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Research papers

A 3D dynamic visualization method coupled with an urban drainage model

Guozheng Zhi, Zhenliang Liao, Wenchong Tian, Xin Wang, Juxiang Chen

PII: S0022-1694(19)30708-5
DOI: https://doi.org/10.1016/j.jhydrol.2019.123988
Reference: HYDROL 123988

To appear in: Journal of Hydrology

Received Date: 3 January 2019

Revised Date: 24 July 2019
Accepted Date: 25 July 2019

Please cite this article as: Zhi, G., Liao, Z., Tian, W., Wang, X., Chen, J., A 3D dynamic visualization method
coupled with an urban drainage model, Journal of Hydrology (2019), doi: https://doi.org/10.1016/j.jhydrol.
2019.123988

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© 2019 Published by Elsevier B.V.

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A 3D dynamic visualization method coupled with an urban

drainage model
Guozheng Zhia,c, Zhenliang Liaoa,b,d,e*, Wenchong Tiana, Xin Wanga,f*, Juxiang

Chenb*

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a UNEP-Tongji Institute of Environment for Sustainable Development, College of Environmental

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Science and Engineering, Tongji University, Shanghai 200092, China

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b College of Architecture and Civil Engineering, Xinjiang University, Urumqi 830047, China

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c Shanghai Urban Water Resources Development and Utilization National Engineering Center Co.

Ltd., Shanghai 200082, China

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d Key Laboratory of Yangtze River Water Environment (Ministry of Education), Tongji University,
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Shanghai 200092, China

e Shanghai Institute of Pollution Control and Ecological Security, Shanghai 200092, P.R. China
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f MOE Joint Lab for International Cooperation on Eco-Urban Design, College of Architecture and

Urban Planning, Tongji University, Shanghai 200092, China

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* Corresponding author:
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Zhenliang Liao: College of Architecture and Civil Engineering, Xinjiang University, Urumqi
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830047, China

Xin Wang: MOE Joint Lab for International Cooperation on Eco-Urban Design, College of

Architecture and Urban Planning, Tongji University, Shanghai 200092, China

Juxiang Chen: College of Architecture and Civil Engineering, Xinjiang University, Urumqi

830047, China

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Tel: +86(0)21 65981650; fax: +86(0)21 65986313

E-mail address: 1510400@tongji.edu.cn (G. Zhi), zl_liao@tongji.edu.cn (Z. Liao),

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1610385@tongji.edu.cn (W. Tian), xin_wang@tongji.edu.cn (X.Wang),

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chenyu1816@126.com (J.Chen)

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1. Introduction

There are many measures in the planning, design, treatment and management of

drainage systems (Boogaard and Eslamian, 2015), among which urban drainage

models have been widely applied (Bach et al., 2018; Dotto et al., 2014; Freni et al.,

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2009). Urban drainage models represent a useful tool for simulating and estimating

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the efficiency of urban drainage systems by means of numerical simulation (Jang et

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al., 2018; Zoppou, 2001). Numerous simulation results that change over time and

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space are generated when running the model (Joost and Timothy, 2012; Salvadore et

al., 2015; Zhang et al., 2017). Difficulties are regularly encountered when analyzing
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the model’s results and extracting valuable information (Wang et al., 2013; Zhang et
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al., 2011a). With urban rapid expansion, the distribution of drainage pipe networks is

becoming more and more complex. When devising reconstruction plans based on the
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urban drainage model, the demand for 3D space information such as the distribution

characteristics of drainage pipe networks progressively increases. At the same time,

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many other multi-source heterogeneous data with multiple dimensions and complex
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geographical relations must be considered (Astrid et al., 2017; Maha and Orland, 2018;
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Zhang et al., 2011b). For example, in the process of analyzing nodal flood data in the
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model results, the influence on buildings above cannot be ignored. The attribute

information of buildings, such as geographical location, size, height and so on, should

be considered. Therefore, how to effectively utilize spatial information, couple and

parse the existing multi-source heterogeneous data, and improve the decision support

efficiency of the model’s results represents a significant challenge.

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Existing analytical methods of urban drainage models primarily exist in two

dimensions, including 2D charts and paper reports. However, because the 2D data

expression and analysis method is used to project geographic objects from 3D space

to a 2D plane, the geometric position and spatial topological information in the third

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dimension are lost (Zhang et al., 2016). This method is relatively poor at analyzing the

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spatial characteristics and correlation of objects: information cannot be reflected

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completely and objectively (Allen et al., 2004; Huang et al., 2009). Moreover, this

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method is rather ineffective at coupling multi-source heterogeneous data, and

facilitating a systematic analysis of existing problems. As a result, substantial amounts

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of data are unable to be effectively analyzed and utilized, which is inappropriate to
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decision-making needs in complex space (He et al., 2011; Lai et al., 2011). In addition,

owing to the size of model results and the complex structure of data required for
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analysis, it is difficult to communicate between different fields (Zhang et al., 2015).

In recent years, with the development of computer hardware and software, 3D

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visualization technology has been applied in numerous fields (Brovelli and Zamboni,
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2012; Chen et al., 2018; Lee et al., 2018). Owing to its advantages in
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multidimensional space, it provides an advanced tool and method for coupling and
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parsing multi-source heterogeneous data (Liu et al., 2018; Trubka et al., 2016). In the

field of urban drainage research, 3D visualization technology is at present

predominantly used to show the distribution and attribute information of pipe

networks (He et al., 2011; Zhang et al., 2016), and has yet to be combined with the

urban drainage model. The information provided for analysis and decision making

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remains limited, and the capacity for data coupling and parsing are constrained

(Breunig and Zlatanova, 2011). Therefore, it is necessary to study the ways in which

3D visualization technology can be successfully applied to couple with an urban

drainage model. This may help solve the above problems in the existing model of

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analysis process and provide effective decision support.

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The objectives of this study were thus to (i) synchronously analyze time series

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data such as water level, water quality, flow direction and flow rate, and the ground

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building information influenced by node flood in the form of 3D dynamic

visualization; (ii) synchronously compare and analyze different models in the form of
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3D dynamic visualization; (iii) provide a feasible theory and method to solve the
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problems of insufficient utilization of spatial information, poor coupling and parsing

capabilities of multi-source heterogeneous data in the analysis process of urban

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drainage model, to improve human-computer interactions, and to promote the

development of visualization and analysis methods from 2D to the combination of 2D

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and 3D.
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2. Methodology
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In this study, the establishment of 3DDVM-UDM includes four parts: (1) rapid
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construction of a 3D geographic environment; (2) storage and coupling of multi-

source heterogeneous data; (3) design of a 3D dynamic visualization method; and (4)

coupling urban drainage model with the 3D dynamic visualization method. The

framework of the methodology is shown in Fig.1.

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Fig.1 The framework of the methodology

2.1. Rapid construction of the 3D geographic environment

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Based on 3D GIS technology, the 3D geographic environment is primarily

constructed by integrating remote sensing image data, DEM data, 3D ground building
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models and 3D entity models of drainage pipe network. It provides environment

support for 3D dynamic visualization of urban drainage model results.

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In this study, the 3D geographic environment was constructed based on the

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Unity3d Engine platform. Remote sensing image data was superimposed on the DEM
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data according to the consistency of geographical location to constructing the basic

3D environment. As for the 3D building models on the ground, this study mainly

focused on the overall shape of buildings, with fewer requirements for the appearance.

By extracting the building boundary and height from the remote sensing image data,

the 3D building models were constructed with a simple and rapid batch processing

method. According to the spatial and attribute data of the pipe network, including the
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position, size and height of nodes, length, diameter and burial depth of pipes, the 3D

entity models of the drainage pipe network were established by rapid batch and

manual optimization methods.

2.2. Storage and coupling of multi-source heterogeneous data

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Multi-source heterogeneous data can be divided into structured and unstructured

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data. In the aspect of 3D dynamic visualization of drainage pipe network model,

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structured data primarily include attribute data of pipe network and buildings, model

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input data and simulation results. Unstructured data mainly include remote sensing

image data, DEM data and pictures.

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In this study, for the storage and coupling of structured data, the rational database
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was used. Database application contained data reading and writing operations, which

were used to store the attribute data of pipe network and buildings, model input data,
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and simulation results from external files or convert these stored data into the required

format to use outside. For the attribute data of the pipe network and buildings, they
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can be read and written in the database with the query method, after obtaining the IDs
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of the corresponding objects as identifiers in 3D environment. For the model input

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data, they were stored in the database and utilized when the model input file was
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generated. For the simulation results, they were stored in the database as a single data

table and correlated with each other according to the consistency of time information.

Given that an object corresponds to a set of time series data, the ID of each object in

the urban drainage system can be obtained under the 3D environment as an identifier

to establish a connection between the object and the corresponding data in the

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database.

For unstructured data, they were stored in file mode. Structured data and

unstructured data were correlated by the identifier of object in the 3D environment.

2.3. Design of the 3D dynamic visualization method

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According to the characteristic of model results and the topological relationship

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between data, in this study, the corresponding 3D dynamic visualization method was

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designed.

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2.3.1. 3D dynamic visualization of the single model scenario

This primarily comprised the 3D dynamic visualization of model results of pipes

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and nodes, as well as ground buildings influenced by flood water. In this study, for the
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3D visualization of model results related to pipes and nodes, the method of filling the

3D water object in the pipe network entity model was adopted, as detailed below.
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(1) Pipe object

This mainly included the 3D dynamic visualization of water level, water quality,
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flow rate and flow direction. The 3D water object was filled in the pipe entity model
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and initially its ID, size and direction were the same as that of the pipe. The water
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object of different types of pipes was visualized in different basic colors as the
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distinction. The ID of the water object was used as the identifier to get the

corresponding model results. By limiting the color-rendering range of mesh vertices

of water objects, the water level data could be converted into the variation of water

height in the pipes, as shown in equation (1) ~ (3) and Fig.2.

The color transition method was used to represent the variation in water quality
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in the pipes. Based on the basic color of the water object, the water quality data was

converted into the change of color shade of mesh vertices.

For the vertex in the X direction of the local coordinates of pipes where the

position is greater than or equal to 0,

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{𝑌 ‒𝑌 𝑌‒ 𝑌
𝑖
𝑖 + min
+ min
> ℎ,
≤ ℎ,
Transparent color
Basic color (1)

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Otherwise,

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{𝑌 ‒𝑌 𝑌‒
𝑖
𝑖 𝑌 ‒ min > ℎ,
‒ min ≤ ℎ,
Transparent color
Basic color (2)

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ℎ = 𝑑𝑚 ∗ ℎ𝑟 / 𝑑 (3)

where, Yi represents the vertex position of the water object in the Y direction;
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Y+min is the minimum value of the vertex position of the water object at X >= 0; Y-min
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is the minimum value of the vertex position of the water object at X < 0; dm is the

diameter of the 3D pipe entity model. d is the actual diameter of the pipe. ℎ𝑟 is the
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simulated water level data in the model results; h is the water height of the 3D pipe

entity model.
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Fig.2 3D visualization method diagram of pipe water level and water quality

The 3D dynamic visualization of pipe flow direction was represented by a 3D

arrow of moderate size generated in each pipe. In this study, there were two

coordinate systems including the global coordinate of the 3D environment and the
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local coordinate of the objects, which were shown in Fig.3(e). Since the positive

direction of the local coordinate X of each pipe pointed to the positive direction of the

global coordinate X and was parallel to the pipe slope, we can generate a suitably

sized arrow in each pipe and initially set the directions of each arrow as the same as

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that of the pipe. Thereby, the direction of the local coordinate X of the arrow can be

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used to represent the positive or opposite flow direction. Furthermore, the X direction

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of the local coordinate of the arrow should be rotated by 0° or 180°, according to the

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position relationship between the start and end nodes in the X and Z directions. The

position information of the start and end nodes was generally obtained from the model
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input file or the database through the identifier. The relationship between the positions
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of the start and end nodes and the arrow direction was shown in Eq.4, corresponding

to Fig.3(a)~Fig.(d). The 3D dynamic visualization of flow velocity was represented

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by changing the length and color of the arrow.

(𝑋𝑒𝑛 ‒ 𝑋𝑠𝑛) > 0 ＆＆ (𝑍𝑒𝑛 ‒ 𝑍𝑠𝑛) > 0, (0,0,0)

{ (𝑋𝑒𝑛 ‒ 𝑋𝑠𝑛) ≤ 0 ＆＆ (𝑍𝑒𝑛 ‒ 𝑍𝑠𝑛) ≤ 0, (180,0,0)

(4)
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(𝑋𝑒𝑛 ‒ 𝑋𝑠𝑛) > 0 ＆＆ (𝑍𝑒𝑛 ‒ 𝑍𝑠𝑛) ≤ 0, (0,0,0)

(𝑋𝑒𝑛 ‒ 𝑋𝑠𝑛) ≤ 0 ＆＆ (𝑍𝑒𝑛 ‒ 𝑍𝑠𝑛) ≥ 0, (180,0,0)
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where, 𝑋𝑒𝑛 is the position of the end node in the X direction; 𝑋𝑠𝑛 is the
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position of the start node in the X direction; 𝑍𝑒𝑛 is the position of the end node in the
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Z direction; 𝑍𝑠𝑛 is the position of the start node in the Z direction.

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Fig.3 3D visualization method diagram of pipe flow direction (a) (𝑋𝑒𝑛 ‒ 𝑋𝑠𝑛) > 0 ＆＆
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(𝑍𝑒𝑛 ‒ 𝑍𝑠𝑛) > 0, and the flow direction is the same as the X direction of the arrow (b)

(𝑋𝑒𝑛 ‒ 𝑋𝑠𝑛) ≤ 0 ＆＆ (𝑍𝑒𝑛 ‒ 𝑍𝑠𝑛) ≤ 0, and the flow direction is opposite to the X direction

of the arrow (c) (𝑋𝑒𝑛 ‒ 𝑋𝑠𝑛) > 0 ＆＆ (𝑍𝑒𝑛 ‒ 𝑍𝑠𝑛) ≤ 0, and the flow direction is the same as

the X direction of the arrow (d) (𝑋𝑒𝑛 ‒ 𝑋𝑠𝑛) ≤ 0 ＆＆ (𝑍𝑒𝑛 ‒ 𝑍𝑠𝑛) > 0, and the flow

direction is opposite to the X direction of the arrow (e) the local coordinate system of the arrow

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(2) Node object

This primarily included the 3D dynamic visualization of the water level and

water quality. Akin to the pipes, the 3D water object was filled in the node entity and

assigned with the model results. The water object of different types of nodes was

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visualized in different basic colors as the distinction. According to the Eq.5~Eq.8

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(Eq.8 was concluded by Eq.5~Eq.7), the water level data could be converted into the

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variation of water height in the nodes, as shown in Fig.4. The color transition method

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was also adopted to represent the variation in water quality in the nodes.
𝐻nm ℎ𝑤𝑚
𝐻𝑛𝑟
= ℎ𝑤𝑟
(5)
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𝑆𝑌 𝑆𝑌𝑀𝑎𝑥
ℎ𝑤𝑚 = 𝐻𝑛𝑚 (6)
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𝐻𝑛𝑚
𝑆𝑌𝑀𝑎𝑥 = 𝐻𝑤𝑚 (7)

𝐻𝑛𝑚
𝑆𝑌 = ∗ ℎ𝑤𝑟 (8)
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𝐻𝑤𝑚 ∗ 𝐻𝑛𝑟

Where, 𝐻nm is the height of the 3D node entity model; 𝐻𝑛𝑟 is the actual height
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of the node; ℎ𝑤𝑚 is the water level in the 3D node entity model; ℎ𝑤𝑟 is the simulated
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water level of the node; 𝑆𝑌𝑀𝑎𝑥 is the maximum proportion of the water object within
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the node; 𝐻𝑤𝑚 is the initial height of the water object within the node; 𝑆𝑌 is the scale
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of the water object within the node.

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Fig.4 3D visualization method diagram of node water level and water quality

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(3) Buildings influenced by flood water

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For the 3D dynamic visualization of ground buildings influenced by flood water,

it was necessary to detect whether the flood points were within the scope of buildings
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in real time when calculating potential areas of inundation. The spatial distribution of
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the affected buildings was obtained by highlighting them.

2.3.2. 3D dynamic comparison of multi-model scenarios

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For the comparison of multi-model scenarios, the data was coupled and the

multi-view mode was adopted to perform 3D dynamic comparisons either

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synchronously or asynchronously. Synchronous analysis meant that the perspective

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and position of multiple views changed at the same time, and the data variation of
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each object under different scenarios could be compared under the same perspective.
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Asynchronous analysis indicated that the perspective changes of multiple views were

in discordance. When the mouse entered the field of view, the view could be rotated

and zoomed without affecting other fields of view.

2.4. Coupling urban drainage model with the 3D dynamic visualization method

At present, there are many drainage modelling tools, including the storm water
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management model (SWMM), InfoWorks CS and Mike Urban (Bisht et al., 2016; van

der Sterren et al., 2014; Zhu et al., 2016). They can be divided into commercial type

and open source type. Commercial drainage models are costly and cannot be

redeveloped. The 3D dynamic visualization method can only be loosely coupled with

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these models through compiling the data interface program to retrieve results from the

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model. For open source drainage models, their source codes can be packaged and

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embedded into the 3D dynamic visualization method. Through referring to the

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calculation module and result-reading module in the model, the 3D dynamic

visualization method can be tightly coupled with the urban drainage model.
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Given that SWMM is a free and open source software, it is suitable for the
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secondary development of integration with other algorithms and software tools

(Riaño-Briceño et al., 2016; Wang et al., 2017). In this study, SWMM was selected to
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be coupled with the 3D dynamic visualization method. The source code of SWMM

was packaged into a dynamic link library (DLL) file, which was loaded into the
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Unity3D Engine for calling. The SWMM input file could be created to some extent by
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editing its different sections in the 3D environment. The external input file could also
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be read. By selecting an object from the urban drainage system, its corresponding
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information in the input file was obtained and further modified and saved. By calling

the computing module of the DLL file, different model scenarios were simulated. By

calling the result module of the DLL file and writing the data interface, numerous

time series data of pipes, nodes and subcatchments were extracted and stored in the

database.

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The precipitation falls on the Earth’s surface and then enters the drainage

network. Due to the limited capacity of the pipes, water may flood out from the nodes.

However, SWMM is a 1D rainfall-runoff model, which is unable to simulate the

above-ground flood routing using the flood water from nodes (Wu et al., 2017).

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Although coupled 1D-2D models were already a well-established approach to

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simulate urban flooding, in this study, with the consideration of computational power

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and time, a simplified method established by the source flooding algorithm (Chen et

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al., 2018; Zhang et al., 2014) and the seeded region growing algorithm (Noman et al.,

2001; Shen et al., 2015) was adopted to construct the 2D overland flow model with
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less consideration paid to the two-way interaction between the sewer system and the
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flood water. The implementation process of the 2D overland flow model was as

follows. Firstly, the flooded node was set as the initial seed point. Then, taking the
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seed point as the center, the elevation of the surrounding point was sought and

obtained in eight directions. According to the gravity characteristics of the water flow,
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the elevation of the surrounding point was compared with the water level at the seed
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point separately. Buildings were also cross-detected in real time. If the elevation of
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the surrounding point was lower than the water level at the seed point and the
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surrounding point did not fall within the scope of the buildings, the surrounding point

would be used as a new seed point and marked as a flood area. If the elevation of the

surrounding point within the range of the building was less than the water level of the

seed point, the building would be marked as an influenced building. This process was

repeated until no flood water remained. Finally, the time series information regarding

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the influenced buildings was obtained and stored in the database.

3. Application and results

3.1. Study area

Chaohu City is situated in the center of Anhui Province in Eastern China, with a

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subtropical humid monsoon climate (Qi et al., 2015; Qin et al., 2014). It is located in

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the northeast of the Lower Yangtze region, near Chaohu Lake (Chen et al., 2011; Yu

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et al., 2011). The case study area is the central part of Chaohu City, which covers an

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area of 27.65 km2. It is a predominantly residential area. The urban drainage system is

complex, with both separate and combined sewage systems. The map and the 3D
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environment of the study area are shown in Fig.5 and Fig.6(f).
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In this study, the resolution of the remote sensing image was 1m*1m, and the

data source was Google map image (Fig.6(a)). The resolution of DEM data was also
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1m*1m, which was generated from data with a resolution of 10m*10m using the

Kriging interpolation method (Mosammam, 2013) (Fig.6(b)). According to the

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method in Section 2.1, 956 ground buildings were constructed in the study area, as
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displayed in Fig.6(d). By generalizing the urban drainage system, including 589 pipes,
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583 nodes, and 53 outlets, the 3D entity models were established (Fig.6(e)). The
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coordinate system of the remote sensing image, the DEM data, the drainage pipe

network, and the building boundary were all WGS 1984.

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Fig.5 Map of the geographical area, including the pipes and nodes in the study area
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Fig.6 (a) Remote sensing image (b) DEM (c) Building boundaries (d) 3D building models (e) 3D
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pipe network models (f) 3D geographical environment of the study area integrated the remote

sensing image, DEM, 3D building models, road and 3D pipe network models

3.2. Designing and coupling the urban drainage model

Using the method in Section 2.4, the drainage model was optimized and closely

coupled with the 3D dynamic visualization method, as displayed in Fig.7. In the 3D

environment, some operations can be conducted, including creating the SWMM input
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file to some extent, reading and editing the external input file, simulating, extracting

and storing simulation results.

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Fig.7 The model simulation interface of the system

In the study area, the design formula of storm intensity is displayed in Equation
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(9) (Xu, 2011).

21.557 + 16.383 lg𝑃
𝑞 = (9)
(𝑡 + 14)0.84
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where, q is the storm intensity, mm/min; P is the design return periods, year; and

t is the rainfall duration, min.

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The rainfall processes of the different rainstorm return periods were determined
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by the Chicago Hydrograph Model closest to the actual conditions. Rainfall return
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periods of 1-year, 3-years, 5-years, 10-years, 50-years and 100-years were designed.

The rainfall durations were all two hours.

3.3. 3D dynamic visualization of the urban drainage model

3.3.1. 3D visualization of pipe network objects

The distribution of underground drainage system is intricate and complex. In this

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study, through fully utilizing the attribute data such as the size and depth of pipes and

nodes, the representation of the pipe network object was transformed from a 2D point,

line and number to 3D entity models (Fig.6(e)). The height variation, slope,

hierarchical distribution, and the connections of the pipe network in vertical space

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were presented. With the function of roaming in 3D space, the researchers and

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decision-makers were able to freely roam both outside and inside the underground

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pipe network. By querying the properties of each pipe network object, the objects that

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met the necessary criteria could be obtained and displayed.

The 3D entity models of the pipe network objects were further integrated with
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the 3D geographic environment and the 3D building models. By altering the terrain’s
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transparency, the 3D geographical environment in which the pipe network objects

were located was obtained, including land use type, terrain elevation, as well as the
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drainage pipe network information corresponding to the buildings (Fig.8).

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Fig.8 3D visualization of pipe network objects in the study area

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3.3.2. 3D dynamic visualization of single rainfall event

According to the method of Section 2.3.1, multiple types of data including water

level, water quality, flow direction and flow velocity were simultaneously and

dynamically visualized in the 3D environment (Fig.9(a), Fig.9(b), Fig.9(c)).

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In terms of water level, the water level data were transformed to the height

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variation of the water object. The researchers and decision-makers were able to

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simultaneously and intuitively access the dynamic change processes of water level

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and fullness outside or inside the underground pipe network by combining the

attribute data such as the size and buried depth of pipe network objects. When the
E-
node flooded, it would be highlighted (Fig.9(b)). A 3D spatial distribution map of
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flooded nodes and fully filled pipes could also be generated (Fig.10).

In terms of water quality, because different types of pipes were visualized in

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different basic colors and the water quality data was converted into the variation of

the color shade of the water object, the water quality differences of pipe network
N

objects can be obtained quickly and intuitively. Meanwhile, the information of water
R

quality standards was coupled, when the water quality of the pipe network object met
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prerequisite standards, the object would be highlighted in the 3D environment. A 3D

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spatial distribution map of nodes and pipes that met water quality standards could also

be generated.

By coupling the data regarding water level, water quality, flow direction and

flow rate, their variations and mutual relationships could be obtained and analyzed

simultaneously.

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By selecting the pipe network object, its identifier was obtained, which retrieved

the corresponding attribute information and simulation results stored in the database.

These data could be visualized in the form of a graph in the 3D space environment of

the object (Fig.9(c)).

F
On the basis of the above 3D dynamic visualization of model results, the analysis

O
reports were generated to provide data support for decision-making. These

O
demonstrated whether or not pipes and nodes met water quality standards, whether or

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not pipes were fully filled, and whether or not nodes flooded. The information was

detailed, including the name, position and time series data of the corresponding object.
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3.3.3. 3D dynamic visualization of ground buildings influenced by flood water
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Due to the coupling of the ground 3D building model in the analysis process of

drainage model, the underground information and above-ground information

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including the underground drainage pipe network, simulation results, ground

buildings and DEM data, can be integrated for correlation analysis. The water level
N

and water quality changes of the corresponding pipes and nodes under each building
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were obtained intuitively (Fig.9(b)). As the node flooded, the influenced buildings
U

were highlighted in the 3D environment and the number was counted (Fig.9(d)). The
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3D spatial distribution map of flooded nodes and influenced buildings under different

rainfall return periods was also generated (Fig.11).

The information regarding the influenced buildings, including name, location and

time series data, was also stored into external files to support decision-making.

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F
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Fig.9 3D dynamic visualization of the model results

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3.3.4. 3D dynamic visualization comparison of different rainfall events

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According to the method of Section 2.3.2, the model results from two to six

scenarios were coupled. The 3D dynamic comparison analysis was performed in a

multi-view manner either synchronously or asynchronously. Here, the comparison of

model results under two different rainfall return periods, including 1-year and 3-year

periods is presented.

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In the 3D environment, the differences in water level, fullness and water quality

of the same pipe network objects were obtained intuitively. For example, for the pipe

of number 1 in Fig.10(a), the pipe was not fully filled when the rain lasted for 50

minutes under the rainfall return period of 1-year. However, this pipe was fully filled

F
under the rainfall return period of 3-years. For the node of number 2, the water quality

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met the standard of level3 when the rain lasted for 50 minutes under the rainfall return

O
period of 1-year. Under the rainfall return period of 3-years, the water quality of this

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node did not meet this standard, and the water level was higher than that of 1-year.

For the node of number 3 in Fig.10(b), under the rainfall return period of 1-year, there
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was no flood at this node when the rain lasted for 68 minutes. However, flood
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occurred when the rainfall return period was 3-years. At the same time, according to

the color shade of the water inside the node, the water quality data of the rainfall
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return period of 1-year was higher than that of 3-years. Therefore, the differences in

pipes and nodes meeting the standards, and the differences of multiple types of model
N

results could be obtained and analyzed intuitively. By selecting the pipe network
R

object, the corresponding attribute information and the model results under different
U

rainfall return period could be obtained and displayed in the 3D environment.

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Meanwhile, the distribution differences of flooded nodes and fully filled pipes under

different rainfall events could be analyzed in a multi perspective way, as shown in

Fig.11.

In combination with the 3D ground building models, the differences in water

level and water quality of the nodes and pipes under each building, as well as the

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spatial distributions of buildings influenced by flood water, were obtained (Fig.11). At

the same time, statistical reports of the model results under different rainfall events

were generated, as displayed in Table 1. These included the number of fully filled

pipes, the number of flooded nodes, the number of buildings influenced, and their

F
respective percentages relative to the total number.

O
According to Fig.11 and Table 1, little difference exists between the proportion

O
of fully filled pipes under different rainfall return periods in the study area. However,

PR
relative to the total number of pipes, all proportions were large, up to 50 percent.

Their distributions were primarily concentrated in the central urban area and around
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the West Huancheng River and Tianhe River. Therefore, the proportion and
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distribution range of the pipes that needed to be reconstructed were large, which

indicated high operating pressure of the pipe network in the study area. The
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distribution of flooded nodes was also principally concentrated in the central urban

area and around the East Huancheng River, West Huancheng River and Tianhe River.
N

As the rainfall return period increased, the proportion gradually increased, reaching a
R

maximum of 21.44%. This indicated that the condition of node flood was not
U

optimistic. Aside from the rainfall events of 3-years and 5-years, the proportions of
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flooded nodes between other rainfall return periods were significantly different. The

increased areas were mainly concentrated on the three main roads: Middle Jiankang

Road, Chaohu Road and Renmin Road. The influenced buildings were primarily

located on both sides of the roads in the central urban area, as well as around the West

Huancheng River and Tianhe River. With an increased rainfall return period, the

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influenced buildings gradually increased in number, especially concentrated near

Renmin Road and Chaohu Road. Given that the influenced buildings were mainly

concentrated near the main roads of the city, affecting traffic and residents’ lives,

mitigation strategies must be taken.

F
A video about section 3.2 and section 3.3 was supplied in the supplementary

O
material.

O
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E-
PR
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R
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Fig.10 3D dynamic visualization comparison of different scenarios

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F
O
O
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Fig.11 3D visualization of fully filled pipes, flooded nodes and influenced buildings

Table 1 Statistical report of model results under different rainfall return periods

Fully filled Flooded Influenced

Items
pipes/percentage nodes/percentage buildings/percentage

1-year 273/46.35% 70/12.0% 52/5.44%

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3-years 277/47.03% 92/15.78% 70/7.32%

5-years 279/47.37% 94/15.96% 79/8.26%

10-years 284/48.22% 105/18.01% 84/8.79%

50-years 292/49.58% 122/20.93% 88/9.21%

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100-years 298/50.59% 125/21.44% 98/10.25%

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4. Discussion

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4.1. Utilization of spatial information

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Traditional expression methods of drainage pipe network objects in 2D are

primarily point, line and plane. For example, Fig.12(a) highlights the distribution of
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pipes and nodes at the intersection of Renmin Road and Tuanjie Road. Three types of
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pipes with complex distributions and mixed connection phenomena are apparent.

Owing to the lack of effective use of spatial attribute information such as size and
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depth of pipes and nodes, the traditional expression method is unable to show their

height variations and hierarchical distribution relationships in 3D space. The attribute

N

information can only provide decision-making support in the form of simple numbers
R

changing with the spatial distribution. Although it can represent the mixed connection
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state, it is not sufficiently specific to present the problem, due to the dearth of 3D
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information. It restricts researchers and decision-makers’ intuitive knowledge and

understanding of the research object, which is not conducive to solving the problem.

Besides, the DEM data can’t be fully utilized to represent the 3D geographical

environment of the study object.

Through using the 3D visualization method, the pipe network object is

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represented in 3D from 2D point, 2D line and a large amount of numeric data. For

example, Fig.12(b) is the result of the 3D transformation of Fig.12(a). In comparing

Fig.12(a) with Fig.12(b), we can clearly recognize the advantage of the 3D

visualization expression mode relative to the 2D plane mode in terms of the utilization

F
of spatial information. It is very effective for rapidly understanding the connectivity

O
and size relationship of different pipes and nodes. The variations of pipe slope, the

O
hierarchical distribution relationship, as well as the problem of mixed connection can

PR
also be intuitively recognized in 3D space in a multi-perspective way. Meanwhile, the

topographic data and the ground building information can be intuitively coupled. As a
E-
result, the utilization of spatial information becomes more complete. The researchers
PR

and decision-makers can have a systematic and intuitive understanding of the research

object and the entire urban drainage model.

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N
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Fig.12 Comparison of different pipe network expression methods: (a) 2D visualization method; (b)

3D visualization method

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4.2. Coupling and parsing of multi-source heterogeneous data

4.2.1. Aspect of single scenario analysis

Existing analytical method of the urban drainage model primarily analyze the

model results in 2D. For example, for the water level variation of nodes, the analysis

F
method is primarily in terms of the color change of the 2D point graph (Fig.13(a)) or

O
variations in the node profile (Fig.13(b)). For the water level variation of pipes, the

O
analysis method is predominantly the color change of the 2D linear graph (Fig.13(a))

PR
or variations in the pipe profile (Fig.13(b)).

However, for the data analysis method of color changes in 2D, given that this is
E-
not highly correlated with the vertical attribute information and the characteristics of
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the study objects, researchers and decision-makers cannot attain an intuitive and rapid

understanding of changes in the model’s results and problems of the pipe network.
AL

Furthermore, some optimization measures of the pipe network cannot be proposed

systematically.
N

Although the data analysis method of the profile can be combined with attribute
R

data related to the results of the drainage system, it is not highly integrated with the
U

object environment where the data is located. Moreover, connectivity between the
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selected start and end nodes needs to exist prior to profile analysis. Thus, owing to the

lack of systematic analysis of data in space, this method is not able to significantly

enhance researchers and decision-makers’ understanding of data and improve

communication between different fields.

In the analysis process of the flooded node, the influence of ground buildings is a
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factor that cannot be ignored. However, the existing analytical method of the urban

drainage model cannot intuitively couple the information of buildings such as the

height data, and obtain the changes in water level and water quality of nodes and

pipes under buildings. It is impossible to carry out specific analysis of influenced

F
buildings in a multi perspective way.

O
In this study, by adopting the 3DDVM-UDM, diverse multi-source

O
heterogeneous data including remote sensing image data, DEM data, 3D ground

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building models and the attribute data of pipe network were coupled. Therefore, the

above ground data and invisible underground data were visualized and analyzed in a
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natural and integrated way.
PR

On this basis, the drainage model results are further coupled, and dynamically

visualized and analyzed in the 3D space of the corresponding drainage pipe network
AL

objects. For example, by associating with the node height, the water level data are

transformed to the height variation of the water object within the node and pipe,
N

which corresponds with the variation pattern in the real environment, as displayed in
R

Fig.13(d). The buildings influenced by node flood are quickly identified, and the
U

corresponding attribute information is also obtained. Multiple types of model results

JO

are also analyzed simultaneously. Meanwhile, since the drainage system is analyzed

as a whole in 3D, the relationship between the data of any pipe network object and

other objects can be analyzed systematically and comprehensively. There is no need

to consider whether there is connectivity between the start node and the end node.

Therefore, when the drainage model is used for the optimization of a pipe

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network, in comparison to the 2D data analysis method, the 3DDVM-UDM can

extract efficient information from large amounts of data and improve the efficiency of

data analysis and decision-making. According to the correlations between multiple

data, some targeted prevention and protection measures can be proposed for

F
improving the overflow and water quality conditions of the pipe network, mitigating

O
the influence of flooding on buildings, or comprehensively considering multiple aims,

O
such as increasing the diameter of corresponding pipes, changing the height of nodes

PR
and modifying the slope of pipes.

4.2.2. Aspect of scenario comparison

E-
The existing analysis methods of the urban drainage model primarily compare
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the simulation results from different scenarios by selecting typical objects and

adopting the form of 2D charts. These methods result in data lacking systematic and
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comprehensive analysis. There are also a few methods to compare the simulation

results of multiple scenarios in a multi-view manner. However, it is difficult to

N

achieve the desired comparative effect due to insufficient combination with study
R

object and other multi-source heterogeneous data, as shown in Fig.13(c).

U

In contrast, by adopting the 3DDVM-UDM, the model results under different

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rainfall return periods are systematically coupled. The differences in water level and

water quality of each pipe network object, the buildings influenced by flood water, as

well as the water level and water quality of the corresponding pipe network objects

under each building are analyzed intuitively and comprehensively.

In the overall analysis of the model results, researchers and decision-makers can
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directly access considerable comparative information in the object environment where

the data is located (Fig.11). This information includes the differences in the

satisfaction of different water quality standards for pipes and nodes during the whole

rainfall process, as well as the differences in the spatial distributions of flooded nodes,

F
fully filled pipes and buildings influenced by flood water.

O
Therefore, by using this method, multiple types of information become more

O
closely related. The researchers and decision-makers can analyze the operational

PR
conditions of a drainage system under different rainfall return periods systematically,

so as to make decisions based on more comprehensive and reliable information.

E-
PR
AL
N
R
U
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F
O
O
PR
E-
PR
AL
N
R
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Fig.13 (a) and (b) Data visualization with 2D method; (c) Scenario comparison with 2D method;

(d) Data visualization with the 3DDVM-UDM

4.3. Improvement of human-machine interaction

In the process of drainage model analysis, many complicated sources of

information need to be considered. Currently, researchers and decision-makers cannot

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interact with the study object and conduct in-depth analysis of data from multiple

perspectives, which is not conducive to the acquisition of data and exploration of

potential information.

In this study, by constructing the 3D environment, the model results are directly

F
and dynamically visualized in a way that is close to the change in objects in the real

O
environment. It enables researchers to roam in the study area. The simulation results

O
can be analyzed and explored in a multi-perspective and interactive manner. By

PR
rendering the presentation and analysis of data more realistic, results are more likely

to be accepted by those who have no technical background or who lack a profound

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understanding of a particular problem. Meanwhile, it is also conducive to promoting
PR

communication between different fields. Thus, this method can greatly improve the

human-machine interaction.
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4.4. Applicability of the 3DDVM-UDM to other regions

When the 3DDVM-UDM is applied to other regions, we can first establish the
N

corresponding 3D environment through the rapid construction method of 3D

R

environment in Section 2.1. The algorithm and code established in this study are
U

generic. They can be easily applied to the corresponding objects in the 3D

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environment of other regions. Some operations can be conducted including creating

the SWMM input file to some extent, reading and editing the external input file,

simulating, extracting and storing simulation results, as well as 3D dynamic

visualization analysis of data.

In comparison with other 3D visualization tools, the development processes are

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relatively similar. Based on the existing models, these tools are all developed by

proposing and establishing some novel algorithms for coupling, visualization and

interaction of multi-source heterogenous data. The method proposed in this study

mainly focuses on the research of 3D dynamic visualization of drainage pipe network

F
model, which supplements some existing researches, such as the three-dimensional

O
dynamic visualization of flooding (Leskens et al., 2017) and ground water (Tian et al.,

O
2016).

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4.5. Future work

When creating the input file of the SWMM model in the 3D environment, some
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parameters including Manning coefficient and infiltration coefficient cannot be edited,
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which needs to be improved in the future. Some experiments need to be conducted to

validate the usefulness of this methodology by asking experts and practitioners to use
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it. The accuracy of the overland flow model also needs to be tested by comparing with

real flood data and other tools, such as 2D shallow water models (Leandro and
N

Martins, 2016) and other simplified flood spreading algorithms (Bermúdez et al.,
R

2018; Chen et al., 2009).

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Given that the development platform used in this study is highly integrated with
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virtual reality (VR) technology, this method can be further combined with VR

technology in the future. Thus, the management and decision-making of urban

drainage systems can be conducted in an immersive and in-depth way. In addition,

because monitoring data is the input condition of the model simulation, we can

combine this method with online monitoring technology of the pipe network in the

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future. Thus, the urban drainage system can visualize the monitoring data of the 3D

entities of the drainage pipe network dynamically and in real time, and carry out real-

time simulation and 3D dynamic visualization of prediction results, so as to provide

better early warning information.

F
5. Conclusion

O
Given the deficiencies of the existing 2D analysis method for the urban drainage

O
model, a 3DDVM-UDM was established in this study by coupling the urban drainage

PR
model with 3D GIS technology and 3D visualization technology. The feasibility of

this method is carried out using the example of Chaohu City, China. A range of multi-
E-
source heterogeneous data were integrated, including remote sensing image data,
PR

DEM data, ground building information and the attribute data of the urban drainage

system. On this basis, the urban drainage model was further tightly coupled. Multiple
AL

types of model data, including water level, water quality, flow velocity and flow

direction, were visualized in the 3D entity of the corresponding pipe and nodes
N

simultaneously and dynamically in a way close to reality. The ground buildings

R

influenced by node flood were also visualized in the 3D environment. By coupling,

U

comparing and analyzing the model data under different rainfall return periods,
JO

substantial comparative information could be directly accessed in the 3D environment

where the data were located. This information included differences in the water level

and water quality of each pipe and node during the entire rainfall process, adherence

to different water quality standards, as well as the spatial distribution of flooded nodes,

fully filled pipes and buildings influenced by node flood. Based on the model results,

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targeted pipe network reconstruction measures and preventive measures can thus be

systematically proposed through intuitively combining with the multi-source

heterogeneous data related to data analysis.

The study results show that the 3DDVM-UDM can fully utilize the spatial

F
information and solve the problem of using multi-source heterogeneous data. It is

O
conducive to improving the human-machine interaction, enhancing communication

O
between different fields and assisting in environmental management and decision-

PR
making support. This study provides a feasible theory and method for promoting a

shift in analysis and visualization from 2D into the combination of 2D and 3D.
E-
Acknowledgements
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This study was financially supported by the National Key R&D Program of

China (grant no. 2016YFE0123300), the National Natural Science Foundation of

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China (grant no. 51578396 and grant no. 51778451), and the Key Project of Shanghai

Municipal Science and Technology Commission (grant no.17DZ1202100). We also

N

thank the 111 Project (B13017) of Tongji University.

R
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Abstract:

The urban drainage model is an important tool for the management and decision-
making around an urban drainage network. Owing to urban drainage networks’
complex distribution, existing model analysis methods have gradually exposed
problems of insufficient utilization of spatial information, weak coupling and

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analytical capacity of multi-source heterogeneous data, and poor human-computer

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interaction. By coupling an urban drainage model with 3D GIS technology and 3D
visualization technology, this study presents a 3D dynamic visualization method of an

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urban drainage model (3DDVM-UDM). A case study from Chaohu, China, is used to

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demonstrate the method. The environmental information and distributions of pipe
network objects in 3D space were presented. The urban drainage model can be edited
and simulated in the 3D environment, and a 2D flooding simulation method was also
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established. Multiple model results were dynamically and simultaneously visualized
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in the pipe network entity models. By coupling and comparing the model results
under different rainfall return periods, various information was intuitively analyzed,
such as the water level and water quality differences of each pipe and node, and the
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spatial distribution differences of fully filled pipes, overflowed nodes and buildings
influenced by node overflow. The operation state of a drainage pipe network can be
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systematically analyzed by intuitively combining with the attribute information of a

pipe network, 3D spatial information and other relevant data. This study provides a
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feasible theory and method to assist in environmental management and decision-

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making, to facilitate communication between different fields, and to promote a shift in

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analysis from 2D to the combination of 2D and 3D.

Keywords: urban drainage model; 3D dynamic visualization; spatial information;

multi-source heterogeneous data; human-computer interaction

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 3D space information and multi-source heterogeneous data are required in the

analysis process of urban drainage model.
 A 3D dynamic visualization method of an urban drainage model (3DDVM-DNM)
is proposed.
 Multiple model results are dynamically and simultaneously visualized in the pipe
network entities. Results under different rainfall return periods are dynamically

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compared in the 3D space environment.

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 This study provides a feasible theory and method to assist in environmental

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management and decision-making, to facilitate communication between

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different fields, and to promote a shift in analysis from 2D to the combination of
2D and 3D.
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