and sent to the control terminal through the data connection channel. The control terminal parses the command message, extracts the control parameter value, and drives the drive mechanism of the water system control facility to adjust its operating status to the position corresponding to the control parameter value.

9. The intelligent hydrological and water resources regulation system according to claim 1, characterized in that, The system also includes a beacon retrieval module. The beacon is intercepted and retrieved by the barrier net at the downstream receiving point. Maintenance personnel read the complete trajectory data stored inside the hydraulic beacon, clean and recharge the hydraulic beacon, and then transport it back to the upstream release point for the next round of monitoring cycle.

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