A dam termite hole positioning, termite killing and hole plugging complete method

Abstract

The present invention belongs to the technical field of dam ant nest detection and integrated termite control, and provides a complete method for dam termite nest positioning, termite extermination, and termite nest sealing, comprising: C-Scan profile acquisition, deep convolutional neural network inversion, artificial intelligence neural network discrimination, borehole location selection, drilling, video stream signal acquisition, video stream signal analysis, termite drug administration and extermination, cement-clay mortar preparation, and ant nest grouting. The present invention improves the accuracy and efficiency of ant nest detection and identification through C-Scan profile acquisition, deep convolutional neural network inversion, artificial intelligence neural network discrimination, and borehole location selection; by controlling the monitoring platform and heating the volatile drug capsule, it avoids liquid drug penetration or other methods of damage to the surrounding soil environment, thereby achieving effective extermination of the overall spatial distribution of termite nests; and by incorporating glass microspheres and calcium aluminate into silicate ultrafine cement, it achieves efficient sealing of dam ant nest grouting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of dam ant nest detection and comprehensive termite control, in particular to a dam termite nest positioning, termite killing and nest plugging complete method. BACKGROUND

[0002] Termite damage is a major safety hazard for water conservancy projects and one of the inducing factors for major risks in river embankments. Accurate and efficient detection and positioning of termite nests is the key to termite control.

[0003] However, the structure of the ant nest is complex, and the spatial distribution of the nest varies greatly with the age of the nest and the population, resulting in unclear relationship between the physical parameters of the nest body and the surrounding soil, inaccurate identification, and unclear spatial distribution, which causes high environmental risk, strong experience and large destruction in the current ant nest disposal link. SUMMARY

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present application is to provide a dam termite nest positioning, termite killing and nest plugging complete method to solve the problems of high environmental risk, strong experience and large destruction in the current ant nest disposal link.

[0005] To achieve the above-mentioned purpose, the present application provides the following solutions:

[0006] A dam termite nest positioning, termite killing and nest plugging complete method, comprising:

[0007] Using a vehicle-mounted three-dimensional array ground penetrating radar to detect the target dam to obtain a C-Scan profile;

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

[0009] Inputting the inversion result into an artificial intelligence neural network based on YOLO algorithm to determine the ant nest to obtain an ant nest position;

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

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

[0012] Placing an endoscopic flexible robot along the target drill hole to the ant nest position, collecting internal environmental information of the ant nest position using the endoscopic flexible robot to obtain a video stream signal;

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

[0014] According to the prior knowledge of the target termite colony sociality, the video stream signal is analyzed to obtain the main nest and auxiliary nest position information and the candidate room spatial coordinates, and an internal space distribution map of the termite nest is constructed according to the main nest and auxiliary nest position information and the candidate room spatial coordinates;

[0015] According to the internal space distribution map of the termite nest, a heat-sensitive chlorpyrifos nanocapsule is delivered into the target termite nest by using a termite drug delivery and killing device, and the heat-sensitive chlorpyrifos nanocapsule is heated and the ventilation volume is controlled by using a control and monitoring platform.

[0016] Glass beads and ettringite are added to the silicate super-fine cement to obtain a cement clay mortar;

[0017] Two rows of filling grouting holes are arranged in a quincunx along the dam axis, and self-flow filling or low pressure filling of 0.1 MPa is used to grout the target termite nest after killing.

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

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

[0020] Preferably, the diameter of the heat-sensitive chlorpyrifos nanocapsule ranges from 1 to 2 cm, and the length of the heat-sensitive chlorpyrifos nanocapsule ranges from 3 to 5 cm.

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

[0022] Preferably, a termite drug delivery and killing device comprises: a blower, a ventilation duct, a drive motor, a motor connecting rod, a hinge, a lead screw, a clamping jaw, a power supply wire, a resistance wire, a control and monitoring platform, a plug-in connection mechanism, and an open-close type wind deflector.

[0023] The blower is connected to the ventilation duct; the drive motor is arranged at the top end of the motor connecting rod; the power supply wire is connected to the control and monitoring platform; the ventilation duct, the motor connecting rod, and the power supply wire 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 wire is also connected to the resistance wire; the lead screw is also connected to the clamping jaw; the resistance wire covers the outside of the clamping jaw; and the open-close type wind deflector is arranged at the bottom outside of the plug-in connection mechanism.

[0024] The control monitoring platform is used for controlling the air blower and the driving motor and regulating the heating temperature of the resistance wire; and the driving motor is used for controlling the opening and closing force of the clamping jaw 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 direct current brushless motor and a stepping motor.

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

[0028] The present application provides a dam termite hole positioning, termite killing and termite hole plugging complete method, which solves the problem of difficult nest body identification caused by the great variability of spatial distribution of nest holes with different nest ages and populations by C-Scan profile acquisition, deep convolutional neural network inversion, artificial intelligence neural network discrimination and drilling position selection, realizes double identification of algorithm discrimination and actual discrimination; by controlling the monitoring platform and the heating and volatilization type medicament capsule, the defects of liquid drug penetration or other methods causing damage to the surrounding soil environment are solved, and effective killing of the overall spatial distribution of the termite nest is realized; by adding glass beads and ettringite into the portland cement, the problem that the slurry is difficult to be fully filled and effectively cured due to the four-way and eight-way of the ant nest system and the narrow ant path is solved, and efficient plugging of dam ant nest grouting is realized. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0030] Figure 1 The dam termite hole positioning, termite killing and termite hole plugging process schematic diagram provided for the embodiments of the present application;

[0031] Figure 2 The dam termite hole positioning, termite killing and termite hole plugging process diagram provided for the embodiments of the present application;

[0032] Figure 3 The termite drug administration and killing device structure diagram provided for the embodiments of the present application;

[0033] Explanation of reference signs:

[0034] 1-blower, 2-ventilation duct, 3-driving motor, 4-motor connecting rod, 5-hinge, 6-screw rod, 7-clamping jaw, 8-power supply wire, 9-resistance wire, 10-control monitoring platform, 11-splicing and inserting connecting mechanism, 12-open-close type wind shield. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be apparently and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0036] The purpose of the present application is to provide a dam termite hole positioning, termite killing and termite hole plugging complete method, to solve the problems of high environmental risk, strong experience and great damage in the current nest disposal link.

[0037] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0038] Figure 1 The dam termite hole positioning, termite killing and termite hole plugging process schematic diagram provided by the embodiments of the present application, Figure 2 The dam termite hole positioning, termite killing and termite hole plugging process diagram provided by the embodiments of the present application, as shown in Figure 1 and Figure 2 The present application provides a dam termite hole positioning, termite killing and termite hole plugging complete method, which comprises:

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

[0040] Step 200: using a deep convolutional neural network to intelligently invert the C-Scan profile, to obtain an inversion result;

[0041] Step 300: inputting the inversion result into a trained artificial intelligence neural network based on YOLO algorithm to determine the termite nest, to obtain the position of the termite nest;

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

[0043] Step 500: drilling at the drilling position to the position of the termite nest, to obtain a target drill hole;

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

[0045] Step 700: identifying the individual type of target termites according to the video stream signal, and determining the target termite colony according to the individual type;

[0046] Step 800: analyzing the video stream signal according to the target termite colony using prior knowledge of the sociality of the target termite colony, obtaining the main and auxiliary nest position information and the space coordinates of the candidate flying room, and constructing the internal space distribution map of the termite nest according to the main and auxiliary nest position information and the space coordinates of the candidate flying room;

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

[0048] Step 1000: mixing glass beads and ettringite into portland cement to obtain cement clay mortar;

[0049] Step 1100: arranging 2 rows of filling grouting holes along the dam axis in a plum blossom shape, and using self-flowing filling method or 0.1 MPa low pressure to fill the target termite nest after killing.

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

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

[0052] Preferably, the diameter of the heat-sensitive chlorpyrifos nanocapsule ranges from 1 to 2 cm; the length of the heat-sensitive chlorpyrifos nanocapsule ranges from 3 to 5 cm.

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

[0054] Reference Figure 3 A termite drug delivery and killing device, comprising: a blower 1, a ventilation duct 2, a drive motor 3, a motor connecting rod 4, a hinge 5, a lead screw 6, a clamping jaw 7, a power supply wire 8, a resistance wire 9, a control and monitoring platform 10, a splicing and inserting connection mechanism 11, and an opening and closing type wind deflector 12.

[0055] The air blower 1 is connected with the ventilation duct 2; the driving motor 3 is arranged at the top end of the motor connecting rod 4; the power supply wire 8 is connected with the control monitoring platform 10; the ventilation duct 2, the motor connecting rod 4 and the power supply wire 8 are arranged inside the splicing and inserting connecting mechanism 11; the bottom of the motor connecting rod 4 is connected with the lead screw 6 through the hinge 5; the power supply wire 8 is further connected with the resistance wire 9; the lead screw 6 is further connected with the clamping jaw 7; the resistance wire 9 covers the outside of the clamping jaw 7; the open-close type wind shield 12 is arranged outside the bottom of the splicing and inserting connecting mechanism 11.

[0056] The control monitoring platform 10 is used for controlling the air blower 1 and the driving motor 3 and regulating the heating temperature of the resistance wire 9; the driving motor 3 is used for controlling the opening and closing force of the clamping jaw 7 through the motor connecting rod 4, the hinge 5 and the lead screw 6.

[0057] Specifically, the inside of the clamping jaw 7 is sawtooth-shaped.

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

[0059] Specifically, at the selected drilling position, minimally invasive drilling (drilling diameter 10 cm) is performed to reach the vicinity of the main nest. Then, the endoscopic flexible robot enters the inside of the termite nest along the drilling, further determines the orientation of the main nest by using computer vision technology, and constructs a map of the termite nest to clearly define the spatial distribution of the termite nest.

[0060] Further, the termite hole belongs to a closed underground space and presents a satellite-like distribution. Liquid insecticides such as bifenthrin, chlorpyrifos emulsifiable concentrate and imidacloprid not only pollute the soil but also have low efficiency, making it difficult to accurately kill termites in the termite hole. Therefore, heat-sensitive chlorpyrifos nanocapsules (diameter 1-2 cm, length 3-5 cm) of the heating and volatilization type are used. Then, the heating and volatilization capsules are heated by the termite dosing and killing device, and the effective diffusion of the gas pesticide in the termite nest system is realized by using the air inlet control system, so as to deliver the pesticide to the nest of the termites and achieve efficient killing of the termites.

[0061] Further, the grouting machine is used to perform minimally invasive and rapid plugging suitable for the dam termite hole. In order to improve the flow state, anti-seepage performance and early strength of the grouting material, a new type of high-flow super-early-strength cement clay mortar is used as the grouting material. In order to avoid the occurrence of hole collapse and grouting leakage during the grouting process of the dam termite nest, the grouting holes are arranged in a plum blossom shape, and a self-flowing filling grouting method is used, and combined with the existing grouting equipment, a grouting technology for minimally invasive and rapid plugging of the dam termite hole is formed, which integrates the grouting material, grouting method and equipment.

[0062] Specifically, the heating and volatilization type termite killing pesticide capsule is heated by the clamping jaw 7 of the dosing device, and the effective diffusion of the pesticide is realized by the air supply device, so as to achieve killing in the termite nest.

[0063] Further, the electrically heated clamping jaw 7 can accommodate a certain number of pill capsules; the inner side of the clamping jaw 7 is serrated, and the clamping jaw 7 is in a horizontal state during use, and the outer side of the clamping jaw 7 is provided with a resistance wire 9 to realize the heating function.

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

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

[0066] Preferably, the termite killing control monitoring platform 10 realizes control work, including ant nest basic information collection, quantity control of drug administration, temperature control and control of the air supply device, etc.

[0067] Preferably, the new high-flow-state ultra-early-strength cement clay mortar for dam termite hole minimally invasive rapid plugging adopts ordinary portland cement ultra-fine cement, and the early strength and fluidity of the slurry are improved by adding glass beads and ettringite, wherein the cement to clay ratio 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 not more than 0.1 MPa, 2 rows of filling grouting holes are arranged along the dam axis before grouting construction, and the row spacing is 1.0 m; a plum blossom shape arrangement form is adopted, and the hole spacing is 2.0 m.

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

[0069] (1) The present application provides a dam termite hole positioning, termite killing and termite hole plugging complete method, which integrates detection, positioning, killing and plugging into one through ant nest detection and intelligent identification, dam minimally invasive drilling and ant nest space distribution map construction, termite killing volatile type pesticide dosing method for rivers and dams, dam ant nest plugging and grouting material research and development. A three-dimensional and comprehensive prevention and control scheme for earth and rockfill dams can efficiently and accurately realize dam termite hole positioning, termite killing and termite hole plugging.

[0070] (2) The present application provides a fast, accurate and intelligent ant nest detection and identification method. Using the deep learning idea, the C-scan time domain profile of the ant nest detection obtained by the three-dimensional array ground penetrating radar is intelligently inverted to carry out the intelligent detection and identification method of the ant nest. According to the three-dimensional coordinates of the identified ant nest in the ground penetrating radar profile, the position of the ant nest is determined. Further combining computer vision technology and prior knowledge of termite biological characteristics, the main and auxiliary nests are intelligently judged. The accuracy and efficiency of ant nest detection and identification are greatly improved.

[0071] (3) The application provides a method for dispensing volatile ant-killing agents for river embankments, comprising a clamping jaw electric control device, a pill clamping jaw device, a heating device, an air supply device, a control monitoring platform of the dispensing device and a heated volatile agent capsule.

[0072] (4) The application develops a new grouting material suitable for embankment ant nest minimally invasive grouting, which adopts ordinary Portland cement, and by scientific proportioning, incorporates ettringite and glass beads to form a new grouting material with high fluidity and super early strength characteristics. The new material can effectively solve the problem that in the embankment grouting process, due to the four-way and eight-way ant nest system and the narrow ant path, the grout is difficult to fully fill and effectively solidify. With excellent high fluidity and super early strength characteristics, the new material can ensure that the grout can rapidly and comprehensively fill the main and auxiliary ant nests and the ant path, realize efficient plugging of the embankment ant nest minimally invasive grouting, and provide strong technical support for the safety maintenance of embankments.

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

[0074] The principles and implementation modes of the application are described by applying specific examples in this paper, and the above description of the embodiments is only used to help understand the method of the application and its core idea; at the same time, for those skilled in the art, according to the idea of the application, the specific implementation mode and application range will be changed. In summary, the content of the specification should not be understood as a limitation of the application.

Claims

1. A device for disinfecting termites by administering medicine, characterized in that: A method for locating termite holes in dams, disinfecting termites, and sealing termite holes is provided, the method comprising: The target dam was detected using a vehicle-mounted three-dimensional array ground penetrating radar to obtain a C-Scan profile; Performing intelligent inversion on the C-Scan profile using a deep convolutional neural network to obtain an inversion result; The inversion result is input into a trained artificial intelligence neural network based on the YOLO algorithm to perform ant nest discrimination to obtain the ant nest location; selecting a drilling location according to the ant nest location; Drilling at the drilling position toward the ant nest position to obtain a target drilling hole; placing an endoscopic flexible robot along the target drill 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 termite nest based on the location information of the main and secondary nests and the spatial coordinates of the waiting room; 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 controlling the heating and ventilation volume of the heat-sensitive chlorpyrifos nanocapsules using a control and monitoring platform; Adding glass microspheres and ettringite to silicate ultrafine cement to obtain cement-clay mortar; 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 into the target ant nest that has been disinfected through the filling grouting holes; The device includes: a blower, a ventilation duct, a drive motor, a motor connecting rod, a hinge, a lead screw, a clamping claw, 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 splicing connection mechanism; the bottom of the motor connecting rod is connected to the lead screw via the hinge; the power supply line is also connected to the resistance wire; the lead screw is also connected to the clamping claw; the resistance wire covers the outside of the clamping claw; the retractable windshield is arranged on the outside of the bottom of the splicing connection mechanism; The control and monitoring platform is used to control the blower and the drive motor and 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 screw.

2. The termite drug-disinfection device according to claim 1, characterized in that: The diameter of the target borehole is 10 cm.

3. The termite drug-disinfection device 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. The termite drug-disinfection device according to claim 1, characterized in that: The diameter of the heat-sensitive chlorpyrifos nanocapsule is in the range of 1 to 2 cm; the length of the heat-sensitive chlorpyrifos nanocapsule is in the range of 3 to 5 cm.

5. The termite drug-disinfection and disinfecting device according to claim 1, characterized in that: The ratio of cement to clay in the cement-clay mortar ranges from 1:1 to 3:1; the water-cement ratio in the cement-clay mortar is 1:

1.

6. The termite drug-disinfection and disinfecting device according to claim 1, characterized in that: The inner side of the clamping jaw is serrated.

7. The termite drug-disinfection and disinfecting device according to claim 1, characterized in that: The driving motor is any one of a brushless DC motor and a stepping motor.

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