Complete method for dam termite cave positioning, termite killing and termite cave blocking

Abstract

The invention belongs to the technical field of dam termite nest detection and termite comprehensive control, and provides a complete method for dam termite cave positioning, termite killing and termite cave blocking. Comprising the steps of C-Scan profile acquisition, deep convolutional neural network inversion, artificial intelligence neural network discrimination, drilling position selection, drilling, video stream signal acquisition, video stream signal analysis, termite dosing and killing, cement clay mortar preparation and ant nest grouting. According to the invention, through C-Scan profile acquisition, deep convolutional neural network inversion, artificial intelligence neural network discrimination and drilling position selection, the accuracy and efficiency of ant nest detection and identification are improved; by controlling the monitoring platform and heating the volatile medicament capsule, the damage of liquid medicament permeation or other methods to the surrounding soil environment is avoided, and the effective killing of the whole space distribution of the termite nest is realized; the glass beads and ettringite are doped into the silicate superfine cement, so that efficient plugging of dam ant nest grouting is realized.

Description

Technical Field

[0001] The invention relates to the technical field of dam ant nest detection and integrated termite prevention and control, and in particular to a complete method for dam termite nest positioning, termite disinfecting and ant nest blocking. Background Art

[0002] Termite damage is a major safety hazard to water conservancy projects and one of the factors that cause major dangers to river embankments. Accurately and efficiently detecting and locating termite nests is the key to termite prevention and control.

[0003] However, the structure of ant nests is complex, and the spatial distribution of the nests varies greatly with the age of the nests and the population. This leads to an unclear relationship between the physical parameters of the nests and the surrounding soil, inaccurate identification, and unclear spatial distribution. As a result, the current ant nest disposal process has high environmental risks, strong empiricism, and great destructiveness. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a complete method for locating termite holes on dams, disinfecting termites and sealing ant holes, so as to solve the problems of high environmental risks, strong experience and great destructiveness in the current ant nest disposal process.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A complete method for locating termite nests on a dam, disinfecting termites and sealing termite nests, comprising:

[0007] The target dam was detected using a vehicle-mounted three-dimensional array ground penetrating radar to obtain a C-Scan profile;

[0008] Using a deep convolutional neural network to perform intelligent inversion on the C-Scan profile to obtain an inversion result;

[0009] The inversion result is input into a trained artificial intelligence neural network based on the YOLO algorithm to identify the ant nest and obtain the position of the ant nest;

[0010] Selecting a drilling position according to the position of the ant nest;

[0011] Drilling at the drilling position toward the ant nest position to obtain a target drilling hole;

[0012] Placing an endoscopic flexible robot along the target drilling hole to the ant nest location, and using the endoscopic flexible robot to collect internal environment information of the ant nest location to obtain a video stream signal;

[0013] Identifying the individual type of target termites according to the video stream signal, and determining the target termite population according to the individual type;

[0014] Analyzing the video stream signal according to the target termite population using prior knowledge of the sociality of the target population to obtain the location information of the main and secondary nests and the spatial coordinates of the waiting room, and constructing a spatial distribution map of the internal space of the ant nest according to the location information of the main and secondary nests and the spatial coordinates of the waiting room;

[0015] According to the internal space distribution map of the ant nest, a termite drug delivery and disinfecting device is used to deliver the heat-sensitive chlorpyrifos nanocapsules into the target ant nest, and a control and monitoring platform is used to heat and control the ventilation volume of the sensitive chlorpyrifos nanocapsules;

[0016] Adding glass microspheres and ettringite into silicate ultrafine cement to obtain cement-clay mortar;

[0017] Two rows of filling grouting holes are arranged in a plum blossom shape along the axis of the dam, and gravity filling or a low pressure of 0.1 MPa is used to grout into the target ant nest that has been disinfected through the filling grouting holes.

[0018] Preferably, the diameter of the target borehole is 10 cm.

[0019] Preferably, the row spacing of the filling grouting holes is 1.0 m; the hole spacing of the filling grouting holes is 2.0 m.

[0020] Preferably, the diameter of the thermosensitive chlorpyrifos nanocapsule is in the range of 1 to 2 cm; the length of the thermosensitive chlorpyrifos nanocapsule is in the range of 3 to 5 cm.

[0021] Preferably, the ratio of cement to clay in the cement-clay mortar is between 1 and 3; and the water-cement ratio in the cement-clay mortar is 1:1.

[0022] Preferably, a termite drug-disinfecting device comprises: a blower, a ventilation duct, a drive motor, a motor connecting rod, a hinge, a lead screw, a clamp, a power supply line, a resistance wire, the control and monitoring platform, a splicing connection mechanism and an openable windshield;

[0023] The blower is connected to the ventilation duct; the drive motor is arranged at the top of the motor connecting rod; the power supply line is connected to the control and monitoring platform; the ventilation duct, the motor connecting rod and the power supply line are arranged inside the plug-in connection mechanism; the bottom of the motor connecting rod is connected to the lead screw through the hinge; the power supply line is also connected to the resistance wire; the lead screw is also connected to the clamp; the resistance wire covers the outside of the clamp; the retractable windshield is arranged on the outside of the bottom of the plug-in connection mechanism;

[0024] The control and monitoring platform is used to control the blower and the drive motor and to regulate the heating temperature of the resistance wire; the drive motor is used to control the opening and closing force of the clamping jaws through the motor connecting rod, the hinge and the lead screw.

[0025] Preferably, the inner side of the clamping jaw is serrated.

[0026] Preferably, the driving motor is any one of a brushless DC motor and a stepping motor.

[0027] The present invention discloses the following technical effects:

[0028] The present invention provides a complete method for locating termite nests on dams, disinfecting termites and sealing termite nests. Through C-Scan profile acquisition, deep convolutional neural network inversion, artificial intelligence neural network discrimination and drilling position selection, the problem that the spatial distribution of nests has large variability with the age of the nests and the population, resulting in difficulty in nest identification, is solved, and dual identification of algorithm discrimination and actual discrimination is achieved; by controlling a monitoring platform and heating volatile agent capsules, the defect of liquid drug penetration or other methods causing damage to the surrounding soil environment is solved, and effective disinfecting of the overall spatial distribution of termite nests is achieved; by adding glass microbeads and calcium aluminate to silicate ultrafine cement, the problem that slurry is difficult to fully fill and effectively solidify due to the extensive ant nest system and narrow ant passages is solved, and efficient sealing of dam ant nest grouting is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0030] Figure 1 A schematic diagram of the process of locating termite nests on a dam, disinfecting termites and sealing termite nests provided in an embodiment of the present invention;

[0031] Figure 2 A flow chart of locating termite holes in dams, disinfecting termites and sealing termite holes provided in an embodiment of the present invention;

[0032] Figure 3 A structural diagram of a termite medication and disinfecting device provided in an embodiment of the present invention;

[0033] Description of reference numerals:

[0034] 1-blower, 2-ventilation duct, 3-drive motor, 4-motor connecting rod, 5-hinge, 6-screw, 7-clamp, 8-power supply line, 9-resistance wire, 10-control and monitoring platform, 11-plug-in connection mechanism, 12-opening and closing wind shield. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] The purpose of the present invention is to provide a complete method for locating termite nests on dams, disinfecting termites and sealing termite nests, so as to solve the problems of high environmental risk, strong empirical requirement and great destructiveness in the current ant nest disposal process.

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] Figure 1 A schematic diagram of the process of locating termite nests on a dam, disinfecting termites and sealing termite nests provided in an embodiment of the present invention. Figure 2 The flowchart of locating termite nests in dams, disinfecting termites and sealing termite nests provided by the embodiment of the present invention is as follows: Figure 1 and Figure 2 As shown, the present invention provides a complete method for locating termite holes in dams, disinfecting termites and sealing termite holes, comprising:

[0039] Step 100: Detect the target dam using a vehicle-mounted three-dimensional array ground penetrating radar to obtain a C-Scan profile;

[0040] Step 200: Using a deep convolutional neural network to perform intelligent inversion on the C-Scan profile to obtain an inversion result;

[0041] Step 300: input the inversion result into the trained artificial intelligence neural network based on the YOLO algorithm to identify the ant nest and obtain the location of the ant nest;

[0042] Step 400: selecting a drilling position according to the position of the ant nest;

[0043] Step 500: drilling at a drilling position toward an ant nest position to obtain a target drilling hole;

[0044] Step 600: placing the endoscopic flexible robot along the target drill hole to the position of the ant nest, and using the endoscopic flexible robot to collect internal environment information of the ant nest position to obtain a video stream signal;

[0045] Step 700: Identify the individual type of target termites according to the video stream signal, and determine the target termite population according to the individual type;

[0046] Step 800: Analyze the video stream signal according to the target termite population using the prior knowledge of the sociality of the target population to obtain the location information of the main and secondary nests and the spatial coordinates of the flight chamber, and construct a spatial distribution map of the internal space of the termite nest according to the location information of the main and secondary nests and the spatial coordinates of the flight chamber;

[0047] Step 900: delivering heat-sensitive chlorpyrifos nanocapsules into the target ant nest using a termite drug delivery and disinfecting device according to the internal space distribution map of the ant nest, and heating and ventilation volume control of the heat-sensitive chlorpyrifos nanocapsules using the control and monitoring platform 10;

[0048] Step 1000: adding glass microspheres and ettringite to silicate ultrafine cement to obtain cement-clay mortar;

[0049] Step 1100: Arrange two rows of filling grouting holes in a plum blossom shape along the axis of the dam, and use gravity filling or a low pressure of 0.1 MPa to grout through the filling grouting holes into the target ant nest that has been disinfected.

[0050] Preferably, the diameter of the target borehole is 10 cm.

[0051] Optionally, the row spacing of the filling grouting holes is 1.0m; the hole spacing of the filling grouting holes is 2.0m.

[0052] Preferably, the diameter of the thermosensitive chlorpyrifos nanocapsule is in the range of 1 to 2 cm; the length of the thermosensitive chlorpyrifos nanocapsule is in the range of 3 to 5 cm.

[0053] Specifically, the ratio of cement to clay in cement-clay mortar ranges from 1 to 3; the water-cement ratio in cement-clay mortar is 1:1.

[0054] refer to Figure 3 A termite drug-disinfecting device includes: a blower 1, a ventilation duct 2, a drive motor 3, a motor connecting rod 4, a hinge 5, a lead screw 6, a clamp 7, a power supply line 8, a resistance wire 9, a control and monitoring platform 10, a splicing connection mechanism 11 and an opening and closing windshield 12;

[0055] The blower 1 is connected to the ventilation duct 2; the driving motor 3 is arranged at the top of the motor connecting rod 4; the power supply line 8 is connected to the control monitoring platform 10; the ventilation duct 2, the motor connecting rod 4 and the power supply line 8 are arranged inside the splicing connection mechanism 11; the bottom of the motor connecting rod 4 is connected to the lead screw 6 through the hinge 5; the power supply line 8 is also connected to the resistance wire 9; the lead screw 6 is also connected to the clamping claw 7; the resistance wire 9 covers the outside of the clamping claw 7; the retractable wind shield 12 is arranged on the outside of the bottom of the splicing connection mechanism 11;

[0056] The control and monitoring platform 10 is used to control the blower 1 and the drive motor 3 and to adjust the heating temperature of the resistance wire 9; the drive motor 3 is used to control the opening and closing force of the clamp 7 through the motor connecting rod 4, the hinge 5 and the screw 6.

[0057] Specifically, the inner side of the clamping jaw 7 is serrated.

[0058] Optionally, the driving motor 3 is any one of a brushless DC motor and a stepping motor.

[0059] Specifically, minimally invasive drilling (10 cm in diameter) was performed at the selected drilling location to reach the vicinity of the main nest. Subsequently, the endoscopic flexible robot entered the ant nest along the drilling hole, and used computer vision technology to further determine the location of the main nest, and constructed a map of the ant nest to clarify the spatial layout of the ant nest.

[0060] Furthermore, the ant nest belongs to a closed underground space and is distributed in a satellite shape. Liquid insecticides such as bifenthrin, permethrin emulsifiable concentrate, and imidacloprid not only pollute the soil but are also inefficient, making it difficult to accurately disinfect termites in the ant nest. For this reason, a heated volatile agent thermosensitive chlorpyrifos nanocapsule (diameter 1-2 cm, length 3-5 cm) is used. Then, the volatile capsule is heated by a termite dosing and disinfecting device, and the air intake control system is used to achieve effective diffusion of the gaseous agent in the ant nest system, and the agent is delivered to the termite nest, achieving efficient disinfecting of termites.

[0061] Furthermore, the grouting machine will be suitable for minimally invasive rapid plugging of ant holes in dams. In order to improve the fluidity, anti-seepage performance and early strength of the grouting material, a new type of high-fluidity ultra-early strength cement clay mortar is used as the grouting material. In order to avoid hole collapse and grout leakage during the grouting of ant nests in dams, the grouting holes are arranged in a plum blossom shape, and the self-flowing filling grouting method is used, combined with the existing grouting equipment, to form a grouting technology for minimally invasive rapid plugging of ant holes in dams that integrates grouting materials, grouting methods, and equipment.

[0062] Specifically, the volatile termite disinfecting agent capsule is heated by the clamping claw 7 of the drug delivery device, and the agent is effectively diffused by the air supply device to achieve the disinfecting of termites in the termite nest.

[0063] Furthermore, the heated electric clamp 7 can accommodate a certain number of pill capsules; the inner side of the clamp 7 is serrated, and when in use, the clamp 7 is in a horizontal state, and a resistance wire 9 is arranged on the outer side of the clamp 7 to realize the heating function.

[0064] Preferably, the housing of the motor connecting rod 4 is an insulating housing.

[0065] Furthermore, the air supply device includes a blower 1 that delivers breeze to the end of the connecting rod through the ventilation duct 2.

[0066] Preferably, the termite extermination control monitoring platform 10 realizes control work, including the collection of basic information of ant nests, the quantity control of drug administration, the temperature control and the control of air supply devices.

[0067] Preferably, the new high-flow super-early-strength cement-clay mortar for minimally invasive rapid plugging of dam ant holes adopts ordinary silicate ultrafine cement, and glass microspheres and calcium aluminate are added to improve the early strength and fluidity of the slurry, wherein the ratio of cement to clay is controlled between 1:1 and 3:1, and the water-cement ratio is 1:1. The grouting method adopts self-flowing filling grouting or low-pressure grouting of no more than 0.1MPa. Before the grouting construction, two rows of filling grouting holes are arranged along the axis of the dam, with a row spacing of 1.0m; a plum blossom-shaped arrangement is adopted, with a hole spacing of 2.0m.

[0068] The beneficial effects of the present invention are as follows:

[0069] (1) The present invention provides a set of methods for locating termite nests, disinfecting termites and sealing termite nests in dams, which integrates detection, positioning, killing termites and sealing termite nests through ant nest detection and intelligent identification, minimally invasive drilling of dams and construction of ant nest spatial distribution maps, volatile agent administration methods for killing termites in river dams, and research and development of dam ant nest sealing and grouting materials. It is a three-dimensional, comprehensive prevention and control plan for termites in earth-rock dams that integrates detection, positioning, killing termites and sealing termites. It can efficiently and accurately locate termite nests in dams, disinfect termites and seal termite nests.

[0070] (2) The present invention provides a fast, accurate and intelligent method for detecting and identifying ant nests. By using the concept of deep learning, the C-scan time domain profile of ant nest detection obtained by a three-dimensional array ground penetrating radar is intelligently inverted to develop an intelligent method for detecting and identifying ant nests. The location of the ant nest is determined based on the three-dimensional coordinates of the identified ant nest in the ground penetrating radar profile. Further combining computer vision technology with prior knowledge of termite biological characteristics, the primary and secondary nests are intelligently determined. The accuracy and efficiency of ant nest detection and identification are greatly improved.

[0071] (3) The present invention provides a method for administering volatile drugs for disinfecting termites in rivers and dams, comprising a clamp electric control device, a pill clamp device, a heating device, an air supply device, a control and monitoring platform for the drug administration device, and a heated volatile drug capsule. The method completes the drug administration and low-toxic disinfecting of termites within a certain period of time by controlling the temperature and the opening and closing force of the clamp according to the size of the termite nest and the position of the drill hole and the main nest. The method can not only avoid the damage to the surrounding soil environment caused by the penetration of liquid drugs or other methods, but also achieve effective disinfecting of the overall spatial distribution of the termite nest. It provides an effective solution for termite disinfecting.

[0072] (4) The present invention has developed a new type of grouting material suitable for minimally invasive grouting of ant nests on dams. The grouting material uses ordinary silicate ultrafine cement, and is mixed with calcium sulfonate and glass microspheres in a scientific ratio to form a new type of grouting material with high fluidity and ultra-early strength characteristics. The new material can effectively solve the problem of difficulty in fully filling and effectively solidifying the slurry during the grouting of dams due to the interconnected ant nest system and narrow ant passages. With its excellent high fluidity and ultra-early strength characteristics, the new material can ensure that the slurry can quickly and comprehensively fill the main and secondary ant nests and ant passages, achieve efficient blocking of minimally invasive grouting of ant nests on dams, and provide a strong technical guarantee for the safe maintenance of dams.

[0073] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0074] The principles and implementation methods of the present invention are described in this article using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A complete method for locating termite holes, disinfecting termites and sealing termite holes on dams, characterized in that: include: The target dam was detected using a vehicle-mounted three-dimensional array ground penetrating radar to obtain a C-Scan profile; Using a deep convolutional neural network to perform intelligent inversion on the C-Scan profile to obtain an inversion result; The inversion result is input into a trained artificial intelligence neural network based on the YOLO algorithm to identify the ant nest and obtain the position of the ant nest; Selecting a drilling position according to the position of the ant nest; Drilling at the drilling position toward the ant nest position to obtain a target drilling hole; Placing an endoscopic flexible robot along the target drilling hole to the ant nest location, and using the endoscopic flexible robot to collect internal environment information of the ant nest location to obtain a video stream signal; Identifying the individual type of target termites according to the video stream signal, and determining the target termite population according to the individual type; Analyzing the video stream signal according to the target termite population using prior knowledge of the sociality of the target population to obtain the location information of the main and secondary nests and the spatial coordinates of the waiting room, and constructing a spatial distribution map of the internal space of the ant nest according to the location information of the main and secondary nests and the spatial coordinates of the waiting room; According to the internal space distribution map of the ant nest, a termite drug delivery and disinfecting device is used to deliver the heat-sensitive chlorpyrifos nanocapsules into the target ant nest, and a control and monitoring platform is used to heat and control the ventilation volume of the sensitive chlorpyrifos nanocapsules; Adding glass microspheres and ettringite into silicate ultrafine cement to obtain cement-clay mortar; Two rows of filling grouting holes are arranged in a plum blossom shape along the axis of the dam, and gravity filling or a low pressure of 0.1 MPa is used to grout into the target ant nest that has been disinfected through the filling grouting holes.

2. A complete method for locating termite holes, disinfecting termites and sealing termite holes on a dam according to claim 1, characterized in that: The diameter of the target borehole is 10 cm.

3. A complete method for locating termite holes, disinfecting termites and sealing termite holes on a dam according to claim 1, characterized in that: The row spacing of the filling grouting holes is 1.0m; the hole spacing of the filling grouting holes is 2.0m.

4. A complete method for locating termite holes, disinfecting termites and sealing termite holes on a dam according to claim 1, characterized in that: The diameter of the thermosensitive chlorpyrifos nanocapsule is in the range of 1 to 2 cm; the length of the thermosensitive chlorpyrifos nanocapsule is in the range of 3 to 5 cm.

5. A complete method for locating termite holes, disinfecting termites and sealing termite holes on a dam according to claim 1, characterized in that: The ratio of cement to clay in the cement-clay mortar ranges from 1 to 3; the water-cement ratio in the cement-clay mortar is 1:

1.

6. A device for disinfecting termites by applying medicine, characterized in that: A method for locating termite holes, disinfecting termites and sealing termite holes in a dam as described in claim 1, wherein the device comprises: a blower, a ventilation duct, a drive motor, a motor connecting rod, a hinge, a lead screw, a clamp, a power supply line, a resistance wire, the control and monitoring platform, a splicing connection mechanism and an openable windshield; The blower is connected to the ventilation duct; the drive motor is arranged at the top of the motor connecting rod; the power supply line is connected to the control and monitoring platform; the ventilation duct, the motor connecting rod and the power supply line are arranged inside the plug-in connection mechanism; the bottom of the motor connecting rod is connected to the lead screw through the hinge; the power supply line is also connected to the resistance wire; the lead screw is also connected to the clamp; the resistance wire covers the outside of the clamp; the retractable windshield is arranged on the outside of the bottom of the plug-in connection mechanism; The control and monitoring platform is used to control the blower and the drive motor and to regulate the heating temperature of the resistance wire; the drive motor is used to control the opening and closing force of the clamping jaws through the motor connecting rod, the hinge and the lead screw.

7. The termite drug-disinfection device according to claim 6, characterized in that: The inner side of the clamping jaw is serrated.

8. The termite drug-disinfection device according to claim 6, characterized in that: The driving motor is any one of a brushless DC motor and a stepping motor.

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