阅读说明：本技术 一种河工模型涉水结构物周围冲淤地形实时测绘系统及其测绘方法 (Real-time mapping system and method for erosion and deposition terrain around wading structure of river model ) 是由 倪飞 戴雨 陈亚东 史誉州 李胜永 房世龙 朱庆 王浩丞 陈皓文 史学娇 陈瑶 于 2020-06-29 设计创作，主要内容包括：本发明提供了一种河工模型涉水结构物周围冲淤地形实时测绘系统,将承重平台固定在自由水面以上的涉水结构物周围,依据涉水结构物平面形状组装测绘平台,并将其安装于承重平台之上,测绘装置通过螺纹丝扣安装在测绘平台外侧,基于上述链接,终端计算机发出指令,让步进电机正传,带动超声换能器向远离涉水结构物方向运动,当超声换能器到达远端处的限位开关时,令步进电机反转,带动超声换能器向靠近涉水结构物方向运动,超声换能器在运动过程中能够完成三维水下地形数据的实时扫描,并将采集到的冲刷地形数据实时无线传输给终端计算机,超声换能器如此往复运动,直至河工模型实验结束,绘制系统完成了涉水结构物周围动态冲淤地形的全过程绘制。(The invention provides a real-time mapping system for erosion and deposition terrain around wading structures of river models, wherein a bearing platform is fixed around the wading structures above a free water surface, a mapping platform is assembled according to the plane shape of the wading structures and is arranged on the bearing platform, a mapping device is arranged on the outer side of the mapping platform through a thread, based on the link, a terminal computer sends out an instruction to enable a stepping motor to transmit forward to drive an ultrasonic transducer to move in a direction far away from the wading structures, when the ultrasonic transducer reaches a limit switch at the far end, the stepping motor is reversed to drive the ultrasonic transducer to move in a direction close to the wading structures, the ultrasonic transducer can complete real-time scanning of three-dimensional underwater terrain data in the moving process, the acquired erosion terrain data are wirelessly transmitted to the terminal computer in real time, and the ultrasonic transducer reciprocates in the same way, and the drawing system finishes the whole process drawing of the dynamic erosion and deposition terrain around the wading structure until the river model experiment is finished.)

1. The utility model provides a real-time mapping system of erosion and deposition terrain around river model structure thing, a serial communication port, including bearing platform, survey and drawing platform, mapping device, automatic control device, data transmission device, the bearing platform is fixed around the structure thing of wading, survey and drawing platform install in bearing platform top to the cladding is around the structure thing of wading, mapping device along circumference install in the survey and drawing platform outside, automatic control device and data transmission device install in the bridge post one side of wading the structure thing top, mapping device and data transmission device with automatic control device electric connection.

2. The real-time mapping system for the erosion-deposition terrain around the wading structure of the river model according to claim 1, wherein the bearing platform is of a split structure and comprises two rectangular hollow section steels, bolts and nuts, circular through holes are formed in the rectangular hollow section steels, the bolts penetrate through the corresponding circular through holes in the two rectangular hollow section steels, the ends of the bolts extending out of the circular through holes are connected with the nuts, the nuts are screwed to fix the rectangular hollow section steels on the outer wall of the wading structure, and the position of the bearing platform is higher than the free water surface.

3. The real-time mapping system for erosion and deposition terrain around wading structures of river models according to claim 2, wherein the mapping platform comprises a plurality of hollow steel pipes with circular cross sections and hollow elbows, both ends of the hollow steel pipes and the hollow elbows are threaded, the hollow steel pipes and the hollow elbows are connected through connecting nuts, circular screw holes are formed in the horizontal outer side surfaces of the hollow steel pipes at equal intervals, and the mapping device is installed on the mapping platform through the circular screw holes.

4. The real-time mapping system for erosion and deposition terrain around wading structures of river models according to claim 3, wherein the mapping device comprises a stainless steel tube, the sidewall of the stainless steel tube is provided with a through rectangular slot, the concentric bearings are respectively installed near the tube heads at the two ends of the stainless steel tube in a lining manner, a lead screw is fixed on each concentric bearing, the lead screw is respectively provided with a limit switch near the two concentric bearings, one end of the stainless steel tube is sealed by a circular sealing cover plate, the center of the sealing cover plate is provided with a circular hole, the sealing cover plate is provided with a small-sized stepping motor, the rotating shaft of the stepping motor can pass through the circular hole on the sealing cover plate and is connected with the lead screw through a coupler, the lead screw is provided with a lead screw sleeve, a mapping source is fixed below the lead screw sleeve, and the other end of the stainless steel tube is provided with a thread screw, can be screwed into circular screw holes which are arranged on the horizontal outer side surfaces of all the circular-section hollow steel pipes in the surveying and mapping platform at equal intervals.

5. The system for real-time mapping of erosion and deposition terrain around a wading structure of a river model according to claim 4, wherein the screw sleeve is connected with the mapping source through a circular-tube-shaped slider, and the diameter of the circular-tube-shaped slider is slightly smaller than the width of the through-shaped rectangular slot.

6. The system for real-time mapping of erosion and deposition terrain around a water-wading structure of river model according to claim 5, wherein the mapping source comprises a protective circular shell and a miniature single-beam ultrasonic transducer, the miniature single-beam ultrasonic transducer is fixed in the protective circular shell, and the protective circular shell is connected with the circular tubular sliding block.

7. The system for real-time surveying and mapping erosion and deposition terrain around a wading structure of a river model according to claim 6, wherein the automatic control device comprises a cable, an automatic motor control module, a serial port module, a GPRS module and a terminal computer, one end of the cable is connected with the stepping motor, the other end of the cable is connected with the automatic motor control module, the automatic motor control module is connected with the GPRS module through the serial port module, the GPRS module can communicate with the terminal computer through a wireless data network, and the terminal computer can send an instruction to control the stepping motor to rotate according to a set stepping angle.

8. The system for real-time mapping of erosion and deposition terrain around a water-wading structure of a river model according to claim 7, wherein the data transmission device comprises a data line, a data acquisition and storage module and a software platform, one end of the data line is connected with the single-beam miniature ultrasonic transducer, the other end of the data line is connected with the data acquisition and storage module, the data acquisition and storage module is connected with the GPRS module through the serial port module, the GPRS module can communicate with the terminal computer through the wireless data network and transmit the three-dimensional terrain data acquired by the single-beam miniature ultrasonic transducer to the software platform, and the software platform can draw the three-dimensional terrain.

9. A surveying method using a real-time surveying system for erosion and deposition terrain around a wading structure of a river model according to any one of claims 1 to 8, comprising the steps of:

a. fixing a bearing platform around the wading structure through split bolts, assembling a surveying and mapping platform according to the plane shape of the wading structure, and installing the surveying and mapping platform on the bearing platform, wherein the surveying and mapping device is installed on the outer side of the surveying and mapping platform through thread threads;

b. the terminal machine sends out an instruction, the stepping motor of each surveying and mapping device drives the screw rod to rotate, and the screw rod sleeve can slide along the screw rod, so that all the single-beam miniature ultrasonic transducers are reset to the positions close to the outer side surface of the wading structure;

c. establishing river model experiment working conditions, calibrating the distance from the surface of the acoustic lens of the single-beam miniature ultrasonic transducer to the sand surface of the original bed of the model, selecting the moving speed of the ultrasonic transducer according to the surveying and mapping precision requirement, and setting the rotating angular speed of the stepping motor;

d. after the river model experiment is started, the terminal computer sends an instruction to enable the stepping motor to transmit forwards, the ultrasonic transducer moves towards the direction far away from the wading structure, the acquired scouring terrain data is wirelessly transmitted to the terminal computer, and when the ultrasonic transducer reaches a limit switch at the far end, one-time terrain scanning is completed;

e. the stepping motor is made to rotate reversely to drive the ultrasonic transducer to move towards the direction close to the wading structure, the acquired scouring terrain data is wirelessly transmitted to the terminal computer, and when the terminal computer reaches a limit switch at the near end, the scanning is finished again;

f. and e, continuously repeating the steps d and e until the river model experiment is finished, and finishing the whole process drawing of the dynamic erosion and deposition terrain around the wading structure by the drawing system.

Technical Field

The invention belongs to the technical field of water conservancy automation measurement, and particularly relates to a real-time mapping system for erosion and deposition terrain around a wading structure of a river model.

Background

The river engineering model is an entity structure after a prototype river channel is reduced according to a proper scale, and the evolution law of the prototype river can be repeated by monitoring erosion and deposition changes of underwater topography in the simulation test process. At present, a plurality of devices and methods for measuring three-dimensional underwater topography of river models are available at home and abroad, and topographers such as photoelectric reflection type, resistance type, ultrasonic type, laser scanning type, image recognition type and the like are practically applied, but the devices and the methods for surveying and mapping erosion and deposition topography around a wading structure in river model experiments are rarely reported. Monitoring local topography around wading structures, researching the riverbed deformation rule under the action of the structures and the water flow structure change caused by riverbed deformation are important work which must be completed in the river model experiment development process. Due to the obstruction of wading structures in river models, the conventional three-dimensional terrain measuring equipment cannot finish fine mapping of local terrain, and the movement law of water and sand near the wading structures in river prototypes can be greatly influenced. And the three-dimensional scale of the river model is usually larger, the efficiency of surveying and mapping by using conventional measuring equipment is lower, and any instantaneous topographic data in the local scouring dynamic process can not be acquired. The specific scale of the river model is large, the model sand is light sand which is easy to deform, erosion and deposition change data of local erosion terrain near wading structures in the river model are in millimeter level, and the measurement precision and the resolution of conventional measurement and measurement equipment almost do not meet requirements.

Disclosure of Invention

The invention aims to provide a system and a method for surveying and mapping erosion-silting terrain in real time for a wading structure of a river model, which are simple in structure, convenient to operate, high in precision and high in efficiency, and overcome the defects of the conventional surveying and mapping system and method.

In order to achieve the purpose, the real-time mapping system for erosion and deposition terrain around the wading structure of the river model comprises a bearing platform, a mapping device, an automatic control device and a data transmission device, wherein the bearing platform is fixed around the wading structure, the mapping platform is installed above the bearing platform and is coated around the wading structure, the mapping device is installed on the outer side of the mapping platform along the circumferential direction, the automatic control device and the data transmission device are installed on one side of a bridge column above the wading structure, and the mapping device and the data transmission device are electrically connected with the automatic control device.

Further, the bearing platform is the split structure, and including two rectangle hollow shaped steel, bolt and nut, circular through-hole has been seted up on the rectangle hollow shaped steel, the bolt passes two corresponding circular through-hole on the rectangle hollow shaped steel, the bolt stretches out the end connection of circular through-hole has the nut, the nut is screwed up will rectangle hollow shaped steel is fixed in on the structure outer wall of wading, and the position of bearing platform will be higher than the free surface of water.

Further, survey and drawing platform includes a plurality of circular cross section hollow steel pipes and hollow return bend, hollow steel pipe and hollow return bend both ends are the screw thread, and all link to each other through coupling nut between the hollow steel pipe and between hollow steel pipe and the hollow return bend, circular screw hole is seted up to hollow steel pipe horizontal lateral surface equidistant, and the mapping device passes through circular screw hole is installed on survey and drawing platform.

Furthermore, the surveying and mapping device comprises a stainless steel pipe, the side wall of the stainless steel pipe is provided with a through rectangular slotted hole, concentric bearings are respectively installed at the positions close to pipe heads at two ends of the stainless steel pipe in a lining manner, a screw rod is fixedly arranged on the concentric bearings, limit switches are respectively arranged on the screw rod near the two concentric bearings, one end of the stainless steel pipe is sealed by a round plugging cover plate, a round hole is arranged at the center of the plugging cover plate, the plugging cover plate is provided with a small-sized stepping motor, the rotating shaft of the stepping motor can penetrate through the round hole on the plugging cover plate and is connected with the screw rod through a coupler, a screw rod sleeve is arranged on the screw rod, a surveying and mapping source is fixed below the screw rod sleeve, a thread screw thread is arranged at the other end of the stainless steel pipe, can be screwed into circular screw holes which are arranged on the horizontal outer side surfaces of all the circular-section hollow steel pipes in the surveying and mapping platform at equal intervals.

Further, the screw rod sleeve is connected with the surveying and mapping source through a circular tubular sliding block, and the diameter of the circular tubular sliding block is slightly smaller than the width of the through rectangular slot.

Furthermore, the mapping source comprises a protective circular shell and a miniature single-beam ultrasonic transducer, the miniature single-beam ultrasonic transducer is fixed in the protective circular shell, and the protective circular shell is connected with the circular tubular sliding block.

Further, automatic control device include cable, motor automatic control module, serial module, GPRS module and terminal computer, cable one end links to each other with step motor, and the other end links to each other with motor automatic control module, motor automatic control module passes through serial module and links to each other with the GPRS module, GPRS module accessible wireless data network and terminal computer communication, the terminal computer can give-out order, control step motor is rotatory according to the step angle that sets for.

Furthermore, the data transmission device comprises a data line, a data acquisition and storage module and a software platform, wherein one end of the data line is connected with the single-beam miniature ultrasonic transducer, the other end of the data line is connected with the data acquisition and storage module, the data acquisition and storage module is connected with the GPRS module through the serial port module, the GPRS module can be communicated with the terminal computer through the wireless data network and transmits the three-dimensional terrain data acquired by the single-beam miniature ultrasonic transducer to the software platform, and the software platform can draw a three-dimensional terrain.

The invention also provides a surveying and mapping method of the real-time surveying and mapping system for erosion and deposition terrain around the wading structure of the river model, which comprises the following steps:

a. fixing a bearing platform around the wading structure through split bolts, assembling a surveying and mapping platform according to the plane shape of the wading structure, and installing the surveying and mapping platform on the bearing platform, wherein the surveying and mapping device is installed on the outer side of the surveying and mapping platform through thread threads;

b. the terminal machine sends out an instruction, the stepping motor of each surveying and mapping device drives the screw rod to rotate, and the screw rod sleeve can slide along the screw rod, so that all the single-beam miniature ultrasonic transducers are reset to the positions close to the outer side surface of the wading structure;

c. establishing river model experiment working conditions, calibrating the distance from the surface of the acoustic lens of the single-beam miniature ultrasonic transducer to the sand surface of the original bed of the model, selecting the moving speed of the ultrasonic transducer according to the surveying and mapping precision requirement, and setting the rotating angular speed of the stepping motor;

d. after the river model experiment is started, the terminal computer sends an instruction to enable the stepping motor to transmit forwards, the ultrasonic transducer moves towards the direction far away from the wading structure, the acquired scouring terrain data is wirelessly transmitted to the terminal computer, and when the ultrasonic transducer reaches a limit switch at the far end, one-time terrain scanning is completed;

e. the stepping motor is made to rotate reversely to drive the ultrasonic transducer to move towards the direction close to the wading structure, the acquired scouring terrain data is wirelessly transmitted to the terminal computer, and when the terminal computer reaches a limit switch at the near end, the scanning is finished again;

f. and e, continuously repeating the steps d and e until the river model experiment is finished, and finishing the whole process drawing of the dynamic erosion and deposition terrain around the wading structure by the drawing system.

By adopting the technical scheme, compared with the prior art, the invention has the following technical effects:

(1) the real-time mapping system for erosion and deposition terrain around the wading structure of the river model, provided by the invention, has the advantages of simple and light structure, convenience and easiness in installation and maintenance, lower manufacturing and application cost, higher measurement precision and sensitivity, capability of randomly adjusting the shape and size of the wading structure and the installation and fixing position according to the actual situation of the wading structure, suitability for erosion and deposition terrain mapping of wading structures of river models with any shape and size in any direction and capability of really realizing omnibearing non-blind area terrain mapping;

(2) the surveying and mapping method of the real-time surveying and mapping system for erosion and deposition terrain around the wading structure of the river model, provided by the invention, has the advantages of simple process, convenience in operation, capability of remote control, realization of infinite acquisition of surveying and mapping data and higher surveying and mapping efficiency, the whole surveying and mapping system is positioned above a free water surface except for single-point water entry of the miniature ultrasonic transducer, the whole-process contactless measurement is really realized, the disturbance damage to a water flow structure and underwater topography in the measurement process is greatly reduced, the three-dimensional underwater topography data of any instantaneous whole area can be quickly acquired, and the dynamic real-time surveying and mapping of the whole process of the erosion and deposition development of a riverbed near the wading structure of the river model is realized.

Description of the drawings:

for ease of illustration, the invention is described in detail by the following specific examples and figures.

FIG. 1 is a diagram of the overall arrangement of a real-time erosion and deposition terrain surveying and mapping system around a wading structure of a river model;

FIG. 2 is a structural diagram of a bearing platform of a real-time erosion and deposition terrain surveying and mapping system around a wading structure of a river model;

FIG. 3 is a diagram of a mapping platform of a real-time mapping system for erosion and deposition terrain around a wading structure of a river model;

FIG. 4 is a diagram of a mapping device of a real-time mapping system for erosion and deposition terrain around a wading structure of a river model.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "fixed," "mounted," "connected," or "disposed" to another element, it can be directly on the other element or be indirectly on the other element. It will be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships that are based on the orientations or positional relationships shown in the drawings, are used merely to facilitate description of the present invention and to simplify description, and do not indicate or imply that the referenced devices or elements must have the particular orientations, configurations and operations described in the specification, and therefore are not to be considered limiting.

Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

The invention will be further described in detail with reference to the following examples, which are given in the accompanying drawings:

in order to further illustrate the contents, features and effects of the present invention, the following examples are given for illustration. It should be noted that the structural form, proportion, size and other parameters shown in the drawings in the present specification are not limitations of the present invention in the actual implementation process of the specific engineering, and any specific parameter may be adjusted or changed without affecting the purpose of the present invention, but all of them should be within the scope of the technical content of the present invention.

The system and the method for real-time surveying and mapping erosion and deposition terrain around the wading structure of the river model are described with reference to the attached drawings 1, 2, 3 and 4.

Referring to the attached figure 1, the real-time mapping system for erosion and deposition terrain around a wading structure of a river model is characterized by comprising a bearing platform 1, a mapping platform 2, a mapping device 3, an automatic control device 4 and a data transmission device. Bearing platform 1 is fixed around wading structure thing 8, mapping platform 2 install in bearing platform 1 top to the cladding is around wading structure thing 8, mapping device 3 along circumference install in the 2 outsides of mapping platform, automatic control device 4 and data transmission device install in the bridge post one side of wading structure thing top, mapping device and data transmission device with automatic control device electric connection.

In some embodiments of the present invention, referring to fig. 2, the bearing platform 1 is a counter-pull structure, and includes two rectangular hollow sections 5, counter-pull bolts 6 and nuts 7, where each rectangular hollow section is provided with circular through holes near two ends, the outer diameter of the rods of the counter-pull bolts 6 is slightly smaller than the diameter of the through holes, and when the bearing platform is installed, the counter-pull bolts 6 pass through the corresponding through holes on the rectangular hollow sections 5, and are screwed and fixed on the peripheral wall of the wading structure 8 by the nuts 7, and the position of the bearing platform is higher than the free water surface.

In some embodiments of the present invention, referring to fig. 3, the surveying and mapping platform 2 is composed of a plurality of hollow steel tubes 9 with circular cross sections and hollow bent tubes 10, both ends of the hollow steel tubes 9 and the hollow bent tubes 10 are threaded, each two hollow steel tubes 9 are connected with each other through a connecting nut 11, the hollow steel tubes 9 are connected with the hollow bent tubes 10 through the connecting nuts 11, a bending angle of the hollow bent tubes 10 is determined according to an actually required steering angle, the hollow steel tubes 9 and the hollow bent tubes 10 are sequentially connected to form the surveying and mapping platform 2 and are installed on the bearing platform, circular screw holes are formed on horizontal outer side surfaces of the hollow steel tubes 9 at equal intervals, and the surveying and mapping device 3 can be installed on the surveying and mapping platform 2 through the.

In some embodiments of the present invention, referring to fig. 4, the surveying and mapping device 3 is a stainless steel tube 12, a through rectangular slot 13 is formed in a side wall of the stainless steel tube 12, a concentric bearing 14 is installed at a proper position near a tube head at two ends of the stainless steel tube 12, a lead screw 15 is installed and fixed on the concentric bearing 14, a limit switch 16 is respectively arranged on the lead screw 15 near the two concentric bearings 14, one end of the stainless steel tube 12 is sealed by a circular sealing cover plate 17, a circular hole is formed in the center of the sealing cover plate 17, a small stepping motor 18 is installed on the sealing cover plate 17, a rotating shaft of the stepping motor 18 can pass through the circular hole on the sealing cover plate 17 and is connected with the lead screw 15 through a coupler 19, a lead screw sleeve 20 is installed on the lead screw 15, the lead screw sleeve 20 is connected with one end of a circular tubular slider 21, the diameter of the circular, the other end of the round tubular slide block 21 is connected with an ultrasonic transducer protection round shell 22, the miniature single-beam ultrasonic transducer 23 is fixed in the protection round shell 22, the other end of the stainless steel tube 12 is provided with a thread screw 24 which can be screwed in round screw holes 25 which are arranged on the horizontal outer side surface of each round section hollow steel tube 9 in the surveying and mapping platform 2 at equal intervals.

In some embodiments of the present invention, the automatic control device 4 includes a cable, an automatic motor control module, a serial port module, a GPRS module, and a terminal computer, one end of the cable is connected to the stepping motor 18, the other end of the cable is connected to the automatic motor control module, the automatic motor control module is connected to the GPRS module through the serial port module, the GPRS module can communicate with the terminal computer through a wireless data network, the terminal computer can send an instruction to make the stepping motor 18 rotate according to a set stepping angle, the stepping motor 18 drives the lead screw 15 to rotate, and the lead screw sleeve 20 on the lead screw 15 drives the single-beam miniature ultrasonic transducer 23 to move at a certain speed, thereby realizing scanning of the three-dimensional underwater topography.

In some embodiments of the present invention, the data transmission device is composed of a data line, a data acquisition and storage module, a serial port module, a GPRS module, a terminal computer, and a software platform, wherein one end of the data line is connected to the single-beam micro ultrasonic transducer 23, the other end of the data line is connected to the data acquisition and storage module, the data acquisition and storage module is connected to the GPRS module through the serial port module, the GPRS module can communicate with the terminal computer through a wireless data network, three-dimensional terrain data acquired by the single-beam micro ultrasonic transducer 23 is transmitted to the software platform, and the software platform can draw a three-dimensional terrain.

The invention also provides a surveying and mapping method of the real-time surveying and mapping system for erosion and deposition terrain around the wading structure of the river model, which comprises the following steps:

a. fixing a bearing platform 1 around a wading structure 8 through split bolts 6 and nuts 7, assembling a surveying and mapping platform 2 according to the plane shape of the wading structure 8, and installing the surveying and mapping platform 2 on the bearing platform 1, wherein a surveying and mapping device 3 is installed on the outer side of the surveying and mapping platform 2 through a thread screw 24;

b. the terminal machine sends out an instruction, the stepping motor 18 of each surveying and mapping device 3 drives the screw rod 15 to rotate, and the screw rod sleeve 20 slides along the screw rod 15, so that all the single-beam miniature ultrasonic transducers 23 are reset to the position close to the outer side surface of the wading structure 8;

c. establishing river model experiment working conditions, calibrating the distance from the surface of the acoustic lens of the single-beam miniature ultrasonic transducer 23 to the sand surface of the original bed of the model, selecting the moving speed of the ultrasonic transducer 23 according to the surveying and mapping precision requirement, and setting the rotating angular speed of the stepping motor 18;

d. after the river model experiment is started, the terminal computer sends out an instruction to enable the stepping motor 18 to transmit forward, the ultrasonic transducer 23 moves towards the direction far away from the wading structure 8, collected scouring terrain data are transmitted to the terminal computer in an unlimited way, and when the ultrasonic transducer 23 reaches the limit switch 16 at the far end, one-time terrain scanning is completed;

e. the stepping motor 18 is made to rotate reversely to drive the ultrasonic transducer 23 to move towards the direction close to the wading structure 8, the collected scouring terrain data is infinitely transmitted to the terminal computer, and when the collected scouring terrain data reaches the limit switch 16 at the near end, the scanning is finished again;

f. and e, continuously repeating the steps d and e until the river model experiment is finished, and finishing the whole process drawing of the dynamic erosion and deposition terrain around the wading structure 8 by the drawing system.

The real-time mapping system for erosion and deposition terrain around the wading structure of the river model, provided by the invention, has the advantages of simple and light structure, convenience and easiness in installation and maintenance, lower manufacturing and application cost, higher measurement precision and sensitivity, capability of randomly adjusting the shape and size of the wading structure and the installation and fixing position according to the actual situation of the wading structure, suitability for erosion and deposition terrain mapping of wading structures of river models with any shape and size in any direction and capability of really realizing omnibearing non-blind area terrain mapping;

the surveying and mapping method of the real-time surveying and mapping system for erosion and deposition terrain around the wading structure of the river model, provided by the invention, has the advantages of simple process, convenience in operation, capability of remote control, realization of infinite acquisition of surveying and mapping data and higher surveying and mapping efficiency, the whole surveying and mapping system is positioned above a free water surface except for single-point water entry of the miniature ultrasonic transducer, the whole-process contactless measurement is really realized, the disturbance damage to a water flow structure and underwater topography in the measurement process is greatly reduced, the three-dimensional underwater topography data of any instantaneous whole area can be quickly acquired, and the dynamic real-time surveying and mapping of the whole process of the erosion and deposition development of a riverbed near the wading structure of the river model is realized.

While there have been shown and described what are at present considered the fundamental principles of the invention, the essential features and advantages thereof, it will be understood by those skilled in the art that the present invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.