Non-destructive detection equipment and positioning method for visualizing internal nest structure distribution of termites

Abstract

The present application relates to a kind of termite inner nest structure distribution visualization nondestructive detection equipment and positioning method, the nondestructive detection device includes signal transmitter, signal array receiver and acquisition host, the acquisition host is connected with signal transmitter and signal array receiver, acquisition host is equipped with signal transmission module, signal acquisition module, signal processing module and signal visualization module.The present application uses the detection method of active source diffraction secondary sound source, carries out the detection positioning of ant nest structure, accurately tracks and locates the distribution of ant road by arranging signal transmitter and array type arrangement sound source sensor, accurately detects the termite nest structure in dam interior, more effectively eliminates potential leakage hidden danger caused by ant nest.

Description

A non-destructive detection device and positioning method for visualizing the distribution of termite nest structure. Technical Field

[0001] This invention belongs to the field of intelligent detection of defects in water conservancy projects, specifically involving a non-destructive detection equipment and positioning method for visualizing the distribution of termite nest structure. Background Technology

[0002] With increasingly intense and frequent extreme weather events, the flooding capacity of dikes and dams under high water levels is being tested more and more often. Dikes are mostly earth and rock structures, and the tall vegetation covering them can provide suitable habitats for termites. The presence of termite nests disrupts the original continuity of the dike structure and provides potential seepage channels, thus becoming a significant potential hazard during the flood season. Under high water levels, this can easily induce seepage, piping, sinkholes, and even dike collapses and dam failures. Therefore, detecting the distribution of termite nests inside the dike is extremely important.

[0003] Termite nests, besides the main nest, contain numerous secondary nests and complex termite trails. While the main nest can reach tens of centimeters in diameter, the termite trails closer to it are only a dozen centimeters in diameter, and those farther away are as small as a few centimeters. Traditional geophysical detection methods struggle to achieve accurate detection of termite nest structures at greater depths. Furthermore, the presence of various trees on most embankment slopes and the root systems of trees developing inside the embankment can interfere with detection signals, causing significant interference.

[0004] Patent publication CN 117111139 A discloses a high-coverage multi-point rapid detection device and technology for termite nests on embankments. This device comprises five high-precision sound sensors, a DC power supply and data acquisition, amplification, and processing system, and a portable, retractable aluminum alloy frame with built-in power and data transmission cables. It quickly determines the location of termite nests within a detection grid by collecting sound signals from four points of termite activity. Patent publication CN 116953615 A ​​discloses a network detection and positioning technology for termite nests on embankments. This technology uses five high-precision sound sensors to identify identical pulses and their time differences from four low-frequency sound pulses after noise reduction. It then calculates the three distance differences between the four points and the termite sound source, thereby accurately locating the termite nest.

[0005] The above methods are all based on collecting termite activity signals. However, the termite activity signals are very weak and are easily attenuated and mixed with a lot of noise during propagation in the soil. It is difficult to capture termite activity signals with a high signal-to-noise ratio. Moreover, the actual location of termite activity is not necessarily the location of the main nest, which affects the accuracy of the detection results. Summary of the Invention

[0006] Technical Objective: To address the aforementioned technical problems, this invention proposes a non-destructive detection equipment and positioning method for visualizing the distribution of termite nest structures. It utilizes the characteristic that sound waves, when passing through irregular holes in the soil, generate diffraction around the holes, forming secondary sound sources. By employing an active source diffraction secondary sound source detection method, the structure of termite nests can be detected and located. Through the deployment of signal transmitters and arrayed sound source sensors, the distribution of termite trails can be accurately tracked and located, precisely detecting the termite nest structure inside dams and more effectively eliminating potential leakage hazards caused by termite nests.

[0007] Technical solution: To achieve the above technical objectives, the present invention adopts the following technical solution:

[0008] A non-destructive detection device for visualizing the internal structure distribution of termites' nests includes a signal transmitter, a signal array receiver, and a data acquisition host.

[0009] The signal transmitter is positioned at the target location and is used to generate and transmit pulse signals;

[0010] The signal array receiver includes multiple acoustic sensors, each of which is arranged at a preset position in the target area to collect sound source signals, including secondary sound source signals generated by the diffraction phenomenon during the propagation of the pulse signal.

[0011] The acquisition host is communicatively connected to the signal transmitter and the signal array receiver. The acquisition host is equipped with a signal transmission module, a signal acquisition module, a signal processing module and a signal visualization module.

[0012] The signal transmitting module is used to send parameters of the pulse signal to be transmitted to the signal transmitter, including frequency, pulse width, amplitude, and polarity; the signal acquisition module is used to receive and store the sound source signal acquired by the signal array receiver; the signal processing module is used to process the sound source signal to obtain the processing result of the distribution of the termite inner nest structure; and the visualization module is used to display the visualization and positioning result of the inner nest structure distribution.

[0013] Preferably, the target location is a swarming hole or ant trail entrance on the surface of the dike, which is predetermined based on the termite's living habits; the target area is the surface of the dike, including the top of the dike, the water-facing slope, and the water-receiving slope.

[0014] Preferably, the visualization and location results of the termite nest structure distribution include the main nest, secondary nests, and ant trails represented by amplitude and location point distribution density.

[0015] Preferably, the non-destructive testing equipment further includes multiple cable scale strips, the acoustic sensor adopts a miniature microphone receiver, the cable scale strips are set at corresponding positions on the top of the dike, the upstream slope and the downstream slope of the dike, and each miniature microphone receiver is connected to the corresponding cable on the cable scale strip and communicates with the data acquisition host through the cable scale strip.

[0016] Preferably, the non-destructive testing equipment further includes a signal transmission cable for communication connection between the signal transmitter and the acquisition host.

[0017] A non-destructive detection and localization method for visualizing the internal structure distribution of termites' nests includes the following steps:

[0018] S1. Arrange the signal transmitter: Place the signal transmitter in the swarming hole or ant trail entrance that is predetermined according to the termite's living habits, so that the signal transmission direction of the signal transmitter is consistent with the direction of the ant trail at the entrance of the hole.

[0019] S2. Arrange the signal array receivers: Based on the site conditions of the dike, design the distribution of the signal array receivers and place each acoustic sensor in the signal array receivers at the corresponding positions on the top of the dike, the water-facing slope and the back slope of the dike.

[0020] S3. Set detection parameters in the acquisition host: Turn on the acquisition host, create a project name in the signal acquisition module; design the parameters for transmitting pulse signals in the signal transmission module, and open the signal acquisition channel of the signal array receiver; create a three-dimensional coordinate system for the dike in the visualization module, and input the position information of the signal transmitter and the signal array receiver;

[0021] S4. Transmit a single pulse signal: The signal transmitter receives the relevant parameters designed by the acquisition host and begins to transmit a single pulse signal;

[0022] S5. Acquiring sound source signals: The signal array receiver receives the sound source signals and transmits them to the acquisition host;

[0023] S6. The acquisition host performs calculation and visualization processing of the detection results: The signal processing module of the acquisition host processes the sound source signal, including noise reduction, gain adjustment, direct wave removal and positioning and tracking calculation. The positioning and tracking calculation includes array sensor selection, initial parameter input, covariance calculation and positioning model calculation; the visualization module displays the visualization positioning results of the inner nest structure distribution.

[0024] Preferably, in step S6, the positioning and tracking calculation performed by the signal processing module includes the following steps:

[0025] A1. Establish the acoustic wave sensor observation matrix model H;

[0026] A2. Obtain the spatial coordinates of the termite entrance as the initial source location, determine the initial propagation speed and direction of the pulse signal in the soil, and establish a sound wave propagation prediction model:

[0027]

[0028] i represents the i-th sound source being tracked. Indicates the state of the (l-1)th detection signal. Let F represent the state of the (l-1)th signal, and let w be the state transition model. i For process noise model;

[0029] A3. Based on the acoustic sensor observation matrix model and acoustic wave propagation prediction model, establish an observation model for acoustic sensor data acquisition:

[0030]

[0031] This represents the signal observed by the acoustic sensor, and n represents the noise mixed in during the observation process; This represents the state of the l-th signal of the i-th tracked sound source;

[0032] A4. When there are multiple tracking sources, determine the optimal sensor combination. Based on the information obtained by the sensor combination, use the posterior probability to calculate the probability that the tracked source will be captured by any potential combination of sound source sensors. Select combination sensors for different tracking sources based on the probability.

[0033] A5. Based on the observations of the optimal acoustic wave combined sensor, update the acoustic wave propagation prediction model. Through the real-time positioning update of the prediction model, obtain the real-time positioning results of the distribution path of the termite nest.

[0034] Preferably, in step A5, the prediction model is updated based on the combined sensor observations to achieve precise positioning and tracking:

[0035]

[0036] Where p(i∣Φ) l ) represents the probability that the tracking source i is observed by any potential source, and K represents the Kalman gain; This represents the transpose of the x-mean vector. This indicates that for the i-th tracking source, the process of predicting the l-1 signal from the l-1 signal is used to obtain the X state, which is then substituted into the sensor observation matrix model to obtain the predicted signal.

[0037] Preferably, in step S6, the visualization module judges the updated positioning result. If the positioning result does not meet the preset judgment criteria, it returns to step S3, whereby the signal transmission module adjusts the parameters of the pulse signal, and then steps S4-S6 are executed until the positioning result meets the preset judgment criteria.

[0038] Preferably, in step S6, the visualization module uses the sound wave amplitude and the density of the positioning points to represent the main nest, the secondary nest, and the ant trail. Areas where the sound wave amplitude and the density of the positioning points are less than the corresponding preset values ​​represent the main nest and secondary nest areas; areas where the positioning points are evenly distributed and the sound wave amplitude is greater than the preset value represent the ant trail areas.

[0039] Beneficial effects: Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0040] (1) This invention uses a self-designed pulse signal transmission method and an active source diffraction secondary sound source detection method to detect ant nest structure, which can avoid the interference of environmental noise and obtain a high signal-to-noise ratio propagation signal. Furthermore, through an array signal receiver, the combination of different sensor signals can realize the multiple reception of the pulse signal propagation process during the detection process. Then, the signal processing module and visualization module of the acquisition host can adjust the parameters on-site in a timely manner, track and locate the distribution of ant trails, and observe the detection effect.

[0041] (2) Based on the positioning and tracking model of the acquisition host signal processing module, this invention can realize the tracking and positioning of secondary sound sources in the propagation process of a single pulse signal. The prediction is continuously updated by the real-time positioning results, which can realize the real-time visualization of the ant path in the detection process. According to the distribution path, density and amplitude of the real-time positioning results, not only can the detection of the main nest of the ant nest inside the dike be realized, but the distribution of the entire ant nest structure can also be visualized and detected. Attached Figure Description

[0042] Figure 1 shows the non-destructive testing equipment for the inner structure of termites, where: 1-1 is the main data acquisition unit, 1-2 is the signal transmitter, 1-3 is the cable scale tape, 1-4 is the signal receiver, and 1-5 is the signal transmission cable;

[0043] Figure 2 is a schematic diagram of the on-site detection of the termite nest structure in the dike;

[0044] Figure 3 is a flowchart of the specific operation process for on-site non-destructive detection of the internal nest structure of termites in the dike.

[0045] Figure 4 is a schematic diagram of the pulse signal emitted by the signal transmitting device during the detection process;

[0046] Figure 5 is a schematic diagram of the signals received by the signal array receiving device during the detection process;

[0047] Figure 6 is a visualization of the distribution of termite nest structures within the dike. Detailed Implementation

[0048] Example 1

[0049] This embodiment further elaborates on the implementation of the equipment of the present invention.

[0050] As shown in Figure 1, this embodiment proposes a device for visual non-destructive detection of the internal structure distribution of termites, which includes a signal transmitter, a signal array receiver, a cable scale tape, and a data acquisition host.

[0051] The signal transmitter generates pulse signals based on the input parameters from the acquisition host and transmits the signals to the target space. The signal sensor is connected to the acquisition host at one end of a cable and placed at the target location at the other end to transmit the signals.

[0052] The signal array receiver consists of a series of miniature microphone receivers. The bottom of each microphone receiver can be inserted into the ground for fixation. The microphone receivers are connected by cable tape to form a single column of microphone receivers. Then, the single columns of microphone receivers are arranged into a matrix and placed in the designed position to receive signals. The miniature microphone receivers can collect broadband signals at high frequencies.

[0053] The signal cable marking tape is used to fix the position of individual microphone receivers by marking distances on the fiber tape. It also secures the microphone sensor transmission cable to the fiber tape. Each microphone receiver only needs to be connected to one end of the cable; the other end is connected to the data acquisition host via the marking tape end, thus achieving the fixation of a row of microphone receivers and signal acquisition. Individual microphone sensors can be fixed to the fiber tape with clips or installed independently.

[0054] The data acquisition host comprises a signal transmission module, a signal acquisition module, a signal processing module, and a signal visualization module. The signal transmission module is primarily responsible for generating pulses. By designing pulse signal parameters such as frequency, pulse width, amplitude, and polarity, the system enables the transmission of signals under various operating conditions through adjustments to the pulse width, amplitude, and frequency. The signal acquisition module is mainly responsible for acquiring and storing signals received by the array of miniature microphone receivers. The signal processing module is primarily responsible for signal noise reduction, gain adjustment, direct wave removal, and positioning and tracking calculations. The positioning and tracking calculations include array sensor selection, initial parameter input covariance calculation, and positioning model calculation. The visualization module includes coordinate system establishment, array sensor position establishment, initial position positioning, and updating of positioning model calculation results, providing real-time tracking visualization.

[0055] The device is deployed as shown in Figure 2. Specifically, based on the termite detection needs of the dike, the daily inspection process of the river management office was consulted, and the termite activity area was determined by the biological habits of termites, thus defining the detection range of termite nest structures inside the dike. Within the termite activity area, the swarming holes of the nest structure were located based on termite activity. Then, the signal transmitter 1-2 was placed at the swarming holes. Depending on the size of the detection range, the cable scale strip 1-3 was placed on the upstream slope, the top of the dike, and the downstream slope of the dike. Each miniature microphone signal receiver 1-4 of the signal array receiver was connected to the cable scale strip 1-3. Finally, the signal transmitter 1-2 and the cable scale strip 1-3 were connected to the data acquisition host 1-1 via the signal transmission cable 1-5.

[0056] After all signal transmitters 1-2 and miniature microphone receivers 1-4 are successfully connected, turn on the acquisition host 1-1. After establishing the project name in the signal acquisition module, design the parameters (frequency, amplitude, etc.) for transmitting the pulse signal, and turn on the signal acquisition channel of the signal array receiver; in the visualization module, establish the local coordinate system of the embankment and input the position information of the signal transmitter and the signal array receiver; after all parameters are determined, start transmitting a single pulse signal, generating a single pulse signal as shown in Figure 4.

[0057] Secondary sound sources are generated due to diffraction during the propagation of sound waves as they pass through the edges of the ant trail or when the aperture changes (secondary nest, main nest). When a single pulse signal propagates along the ant trail, it will diffract at the edges of the ant trail, secondary nest, and main nest to form secondary sound sources, which are then received by signal array receivers 1-4, as shown in Figure 5, generating the signals received by miniature microphones 1-9.

[0058] Due to the unavoidable noise during propagation, the amplitude attenuates. Therefore, the signal processing module of the acquisition host is activated to perform the same noise reduction and gain adjustment on the signal. After the initial processing of the received signal, the position parameters of the input signal transmitter 1-2 and the propagation speed of the pulse signal in the soil are used to perform positioning and tracking calculations on the acquired signal using a sound wave propagation prediction model.

[0059] Finally, open the visualization module of the acquisition host 1-1 to view the real-time calculation results of the sound wave propagation prediction model for the propagation process of the transmitted pulse signal. Decide whether to transmit the pulse signal based on the effectiveness of the location tracking visualization results. If the location result is poor, adjust the parameters of the transmitted pulse signal and perform multiple transmissions and receptions until the distribution of the termite nest structure is visualized, as shown in Figure 6. The location results of the termite nest structure visualization include the main nest, secondary nests, and ant trails, represented by amplitude and location point distribution density. Whether the location result is poor can be judged based on the concentration and location of the location points. If there are no concentrated areas of location points in the location results, or if the location points are not inside the dike, it indicates a poor location result.

[0060] Example 2

[0061] This embodiment further elaborates on the implementation of the method of the present invention.

[0062] The non-destructive testing method in this embodiment mainly utilizes the diffraction phenomenon that occurs around the irregular holes in the soil when sound waves pass through them, forming a secondary sound source. This secondary source then passes through the holes and propagates within the soil, where it is received by the sensor.

[0063] The detection process mainly includes:

[0064] Step 1: Based on the biological habits of termites, find the termite trail entrances or swarming holes on the broken surface of the dike or on trees by tracing the distribution path of the residue.

[0065] Step 2: Using the known swarming hole or ant trail entrance as the signal transmission starting point, place the signal transmitter at the swarming hole or ant trail entrance; the signal transmission direction of the signal transmitter should be consistent with the direction of the ant trail at the entrance of the hole;

[0066] Step 3: Based on the site conditions, design the layout of the signal array receivers, and place the cable tapes at the corresponding positions on the top of the dike, the water-facing slope, and the back slope of the dike; connect one end of the cable bundle to the acquisition host and the other end to each miniature microphone receiver.

[0067] Step 4: Arrange the miniature microphone receivers of the signal array receiver at the corresponding positions on the cable markings. For soft soil, the miniature microphone receivers can be inserted into the soil. When encountering hard embankments or slopes, the base of the miniature microphone receiver can be replaced with a negative pressure fixing disc for fixation. After the miniature microphone receivers are fixed in their corresponding positions, connect each miniature microphone receiver to the corresponding cable on the cable markings. The cable markings can be fixed to the top of the miniature microphone receiver or glued to the side of the miniature microphone receiver.

[0068] Step 5: After the signal transmitter and signal array receiver are set up, turn on the acquisition host, set the project name in the signal acquisition module, design the parameters for transmitting the pulse signal, and open the signal acquisition channel of the signal array receiver; in the visualization module, set up the local coordinate system of the dike and input the position information of the signal transmitter and signal array receiver; after all parameters are determined, start transmitting and receiving a single pulse signal.

[0069] Step Six: Based on the secondary sound source generated by the diffraction phenomenon that occurs when sound waves pass through the edge of the ant trail or when the aperture changes (secondary nest, main nest) during the sound wave propagation process, a signal array receiver receives the secondary sound source signal. During the reception process, the signal processing module of the acquisition host is turned on to perform noise reduction, gain adjustment, etc. After inputting the initial parameters, the acquired signal is used to perform positioning and tracking calculations; then it is updated, and the calculation results are viewed in the visualization module; if the positioning result is poor, the parameters of the transmitted pulse signal are adjusted, and the pulse signal is transmitted and received multiple times until the distribution of the termite nest structure is visualized.

[0070] Taking the termite nest structure inside the dike as shown in Figure 3, based on the termite's living habits, swarming holes or termite trail entrances on the dike surface are located, and signal transmitters 1-2 are placed at these swarming holes or termite trail entrances. The arrangement of signal receivers 1-4 is designed, and cable scale strips 1-3 are opened and placed in corresponding positions in an array. Then, the miniature microphone receivers 1-4 of the signal array receivers are arranged at the corresponding positions on cable scale strips 1-3, as shown in Figure 2. The method for locating, tracking, and visualizing the distribution of the nest structure involves the following steps:

[0071] 1. Open the acquisition host 1-1, establish the project name, enter the signal visualization module, establish the three-dimensional coordinate system of the dike; after determining the observation matrix model H of the acoustic sensor (in this embodiment, it refers to the miniature microphone), enter the signal acquisition module and transmit a single pulse signal;

[0072] 2. After the pulse signal is transmitted, it enters the signal processing module of the acquisition host 1-1, which processes the spatial coordinates of the sound wave transmitter inlet obtained from the field measurement ((X... x )0,(X y )0,(X z )0) is used as the initial parameter input, that is, as the initial position of the sound source, and the initial propagation speed of the pulse signal in the soil is determined ((s) x )0,(s y )0,(s z )0 and propagation direction ((d) x )0,(d y )0,(d z 0 is used as the initial parameter input;

[0073] 3. Establish a sound wave propagation prediction model

[0074] 3.1 When a pulse signal propagates through the ant path space, record the forward propagation direction of the sound wave. and speed of propagation for:

[0075]

[0076] Then, the forward propagation state of the sound wave is assessed by its propagation speed and direction.

[0077]

[0078] Where i represents the i-th tracked sound source, l represents the l-th tracked signal, T represents the transpose of the matrix, and x, y, z represent the X, Y, and Z directions in three-dimensional space.

[0079] 3.2 Assuming that the evolution of sound waves over time follows a linear model, then the previous state of the sound wave... Predict the state of forward propagation Using a linear time evolution model of sound waves, the previous state of the sound wave... Predict the state of forward propagation

[0080]

[0081] Where matrix F represents the state transition model, B is the control input matrix, and u i To control the vector, noise inevitably gets mixed in during the sound wave propagation process. i This is a process noise model.

[0082]

[0083] Where the expression ΔT=ΔN / f S The time interval (in seconds) between two consecutive frames is represented by ΔN, where ΔN is the sample size between the two frames, and f S Sampling rate (in samples per second); propagation noise w i If it follows a multivariate normal distribution, then the covariance σ q 2 It is parameterized to a constant value Q.

[0084] For a single-pulse signal, there is no input during the sound wave propagation process, so B is zero, and the noise w during propagation is zero. i If it follows a multivariate normal distribution, then the covariance σ q 2It is parameterized to a constant value Q.

[0085]

[0086] The sound wave propagation prediction model is as follows:

[0087]

[0088] This represents the state of signal l predicted by the model under the (l-1)th signal state. This indicates that the l-1 detection signal has been verified and determined. This represents the posterior covariance matrix of the state error of the tracked source.

[0089] 4. Establish an observation model for data acquisition using acoustic wave sensors (array microphones).

[0090] When the array microphones acquire data, the signal observed by the acoustic wave sensor is... With sound wave location information The linear relationship is satisfied, but noise 'n' is inevitably introduced during the observation process due to the incomparability. Therefore, the observed signal and the acoustic wave position information... The relationship is satisfied as follows:

[0091]

[0092] Where H is the sound wave propagation observation matrix model.

[0093] The noise during the observation process follows a standard normal distribution. Then the covariance σ R 2 Parameterized as a constant value R:

[0094]

[0095] 5. When there are multiple tracking sources, determine the optimal sensor combination.

[0096] Since the array receiving sensors track multiple sound sources simultaneously, including secondary sound sources, the optimal sensor combination is determined using posterior probability. Assuming that I sound sources are tracked simultaneously, there are V possible sources that can be assigned to I+2 values ​​(referring to the sound wave sensors), thus generating G = (I+2). V There are several allocation conditions. The allocation function f is then... g for

[0097] f g =[f g (1)f g (2)…fg (V)]

[0098] Based on information acquired from sensor combinations, the probability of a tracking source being captured by any potential sensor combination is calculated using posterior probability. Based on this probability, different sensor combinations for tracking sources are selected. Bayes' theorem is then used to calculate the probability of each allocation f. g Posterior probability:

[0099]

[0100] P represents the posterior probability; Ψ represents the potential source.

[0101] To calculate the probability of observing a specific assignment, the discrete Kronecker function δ[n] is introduced:

[0102]

[0103] 6. Predict potential real location sources

[0104] After selecting the sensors, this step combines the received signals, observation models, and prediction models to calculate all tracking sources i, and selects potential real source locations based on the probability of tracking source i.

[0105] The probability of tracking source i generating potential source v is calculated as follows:

[0106]

[0107] i is the tracking source, a source at a specific location that is continuously analyzed based on the observation model and sensor combination; v is the potential source v predicted using the prediction model, combined with information from the tracking source i.

[0108] Finally, calculate the probability that the tracking source is observed by any potential source, and find the probability p(i|Ψ). l Maximize the potential source.

[0109]

[0110] 7. Update the prediction model based on combined sensor observations for precise positioning and tracking.

[0111] By inputting the optimal combination of sensor observations into the prediction model, the prediction model is updated, uncertainty is reduced, and the sound source is accurately located and tracked.

[0112]

[0113] K represents the Kalman gain; This represents the transpose of the x-mean vector, for example, converting a row vector into a column vector; This means that for the i-th tracking source, the process of predicting the l-th detection signal from the l-1 detection signal is used to obtain the X state, which is then substituted into the sensor observation matrix model to obtain the predicted signal. Since many detection signals based on sensor combinations will yield many sound source localization results, distributed over a large range, in order to improve localization accuracy, this invention can further find the position with the highest probability distribution based on the probability distribution range of the sound source localization results, and then back-calculate to correct the prediction model, and perform sound source localization again; in this way, by iteratively correcting the prediction model through probability distribution localization, the localization range is continuously narrowed, and finally, accurate localization is achieved.

[0114] Finally, as shown in Figure 6, many location points can be obtained by locating and tracking the propagation process of the pulse signal. Through real-time location updates by the visualization module, non-destructive visualization detection of the termite nest structure distribution inside the dike structure can be achieved. By assigning the location point the amplitude of the maximum receiver signal, it was observed that areas with smaller amplitudes and denser location points represent the main and secondary nest structure areas inside the dike. For the ant trail area, the location results are evenly distributed, and due to the absence of complex diffraction, the sound wave amplitude is relatively large.

[0115] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of the present invention.

Claims

1. A non-destructive detection device for visualizing the internal structure distribution of termites, characterized in that: It includes a signal transmitter, a signal array receiver, and a data acquisition host; the signal transmitter is located at the target position and is used to generate and transmit pulse signals; The target location is a swarming hole or ant trail entrance found on the surface of the dike based on the termite's living habits. The signal transmitter is placed at the swarming hole or ant trail entrance, and the signal transmission direction of the signal transmitter is consistent with the direction of the ant trail at the entrance of the nest. The signal array receiver includes multiple acoustic sensors, each arranged at a preset position in the target area, for collecting sound source signals, including secondary sound source signals generated by diffraction during the propagation of the pulse signal. The acquisition host communicates with the signal transmitter and the signal array receiver, and the acquisition host is equipped with a signal transmission module, a signal acquisition module, a signal processing module, and a signal visualization module. The signal transmission module is used to send parameters of the pulse signal to be transmitted to the signal transmitter, including frequency, pulse width, amplitude, and polarity. The signal acquisition module is used to receive and store the sound source signals collected by the signal array receiver. The signal processing module is used to process the sound source signals to obtain the processing results of the distribution of the termite nest structure. The visualization module is used to display the visualized location results of the nest structure distribution.

2. The non-destructive detection equipment for visualizing the internal structure distribution of termites' nests according to claim 1, characterized in that: The target location is a pre-determined swarming hole or termite trail entrance on the surface of the dike, based on the termite's living habits; the target area is the surface of the dike, including the top, the water-facing slope, and the water-receiving slope.

3. The non-destructive detection equipment for visualizing the internal structure distribution of termites' nests according to claim 1, characterized in that: The visualization and location results of the inner nest structure distribution include the main nest, secondary nests, and ant trails, represented by amplitude and location point distribution density.

4. The non-destructive detection equipment for visualizing the distribution of termite nest structure according to claim 1, characterized in that: The non-destructive testing equipment also includes multiple cable scale strips. The acoustic sensor uses a miniature microphone receiver. The cable scale strips are set at corresponding positions on the top of the dike, the upstream slope, and the downstream slope. Each miniature microphone receiver is connected to the corresponding cable on the cable scale strip and communicates with the data acquisition host through the cable scale strip.

5. The non-destructive detection equipment for visualizing the internal structure distribution of termites according to claim 1, characterized in that: The non-destructive testing equipment also includes a signal transmission cable for communication connection between the signal transmitter and the acquisition host.

6. A non-destructive detection and localization method for visualizing the distribution of termite nest structure, characterized in that, The steps include: S1, Deploying signal transmitters: Place the signal transmitters at pre-determined swarming holes or termite trail entrances based on termite habits, ensuring the signal transmission direction of the transmitters aligns with the direction of the termite trails at the burrow entrance; S2, Deploying signal array receivers: Design the distribution of the signal array receivers according to the site conditions of the dike, placing each acoustic sensor in the receivers at corresponding positions on the top, upstream, and downstream slopes of the dike; S3, Setting detection parameters in the acquisition host: Turn on the acquisition host and create a project name in the signal acquisition module. In the signal transmission module, design the parameters for transmitting pulse signals and open the signal acquisition channel of the signal array receiver; Establish a three-dimensional coordinate system for the dike in the visualization module, and input the position information of the signal transmitter and signal array receiver; S4. Transmit a single pulse signal: The signal transmitter receives the relevant parameters designed by the acquisition host and begins to transmit a single pulse signal; S5. Acquire sound source signal: The signal array receiver receives the sound source signal and transmits it to the acquisition host; S6. The acquisition host performs calculation and visualization processing of the detection results: The signal processing module of the acquisition host processes the sound source signal, including noise reduction, gain adjustment, direct wave removal and positioning and tracking calculation. The positioning and tracking calculation includes array sensor selection, initial parameter input, covariance calculation and positioning model calculation; The visualization module displays the visualization positioning results of the inner nest structure distribution.

7. The non-destructive detection and localization method for visualizing the distribution of termite nest structure according to claim 6, characterized in that, In step S6, the positioning and tracking calculation performed by the signal processing module includes the following steps: A1. Establishing an acoustic sensor observation matrix model. A2. Obtain the spatial coordinates of the termite entrance as the initial source location, determine the initial propagation speed and direction of the pulse signal in the soil, and establish a sound wave propagation prediction model: ; i represents the i-th tracked sound source, Indicates the first Predicting the first state using a sound wave propagation prediction model The status of the detection signal, Indicates the first The first one determined by verification The signal is F, which represents the state transition model. A3. Based on the acoustic sensor observation matrix model and acoustic wave propagation prediction model, establish the observation model for acoustic sensor data acquisition: ； This represents the signal observed by the acoustic sensor. This indicates noise introduced during the observation process; Indicates the i-th tracked sound source. A4. When multiple tracking sources exist, determine the optimal sensor combination. Based on the information obtained from the sensor combination, use the posterior probability to calculate the probability that the tracked source will be captured by any potential combination of sound source sensors. Select combination sensors for different tracking sources based on the probability. A5. Based on the observations of the optimal combination of sound wave sensors, update the sound wave propagation prediction model. Through the real-time positioning update of the prediction model, obtain the real-time positioning results of the termite nest distribution path.

8. The non-destructive detection and localization method for visualizing the distribution of termite nest structure according to claim 7, characterized in that, In step A5, the prediction model is updated based on the combined sensor observations to achieve precise positioning and tracking. ;in, Indicates the source of tracking The probability of being observed by any potential source. Indicates a potential source. This represents the signal observed by the acoustic sensor. Indicates Kalman gain; This represents the transpose of the x-mean vector. This indicates that for the i-th tracking source, the process of predicting the l-1 signal from the l-1 signal is used to obtain the X state, which is then substituted into the sensor observation matrix model to obtain the predicted signal.

9. A non-destructive detection and localization method for visualizing the distribution of termite nest structure according to claim 6, characterized in that, In step S6, the visualization module judges the updated positioning result. If the positioning result does not meet the preset judgment criteria, it returns to step S3, where the signal transmission module adjusts the parameters of the pulse signal, and then steps S4-S6 are executed until the positioning result meets the preset judgment criteria.

10. A non-destructive detection and localization method for visualizing the distribution of termite nest structure according to claim 6, characterized in that, In step S6, the visualization module uses the sound wave amplitude and the density of the positioning points to represent the main nest, the secondary nest, and the ant trail. Areas where the sound wave amplitude and the density of the positioning points are less than the corresponding preset values ​​represent the main nest and secondary nest areas; areas where the positioning points are evenly distributed and the sound wave amplitude is greater than the preset value represent the ant trail areas.

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