An integrated robot device for detecting, testing and treating termite damage on dams and its control system

Abstract

This invention belongs to the field of water conservancy engineering, specifically relating to an integrated robotic device and control system for detecting and treating termite damage in dams. The device integrates an automatic drilling unit on the body of a drilling rig. This automatic drilling unit, through a power head connection assembly, a rod storage mechanism, and a drill rod clamping mechanism, automatically performs sampling, detection, or injection. The drill rods include a detection drill rod for collecting information about the soil interior and a sampling drill rod for obtaining soil samples. This invention solves the problem of manually disassembling and assembling drill rods, enabling active detection in conjunction with the detection drill rod. It also provides key sensors for detecting and assessing termite risk, which can be used to assist workers in routine inspections. The automatic cone-probing device detects the presence of a hanging cone phenomenon, uses a camera to identify surface termite characteristics, a hyperspectral image analyzes and detects termite biological activity characteristics, and ground-penetrating radar detects underground cavities, minimizing the possibility of omissions.

Description

Technical Field

[0001] This invention belongs to the field of water conservancy engineering, specifically relating to an integrated robot device for detecting and treating termite damage in dikes and its control system. Background Technology

[0002] Termites construct extensive tunnels and numerous nests inside the reservoir dam. These tunnels and nests often connect the inner and outer slopes of the dam, making the dam surface appear intact. However, when the water level rises during the flood season, water seeps into the tunnels and nests, causing major accidents such as piping and leakage, which seriously endanger the safety of the reservoir dam.

[0003] Currently, the main methods for detecting termites include trapping, ground-penetrating radar (GPR), acoustic detection, and manual searching. Trapping uses poisonous bait to kill termites, but it often fails to locate the nest and is highly environmentally harmful. GPR is easily interfered with, resulting in unstable and difficult-to-interpret data. Acoustic detection suffers from similar problems. Termite prevention primarily relies on manual searching, which requires highly experienced personnel and is time-consuming and labor-intensive. Locating the main nest after discovering termite activity is another challenge in termite control. Currently, large-scale excavation to trace termite tunnels is still required, which is time-consuming, labor-intensive, inefficient, and can easily damage the surrounding environment and structures. For water conservancy projects such as dams and reservoirs with termite risks, the consequences can be even more severe, and sometimes termite tunnels are even lost. Summary of the Invention

[0004] The purpose of this invention is to address the current lack of effective equipment and methods for detecting termites, locating termite nests, and assessing termite conditions in reservoirs.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] The first aspect of this invention provides an integrated robotic device for detecting and treating termite damage in dams. The device integrates an automatic drilling device on the body of a drilling rig. The automatic drilling device consists of a power head connecting assembly, a rod storage mechanism, and a drill rod clamping mechanism to automatically sample, detect, or inject. The drill rod includes a detection drill rod for collecting information about the soil interior and a sampling drill rod for obtaining soil samples.

[0007] Furthermore, the power head connection assembly is bolted to the main cylinder, and the main cylinder drives it to slide up and down along the derrick track; the power head connection assembly includes a sliding base plate, with sliding grooves on the upper and lower parts of the sliding base plate, and a sliding plate inside the sliding groove. The threaded tightening motor and the impact head are fixedly distributed on the sliding plate from left to right; the fixed end of the transverse hydraulic cylinder is installed on the sliding groove, and the telescopic end is connected to the sliding plate, driving the sliding plate to slide laterally in the sliding groove.

[0008] Furthermore, the rod storage mechanism includes a fixing component fixed to the drilling rig. The fixing component is hinged to one side of the rotating bracket with a pin, and the other side of the rotating bracket is hinged to the drill rod frame with a pin. The fixed end of the first hydraulic cylinder is mounted on the fixing component, and the telescopic end is mounted on the rotating bracket. The maximum stroke of the first hydraulic cylinder limits the rotating bracket to be parallel to the drilling rig head. The fixed end of the second hydraulic cylinder is mounted on the rotating bracket, and the telescopic end is mounted on the drill rod frame. The maximum stroke of the second hydraulic cylinder limits the rotating bracket to be perpendicular to the drill rod frame. The drill rod frame is equipped with a clamp for releasing or clamping the drill rod. The length of the rotating bracket is limited so that the drill rod on the drill rod frame can be directly aligned with the threaded tightening motor when the first hydraulic cylinder is at its maximum stroke and the second hydraulic cylinder is at its maximum stroke. The internal thread of the threaded tightening motor matches the thread of the drill rod connection end.

[0009] Furthermore, the drill pipe clamping mechanism includes a first clamp, a loosening cylinder, and a second clamp connected to the loosening cylinder. The operation of the loosening cylinder drives the first clamp to rotate, which is used for tightening and loosening the threads at the drill pipe connection.

[0010] Furthermore, the equipment is equipped with at least two cameras: one camera collects information about the environment around the drilling rig for image / video recognition of termite-infested ground features; the other camera collects information about the road ahead for automatic obstacle avoidance or manual remote control.

[0011] Furthermore, the test drill pipe includes at least one of the following: a carbon dioxide sensor, a conductivity sensor, a humidity sensor, a temperature sensor, a sidewall friction sensor, and a soil pressure sensor, used to determine whether there are any anomalies or cavities in the underground data.

[0012] In one alternative embodiment, a bracket is bolted to the side of the machine head derrick, and a rotating shaft is provided on the bracket away from the machine head. A connecting piece is provided on the rotating shaft and rotates around the rotating shaft. A cone probe device is fixed to the other end of the connecting piece to perform a standard penetration test to determine the soil compaction.

[0013] In one alternative implementation, a slewing bearing is installed between the drilling rig's body and the traveling chassis, enabling the drilling rig's body to rotate 360 ​​degrees to handle work at different angles.

[0014] In one alternative implementation, the device also integrates an injection module, with a rear bracket at the rear of the drilling rig to hold the chemical tank and a side bracket on the side to hold the injection pump and injection drill rod. The chemical tank stores mud or chemicals for grouting or injecting chemicals after a risk area or termite nest is discovered.

[0015] In one alternative implementation, the device is also equipped with ground-penetrating radar.

[0016] In one alternative implementation, the device is also equipped with a hyperspectral analyzer.

[0017] In one alternative implementation, a camera is also mounted on the drill pipe.

[0018] A second aspect of this invention provides a control system for an integrated robot device for detecting and treating termite damage in dams. The control system includes a control center, which is networked with at least one device, as well as a detection sensor inside the device's drill rod, a ground-penetrating radar and camera, a positioning and navigation device, and an electrical control system. The control center includes:

[0019] The monitoring and identification module uses image recognition technology to check the surrounding environment for termite surface features and sends an alarm upon detection.

[0020] The automatic inspection module receives task orders from staff, detects road obstacle features through image recognition technology, and automatically avoids obstacles or travels along a saved route.

[0021] The ground-penetrating radar data analysis module receives ground-penetrating radar data, alarms when abnormal data is detected, and records the device's location coordinates.

[0022] The hyperspectral data analysis module accesses hyperspectral images for data processing and compares them with a termite feature database established by extracting spectral features related to the absorption and reflection characteristics of specific substances in termites. It will also trigger an alarm upon detecting an anomaly and record the device's location coordinates.

[0023] The soil data analysis module communicates with the electrical control system of the equipment, controls the equipment to perform automatic drilling device actions, accesses and detects sensor data inside the drill rod, including sidewall friction, downward pressure resistance, carbon dioxide concentration, conductivity, temperature and humidity, compares it with manually set alarm thresholds, alarms when the values ​​exceed or fall below the thresholds, and records the equipment position coordinates.

[0024] The soil data analysis module communicates with the equipment's electrical control system, controls the equipment to execute automatic drilling device actions, and inputs data from photoelectric sensors and displacement sensors. According to standards, the soil layer is divided into four levels: loose, slightly dense, medium dense, and solid dense. Loose and slightly dense soil layers are areas where termites exist or potentially high-risk areas, and the equipment's location coordinates are recorded.

[0025] The beneficial effects of this invention are:

[0026] (1) Due to the concealed nature of termite activities, they can only be passively detected by luring. The automatic drilling device solves the problem of manually disassembling and assembling drill rods, and actively detects them in conjunction with the detection drill rod. It also provides key sensors for detecting and assessing termite risks, which can be used to assist staff in routine inspections and overcome the fatigue and efficiency problems of manual inspections.

[0027] (2) The equipment automatically conducts cone probing tests to detect the presence of a hanging cone phenomenon through a cone probing device, identifies surface termite characteristics through a camera, analyzes and detects termite biological activity characteristics through a hyperspectral image analyzer, and detects underground cavities through a ground penetrating radar, minimizing the possibility of omissions.

[0028] (3) The control center receives and stores reservoir data through wireless transmission technology to provide scientific decision support for the water conservancy department. Attached Figure Description

[0029] Figure 1 This is a side view of the integrated robot equipment for detecting and treating termite damage in dikes, as described in an embodiment of the present invention.

[0030] Figure 2 This is a side-rear view of the integrated robot equipment for detecting and treating termite damage in dikes, as described in this embodiment of the invention.

[0031] Figure 3 This is a front view of the head of the integrated robot equipment for detecting and treating termite damage in dikes, as described in this embodiment of the invention.

[0032] Figure 4 This is a top view of the storage rod mechanism of the integrated robot equipment for detecting and treating termite damage in dikes, as described in this embodiment of the invention.

[0033] Figure 5 This is a top view of the drill rod clamping mechanism of the integrated robot equipment for detecting and treating termite damage in dikes, as described in this embodiment of the invention.

[0034] Figure label:

[0035] 1. Drilling rig; 101. Rig; 102. Traveling chassis; 103. Slewing bearing; 104. Head; 105. Rear support; 106. Side support; 5. Chemical tank; 6. Injection pump; 7. Ground penetrating radar; 8. Hyperspectral imager;

[0036] 211. Fixing component; 212. First hydraulic cylinder; 213. Second hydraulic cylinder; 214. Rotating bracket; 215. Drill pipe holder; 216. Drill pipe clamp;

[0037] 221. Lateral movement cylinder; 222. Sliding base plate; 223. Sliding groove; 224. Thread tightening motor; 225. Drill rod sleeve; 226. Impact head; 231. Thread loosening cylinder; 232. First clamp; 233. Second clamp;

[0038] 310. Inspection drill pipe; 320. Sampling drill pipe; 330. Injection drill pipe; 340. Semi-closed pipe;

[0039] 410. Cone probe device; 420. Support; 421. Rotating shaft; 430. Connecting component. Detailed Implementation

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0041] Example 1

[0042] Please see Figure 1 This embodiment of the integrated robot equipment for detecting and treating termite damage in dams, hereinafter referred to as the equipment, includes a drilling rig 1;

[0043] The drilling rig 1 has a body 101 connected to the traveling chassis 102 via a slewing bearing 103, driven by a pressure motor. The body 101 can rotate 360 ​​degrees to handle work at different angles. A rear bracket 105 is installed at the rear of the drilling rig 1, and a side bracket 106 is installed on the side. The rear bracket 105 holds the chemical tank 5, a ground penetrating radar 7 is installed at the bottom, and a hyperspectral analyzer 8 is installed on the side. An injection pump 6 is fixed on the side bracket 106.

[0044] During the drilling rig's movement, the ground-penetrating radar 7 and hyperspectral imager 8 operate. The ground-penetrating radar 7 collects characteristics such as the intensity, time delay, and waveform of reflected signals, which can determine the presence and location of termite nests. The hyperspectral imager 8 collects spectral data of the area, covering spectral information within different wavelength ranges. The advantage of the hyperspectral imager 8 in detecting termites lies in providing richer spectral information, improving the accuracy and efficiency of termite detection. Data processing and analysis of the collected hyperspectral images extract spectral features related to the absorption and reflection characteristics of specific substances within termites, establishing a termite feature database. Comparison and matching with the collected data can determine the presence of termites.

[0045] The pesticide tank 5 stores pesticides such as bifenthrin and mud. The injection pump 6 is connected to the pesticide tank 5 and the injection drill rod 330, and is used for rapid injection after ant nests and high-risk areas of termites are discovered.

[0046] Please see Figure 2 An automatic standard penetration device is installed on the drill head 104 of the drilling rig 1. The automatic standard penetration device includes a cone penetration device 410, a support 420, and a connector 430. The support 420 is fixed to the derrick of the drill head 104 by bolts. A rotating shaft 421 is provided on the support 420 away from the drill head 104. A connector 430 is provided on the rotating shaft 421 and rotates around the rotating shaft 421. The other end of the connector 430 is fixed to the cone penetration device 410. A space is formed between the rotating shaft 421 and the drill head 104 so that the cone penetration device 410 can switch between working and retracted states, that is, when rotating, it avoids the drill head 104.

[0047] The cone penetration device 410 is used to test the compaction and stability of soil. A sudden increase in displacement indicates loose soil, while a sudden decrease in displacement indicates compact soil. Sensors allow workers to judge the feel of the cone, replacing large-scale excavation. The cone penetration device 410 includes a chain box, sprockets, chain, hammer cylinder, hammer, photoelectric counter for recording the number of hammer blows, and a hydraulic motor. The chain is mounted in the chain box via the sprocket, and the hydraulic motor drives the chain's rotation via the sprocket. A lever is mounted on the chain, and the hammer is mounted in the hammer cylinder and can be raised to a set height by the lever. When the automatic cone penetration device 410 hammers the penetrator to the set depth, the solenoid valve controlling the motor of the cone penetration device 410 unloads the hydraulic power, and the automatic cone penetration device 410 stops working.

[0048] An automatic drilling device is installed on drilling rig 1. The automatic drilling device consists of a power head connection assembly, a rod storage mechanism, and a drill rod clamping mechanism. It automatically performs sampling, testing, and injection, replacing manual actions such as installing, connecting, disassembling, and placing drill rods.

[0049] Please see Figure 3 The power head connection assembly is bolted to the main cylinder and driven by the main cylinder to slide up and down along the derrick track. The power head connection assembly includes a sliding base plate 222, with sliding grooves 223 on its upper and lower surfaces. A sliding plate is located within the sliding grooves 223. A threaded tightening motor 224 and an impact head 226 are fixedly mounted on the sliding plates. A transverse hydraulic cylinder 221 has its fixed end mounted on the sliding groove 223 and its telescopic end connected to the sliding plate, causing the sliding plate to slide laterally within the sliding groove 223. The threaded tightening motor 224 includes a cycloidal motor and a drill pipe sleeve 225 connected below the cycloidal motor. The internal thread of the drill pipe sleeve 225 aligns with the thread on the drill pipe. The threaded tightening motor 224 rotates forward to connect to the drilling rig 1 and is used to lift and transfer the drill pipe. Reverse rotation of the threaded tightening motor 224 separates it from the drill pipe.

[0050] Please see Figure 4The rod storage mechanism includes a fixing member 211 fixed on the drilling rig 1. The fixing member 211 is hinged to one side of the rotating bracket 214 by a pin, and the other side of the rotating bracket 214 is hinged to the drill rod frame 215 by a pin. The fixed end of the first hydraulic cylinder 212 is mounted on the fixing member 211, and the telescopic end is mounted on the rotating bracket 214. The maximum stroke of the first hydraulic cylinder 212 limits the rotating bracket 214 to be parallel to the drilling rig head 104. The fixed end of the second hydraulic cylinder 213 is mounted on the rotating bracket 214, and the telescopic end is mounted on the drill rod frame 215. The maximum stroke of the second hydraulic cylinder 213 limits the rotating bracket 214 to be at a right angle to the drill rod frame 215. The drill rod frame 215 is provided with a drill rod holder 216 for releasing or holding the drill rod. The length of the rotating bracket 214 is limited so that when the first hydraulic cylinder 212 is at its maximum stroke and the second hydraulic cylinder 213 is at its maximum stroke, the drill rod on the drill rod frame 215 can be directly aligned with the threaded tightening motor 224. The drill rods include a detection drill rod 310 for collecting information about the soil interior and a sampling drill rod 320 for obtaining soil samples.

[0051] The rod storage mechanism switches between the storage position and the working position by limiting the stroke of the first hydraulic cylinder 212 and the second hydraulic cylinder 213. In the storage position, the strokes of the first hydraulic cylinder 212 and the second hydraulic cylinder 213 are the shortest. To switch from the storage position to the working position, the first hydraulic cylinder 212 needs to be extended to its longest stroke. At this time, the rotating bracket 214 is parallel to the drill head 104 of the drill rig 1. Then, the second hydraulic cylinder 213 needs to be extended to its longest stroke. At this time, the rotating bracket 214 is at a right angle to the drill rod holder 215, and the drill rod holder 215 is located directly below the impact head 226 or the threaded tightening motor 224.

[0052] Please see Figure 5 The drill pipe clamping mechanism includes a second clamp 233, a loosening cylinder 231, and a first clamp 232 connected to the loosening cylinder 231. The loosening cylinder 231 drives the first clamp 232 to rotate, which is used for tightening and loosening the threads at the drill pipe connection.

[0053] The drill rods include a detection drill rod 310, a sampling drill rod 320, a semi-composite tube 340, and an injection drill rod 330. The detection drill rod 310 includes an integrated membrane interface component, a conductivity sensor, a humidity sensor, and a temperature sensor. The conductivity sensor is used to determine if there are any anomalies or cavities in the underground data; the membrane interface component is used to detect gases secreted by termites; since the temperature and humidity inside the termite nest are relatively constant, the main nest temperature of the black-winged subterranean termite is usually 24~26℃. In winter, the soil temperature drops to 9~16℃, but the nest temperature is not lower than 20℃. In summer, the soil temperature exceeds 40℃, but the nest temperature generally does not exceed 28℃. In particular, the air humidity inside the main nest cavity of the black-winged subterranean termite is quite high, with a relative humidity reaching 95%~100%. The humidity sensor and temperature sensor are used to determine if there are any anomalies underground. A static cone penetrometer probe is installed at the lower end of the sampling drill rod 320. This probe measures the soil sidewall friction and pressure resistance during compression. Sidewall friction sensing components and soil pressure sensing components are used to determine the presence of termite tunnels underground. Traditional soil sampling procedures are cumbersome, involving numerous components and difficult to automate. Therefore, this embodiment utilizes a semi-compound tube 340 for unmanned sampling, simplifying the process. The semi-compound tube 340 has opposite threads on the top and bottom, and is kept closed by an external fixing sleeve. Since termites mainly inhabit depths of 1-2 meters underground, and the semi-compound tube 340 is 1 meter long while the detection drill rod 310 is 1.5 meters long, one semi-compound tube 340 is needed for sampling, while for detection, it is usually sufficient to cover the termite activity depth without needing to connect another tube. Alternatively, one semi-compound tube 340 can be connected, allowing for a detection depth of up to 2.5 meters.

[0054] The automatic drilling device operates as follows:

[0055] (1) After the equipment is driven to the test location, the rod storage mechanism switches from the folded position to the working position, and the drill rod holder 216 on the drill rod frame 215 is in the clamping state;

[0056] (2) The transverse cylinder 221 extends, causing the sliding plate to slide to one side of the drill pipe, so that the thread tightening motor 224 is located directly above the drill pipe to be installed. The main cylinder drives the power head connecting assembly to slide down along the derrick track to above the drill pipe. At this time, the thread tightening motor 224 rotates forward and tightens with the drill pipe thread. The drill pipe holder 216 is released, and the main cylinder drives the power head connecting assembly to move up along the derrick track, lifting the drill pipe from the drill pipe holder 215 to complete the drill pipe removal.

[0057] (3) The transverse cylinder 221 retracts to its minimum stroke, causing the sliding plate to slide to one side of the derrick, so that the threaded tightening motor 224 is located in the center of the derrick. The main cylinder drives the power head connecting assembly downward along the derrick track. The first clamp 232 and the second clamp 233 clamp the drill pipe. The threaded tightening motor 224 reverses and loosens from the drill pipe thread, completing the installation of one drill pipe.

[0058] (4) The transverse cylinder 221 extends until the impact head 226 is directly above the drill rod. The first clamp 232 and the second clamp 233 release the drill rod, and the impact head 226 works to press down the drill rod.

[0059] (5) When connecting the drill rod, the second clamp 233 clamps the test drill rod 310, and the sampling drill rod 320 is taken according to the method in step (2). Then, the main cylinder and the transverse oil cylinder 221 are controlled so that the thread tightening motor 224 is aligned with the test drill rod 310, so that the upper thread of the test drill rod 310 is connected to the lower thread of the sampling drill rod 320.

[0060] (6) The first clamp 232 clamps the sampling drill rod 320, and the thread tightening motor 224 reverses to separate the upper thread of the sampling drill rod 320 from the inner thread of the thread tightening motor 224; the second clamp 233 releases from the first clamp 232, and the transverse cylinder 221 is controlled to make the impact head 226 located directly above the sampling drill rod 320, and the impact head 226 works to press down the drill rod;

[0061] (7) When disassembling the drill rod, the thread tightening motor 224 rotates forward and connects to the drill rod, controlling the main cylinder to lift the drill rod upward, so that the thread connection between the detection drill rod 310 and the sampling drill rod 320 is located between the first clamp 232 and the second clamp 233. After the first clamp 232 and the second clamp 233 clamp the drill rod respectively, the loosening cylinder 231 drives the first clamp 232 to reverse, and the threads of the detection drill rod 310 and the sampling drill rod 320 are separated.

[0062] (8) Control the main cylinder and the transverse cylinder 221 to put the drill rod back into the drill rod holder 215.

[0063] Cameras are installed on both sides and in front of the device to collect information about the surrounding environment and the road ahead, and then upload the data to the control center via a wireless network.

[0064] A robotic system for detecting and treating termite damage in dams, comprising a control center connected to at least one device, and the device being equipped with a detection drill rod 310, a detection sensor, a ground-penetrating radar 7, a camera, a positioning and navigation device, and an electrical control system network.

[0065] The control center refers to the computer in the reservoir patrol personnel's office that enables communication with the equipment, storage, and display of data; it is essentially the equipment's host computer. The control center is connected to at least one piece of equipment, as well as the detection sensors inside the detection drill rod 310, the sensors inside the automatic standard penetration test device, the ground-penetrating radar 7 and camera, the positioning and navigation device, and the electrical control system network.

[0066] The control center includes a monitoring and identification module that uses image recognition technology to check the surrounding environment for termite surface features. If the features are detected, an alarm is triggered. Termite surface features include phenomena such as wet slopes, seepage, leaks, and sinkholes, or traces left by termites when they emerge, such as mud sheets or mud lines, or information about termite biological activity, such as fungi with club-shaped or branch-shaped fruiting bodies.

[0067] The automatic inspection module utilizes the drilling rig's built-in positioning and navigation system to receive task orders from staff, detect road obstacle features through image recognition technology, and automatically avoid obstacles or travel along a saved route.

[0068] The manual control module allows staff to manually control the equipment to move and complete designated actions.

[0069] The ground-penetrating radar data analysis module receives data from the ground-penetrating radar 7, triggers an alarm upon detecting an anomaly, and records the device's location coordinates.

[0070] The hyperspectral data analysis module accesses hyperspectral images for data processing and compares them with a termite feature database established by extracting spectral features related to the absorption and reflection characteristics of specific substances in termites. It will also trigger an alarm upon detecting an anomaly and record the device's location coordinates.

[0071] The soil data analysis module communicates with the equipment's electrical control system, controls the equipment to execute the automatic drilling device's actions, and inputs sensor data inside the drill rod 310, including sidewall friction, downward pressure resistance, carbon dioxide concentration, conductivity, temperature, and humidity. It compares the data with manually set alarm thresholds, and alarms are triggered if the values ​​exceed or fall below the thresholds. The module also records the equipment's location coordinates.

[0072] The cone drilling data analysis module communicates with the equipment's electrical control system, controls the equipment to execute the automatic drilling device's actions, and receives data from photoelectric sensors and displacement sensors. If there is a sudden increase in displacement, it indicates that the soil is loose; if there is a sudden decrease in displacement, it indicates that the soil is tight. It can replace large-scale excavation. Loose soil areas are high-risk areas for termites, and the module also records the equipment's location coordinates.

[0073] The automatic injection module communicates with the equipment's electrical control system to control the injection flow rate and velocity of the injection pump 6.

Claims

1. An integrated robotic device for detecting and treating termite damage in dikes, characterized in that, The automatic drilling device is integrated on the drilling rig (1). The automatic drilling device includes a power head connection assembly, a rod storage mechanism and a drill rod clamping mechanism, which work together to complete automatic sampling, detection or injection. The drill rod includes a detection drill rod (310) for collecting information about the soil interior and a sampling drill rod (320) for obtaining soil samples. The detection drill rod (310) is also equipped with a sensor and a camera I. The power head connection assembly is bolted to the main cylinder, and the main cylinder drives the power head connection assembly to slide up and down along the derrick track. The power head connection assembly includes a sliding base plate (222), and the sliding base plate (222) is provided with sliding grooves (223) on the upper and lower sides. A sliding plate is provided in the sliding groove (223). The threaded tightening motor (224) and the impact head (226) are fixedly distributed on the sliding plate. The fixed end of the transverse oil cylinder (221) is installed on the sliding groove (223), and the telescopic end is connected to the sliding plate, which drives the sliding plate to slide laterally in the sliding groove (223). The rod storage mechanism includes a fixing member (211) fixed on the drilling rig (1), the fixing member (211) is hinged to one side of the rotating bracket (214) by a pin, and the other side of the rotating bracket (214) is hinged to the drill rod frame (215); the fixed end of the first hydraulic cylinder (212) is installed on the fixing member (211), and the telescopic end is installed on the rotating bracket (214). The maximum stroke of the first hydraulic cylinder (212) limits the rotating bracket (214) to be parallel to the drill head (104) of the drilling rig (1); the fixed end of the second hydraulic cylinder (213) is installed on the rotating bracket. On the frame (214), the telescopic end is installed on the drill rod frame (215). The maximum stroke of the second hydraulic cylinder (213) limits the rotating bracket (214) to be at a right angle to the drill rod frame (215). The drill rod frame (215) is equipped with a clamp for releasing or clamping the drill rod. The length of the rotating bracket (214) is limited to the maximum stroke of the first hydraulic cylinder (212) and the second hydraulic cylinder (213) when they are at their maximum strokes. The drill rod on the drill rod frame (215) can be directly facing the thread tightening motor (224). The internal thread of the thread tightening motor (224) matches the thread of the drill rod connection end. The drill pipe clamping mechanism includes a first clamp (232), a loosening cylinder (231), and a second clamp (233) connected to the loosening cylinder (231). The loosening cylinder (231) drives the first clamp (232) to rotate, which is used for tightening and loosening the threads at the drill pipe connection. It also includes ground-penetrating radar (7) and hyperspectral imager (8).

2. The integrated robot equipment for detecting and treating termite damage in dikes according to claim 1, characterized in that, It also includes camera II, which is used to collect the environment around the drilling rig (1) and to perform image / video recognition of termite ground surface symbols; it is also used to collect information about the road ahead and to perform automatic obstacle avoidance or manual remote control.

3. The integrated robot equipment for detecting and treating termite damage in dikes according to claim 2, characterized in that, The detection drill rod (310) includes at least one of a carbon dioxide sensor, a conductivity sensor, a humidity sensor, a temperature sensor, a sidewall friction force sensing component, and a soil pressure sensing component, used to determine whether there are abnormalities and cavities in the underground data.

4. The integrated robot equipment for detecting and treating termite damage in dikes according to claim 2, characterized in that, The drilling rig (1) has a bolt-fixed bracket (420) on the side of the derrick of the head (104). The bracket (420) has a rotating shaft (421) in the direction away from the head (104). A connecting piece (430) that rotates around the rotating shaft (421) is provided on the rotating shaft (421). The other end of the connecting piece (430) is fixed with a cone penetration device (410) to perform a standard penetration test to determine the soil compaction.

5. The integrated robot equipment for detecting and treating termite damage in dikes according to claim 2, characterized in that, A slewing bearing (103) is installed between the body (101) and the traveling chassis (102) of the drilling rig (1) so that the body (101) of the drilling rig (1) can rotate 360 ​​degrees to cope with the work at different angles.

6. The integrated robot equipment for detecting and treating termite damage in dikes according to claim 2, characterized in that, It also includes an integrated injection module, with a rear bracket (105) installed at the rear of the drilling rig (1) to hold the agent tank (5), and a side bracket (106) installed on the side to hold the injection pump (6) and injection drill rod (330). The agent tank (5) stores mud or agents for grouting or injecting agents after a risk area or termite nest is discovered.

7. The control system of the integrated robot equipment for detecting and treating termite damage in dikes as described in any one of claims 2 to 6, characterized in that, The system includes a control center, which is connected to at least one of the aforementioned integrated robot devices for detecting and treating termite damage in dikes, as well as the sensors, ground-penetrating radar (7), camera II, positioning and navigation device, and electrical control system network of the detection drill rod (310) equipped with the integrated robot device for detecting and treating termite damage in dikes. The control center includes: The monitoring and identification module uses image recognition technology to check the surrounding environment for termite surface features and sends an alarm upon detection. The automatic inspection module receives task orders from staff, detects road obstacle features through image recognition technology, and automatically avoids obstacles or travels along a saved route. The ground-penetrating radar data analysis module receives ground-penetrating radar (7) data, alarms when abnormal data is detected, and records the equipment location coordinates; The hyperspectral data analysis module receives hyperspectral images for data processing and compares them with a termite feature database established by extracting spectral features related to the absorption and reflection characteristics of specific substances in termites. If an anomaly is detected, an alarm is triggered and the device location coordinates are recorded. The soil data analysis module communicates with the electrical control system of the equipment, controls the equipment to perform automatic drilling device actions, accesses and detects sensor data in the drill rod (310), including sidewall friction, downward pressure resistance, carbon dioxide concentration, conductivity, temperature and humidity, compares it with the manually set alarm threshold, alarms when the value exceeds or falls below the threshold, and records the equipment position coordinates; The soil data analysis module communicates with the equipment's electrical control system, controls the equipment to execute automatic drilling device actions, and inputs data from photoelectric sensors and displacement sensors. According to standards, the soil layer is divided into four levels: loose, slightly dense, medium dense, and solid dense. Loose and slightly dense soil layers are areas where termites exist or potentially high-risk areas, and the equipment's location coordinates are recorded.

Images