Termite nest three-dimensional positioning method and device based on multi-sensor array

Abstract

The invention discloses a termite nest three-dimensional positioning method and a termite nest three-dimensional positioning device based on a multi-sensor array. The termite nest three-dimensional positioning method comprises the following steps: performing region division according to a functional structure of a to-be-detected dam and a historical termite damage condition to obtain a region division result; shooting a to-be-tested dam to obtain shot image information, and creating a digital twinborn body of the to-be-tested dam to obtain a dam digital twinborn model; the method comprises the following steps: determining related parameters of detection equipment for detecting termite surface activity signs of a to-be-detected dam according to basic information of the to-be-detected dam to obtain related parameter information of the detection equipment, laying the related parameter information, and detecting whether termite activity signs exist on the surface of each area of the to-be-detected dam or not after laying is completed; if the termite activity signs exist, a dam termite existence judgment result is output, the position information of the dam termite activity signs is recorded, and the position information of the dam termite activity signs is displayed on the dam digital twinborn model. The termite nest three-dimensional positioning method has the effect of improving the termite nest three-dimensional positioning precision based on the multi-sensor array.

Description

Technical Field

[0001] The present application relates to the technical field of water conservancy engineering, and in particular to a three-dimensional positioning method and device for termite nests based on a multi-sensor array. Background Art

[0002] As a vital component of infrastructure, water conservancy projects play a crucial role in ensuring the rational use of water resources, flood control and drought relief, and agricultural irrigation. Termite infestation is a major threat to the flood control safety of reservoir dams and river embankments, as well as the effectiveness of water conservancy projects. Termite infestations can cause dam leaks, piping, and sinkholes. Severe infestations can even lead to dam collapse, posing a serious safety hazard. Therefore, locating termite nests is crucial.

[0003] The existing three-dimensional positioning method for termite nests refers to a physical detection method based on bottom-penetrating radar. The specific principle is to emit high-frequency electromagnetic waves into the underground and perform imaging based on the reflected waves generated by encountering different dielectric constants (such as soil, cavities, ant nest materials, and ant roads); however, the existing three-dimensional positioning method for termite nests only has a high resolution for shallow and medium-layer environments within a few meters, and its effect is limited for deep environments or complex structures. The three-dimensional positioning accuracy of termite nests in complex environments is low, and there is room for improvement. Summary of the Invention

[0004] In order to improve the three-dimensional positioning accuracy of termite nests based on a multi-sensor array, the present application provides a three-dimensional positioning method and device for termite nests based on a multi-sensor array.

[0005] In the first aspect, the present application provides a three-dimensional termite nest positioning method based on a multi-sensor array, which adopts the following technical solutions: A three-dimensional termite nest positioning method based on a multi-sensor array, comprising: The regional division results are obtained based on the functional structure of the dam to be tested and the historical termite damage situation; The dam to be measured is photographed to obtain photographic image information, and a digital twin of the dam to be measured is created based on the photographic image information to obtain a digital twin model of the dam; Determining relevant parameters of a detection device for detecting signs of termite surface activity on the dam to be tested based on basic information of the dam to be tested to obtain relevant parameter information of the detection device; Deploy equipment for inspecting the dam to be inspected based on relevant parameter information of the inspection equipment. After deployment, detect whether there are signs of termite activity on the surface of each area of ​​the dam to be inspected. If there are signs of termite activity, output a determination result of the presence of termites in the dam, record the location information of the signs of termite activity in the dam, and display the location information of the signs of termite activity in the dam on the digital twin model of the dam. After receiving the result of the determination of the presence of termites in the dam, the potential nest location of the termites in the dam to be tested is determined based on the location information of the signs of termite activity to obtain the potential nest location; The sound waves emitted by termites are detected based on the potential ant nest location, and the coordinate position information of the ant nest is further determined and displayed on the digital twin model of the dam.

[0006] Preferably, the dam to be measured is divided into regions based on the functional characteristics of the dam to be measured to obtain a first type of division result; Based on the first type of division results, the dam to be tested is divided into two areas according to the structural design of the dam to be tested to obtain the second type of division results; Based on the second classification result, the dam to be tested is divided into regions again according to the material composition of the dam to be tested to obtain the third classification result; Obtaining historical ant damage information of the dam to be measured, wherein the historical ant damage information includes historical ant damage coordinates, historical ant damage frequency, and historical ant damage area of ​​each incident; Based on the historical ant damage coordinates and the historical ant damage frequency, the frequency of ant damage in each area in the third category division result of the dam to be tested is determined in the historical situation to obtain the regional historical ant damage frequency information; Based on the regional historical ant damage frequency information of each area, the area threshold of the corresponding area is pre-set; The area of ​​each region in the third category division result is compared with the preset division area threshold. If the area of ​​a region is smaller than the preset division area threshold, there is no need to divide the region again. If the area of ​​a region is greater than or equal to the preset division area threshold, the region is divided equally again to obtain the regional division result of the dam to be tested.

[0007] Preferably, based on the regional division result, each area of ​​the dam to be measured is photographed from multiple angles to obtain multiple multi-angle regional photographing image information of each area; Perform image fusion on the multi-angle regional image information of the same area to obtain regional fused image information of each area; Perform image fusion on the regional fusion image information of each region to obtain the overall fusion image information of the dam to be measured; A digital twin of the dam to be measured is created based on the overall fused image information of the dam to be measured to obtain a digital twin model of the dam, and the regional division result of the dam to be measured is displayed and marked on the digital twin model of the dam.

[0008] Preferably, basic information of the dam to be measured is obtained and stored, wherein the basic information of the dam to be measured includes information about the region to which the dam belongs and information about the dam structure diagram; Determining the possible termite species that may appear in the dam to be tested based on the information about the area to which the dam belongs to obtain dam termite type prediction information; determining the infestation degree of each type of termite in the dam termite type prediction information in the area to which the dam to be tested belongs based on the information about the area to which the dam belongs to obtain infestation prediction index information of each predicted termite type; Determining favorable termite nesting locations in the dam to be tested based on the dam structure diagram information to obtain favorable termite nesting location information; According to the prediction information of the dam termite type and the infestation prediction index information of each predicted termite type, the number of devices to be used for testing the dam is determined to obtain the number of testing devices; Determine the placement points of the detection devices based on the number of detection devices and the favorable termite nesting location information to obtain the detection device placement location information; The information on the number of detection devices and the information on the locations of the detection devices are combined to form parameter information related to the detection devices.

[0009] Preferably, based on the number information of the detection equipment and the layout position information of the detection equipment, the detection equipment is installed and set in each area of ​​the dam to be measured to obtain the equipment array information, wherein the detection equipment includes a high-definition camera and a mobile component, and the mobile component is equipped with a high-definition camera to perform mobile shooting operations; Based on the high-definition cameras deployed in each area, each area of ​​the dam to be measured is photographed in real time to obtain real-time image information of each area; Based on the real-time image information of each area, it is determined whether termites exist in each area of ​​the dam to be tested. If termites exist, a first-class termite presence determination result is output, and the position of the termites is tracked in real time based on the real-time image information to obtain the location of the first-class termite activity signs; Obtaining a termite type database, the termite type database including standard termite name information of different termite types and standard termite image information corresponding to different termite types, comparing the termite image in the real-time image information with the standard termite image information in the termite type database, determining the termite type appearing in each area of ​​the dam to be tested, and obtaining regional termite type information; Based on the real-time image information of each area, it is determined whether there is a mud blanket / mud line in each area of ​​the dam to be tested. If a mud blanket / mud line exists, a second-category termite presence determination result is output, and the position of the mud blanket / mud line is located based on the real-time image information to obtain the location of the second-category termite activity signs; Obtain the original image information of the dam to be measured and perform cache processing; Compare the real-time image information of each area with the original image information of the corresponding area to determine whether there are signs of decay in the facilities in each area of ​​the embankment to be tested. If there are signs of decay, output a third-category termite presence determination result, and determine the location of the decay based on the real-time image information to obtain the location of the third-category termite activity signs; Upon receiving any one of the first termite presence determination result, the second termite presence determination result, and the third termite presence determination result, determining that termites exist on the dam to be tested, and outputting the dam termite presence determination result; The first type of termite activity sign location, the second type of termite activity sign location, and the third type of termite activity sign location are combined to form dam termite activity sign location information, which is marked and displayed on the dam digital twin model.

[0010] Preferably, after receiving the result of determining the presence of termites in the dam, the termite activity level of the area where the termite activity signs are present in the area division result is determined based on the location information of the termite activity signs to obtain the regional termite activity level; Based on the regional termite activity, the priority of preliminary detection of termite nests in each area of ​​the dam to be tested is determined to obtain the result of the preliminary detection priority of termite nests; Determine, based on the regional termite type information, the detection items for preliminary detection of termite nests in each area of ​​the dam to be tested to obtain regional detection item information; Based on the initial ant nest priority results and regional detection project information, each area of ​​the dam to be tested is detected in turn to obtain the potential ant nest location.

[0011] Preferably, the sensor deployment pattern is determined based on the location of potential termite nests and location information of signs of termite activity; Based on the sensor deployment pattern, sensors are deployed to detect the location of potential ant nests and the location information of signs of termite activity to obtain a sensor matrix; A shielding assembly is installed based on the sensor matrix to shield environmental interference. After the shielding assembly is installed, vibration sound waves of termites in a potential ant nest are collected based on the sensor matrix to obtain ant nest vibration sound wave information. The earthquake source position, i.e., ant nest coordinate position information, is determined based on the ant nest vibration sound wave information. The coordinate location information of the ant nest is displayed on the digital twin of the dam, and the digital twin of the dam is sent to the background monitoring system based on the wireless communication module.

[0012] In a second aspect, the present application provides a three-dimensional termite nest positioning device based on a multi-sensor array, which adopts the following technical solutions: A three-dimensional termite nest positioning device based on a multi-sensor array, comprising: A regional division module is configured to divide the region according to the functional structure of the dam to be tested and the historical termite damage to obtain a regional division result; a twin creation module configured to photograph the dam to be measured to obtain photographed image information, and to create a digital twin of the dam to be measured based on the photographed image information to obtain a digital twin model of the dam; a detection equipment deployment module configured to determine, based on basic information of the dam to be tested, relevant parameters of a detection equipment for detecting signs of termite surface activity on the dam to be tested, and obtain relevant parameter information of the detection equipment; a surface activity sign identification module configured to deploy equipment for detecting the dam to be tested based on relevant parameter information of the detection equipment, and after the deployment is completed, detect whether there are signs of termite activity on the surface of each area of ​​the dam to be tested. If there are signs of termite activity, output a determination result of the presence of termites in the dam, record the location information of the signs of termite activity in the dam, and display the location information of the signs of termite activity in the dam on the digital twin model of the dam; The ant nest location preliminary determination module is configured to determine the potential nest location of termites in the dam based on the location information of termite activity signs after receiving the determination result of the presence of termites in the dam, and obtain the potential ant nest location; The termite nest positioning and display module is configured to detect the sound waves emitted by termites based on the potential ant nest location, further determine the ant nest coordinate position information and display it on the digital twin model of the dam.

[0013] In summary, this application includes at least one of the following beneficial technical effects: The dam to be tested is divided into regions based on its functional structure and historical termite damage, which provides a basis for the subsequent termite nest positioning of the dam to be tested. A digital twin model of the dam is created, and the detection equipment is deployed. After deployment, the surface activity signs of termites in various areas of the dam to be tested are detected and identified, and it is judged whether there are termites in various areas of the dam to be tested. If so, the result of the judgment of the existence of termites in the dam is output, and the location information of the signs of termite activity in the dam is recorded. The presence of termites is judged by the signs of termite activity in various areas of the dam to be tested, which provides data support for the subsequent termite nest positioning. The potential nest position of termites in the dam to be tested is judged by the location information of the signs of termite activity, and the potential nest position is obtained, which improves the positioning accuracy of the termite nest. The coordinate position information of the ant nest is further determined by detecting the sound waves emitted by the termites, which further improves the termite nest positioning accuracy based on the multi-sensor array. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the process of a three-dimensional termite nest positioning method based on a multi-sensor array. Figure 2This is a schematic diagram of the modules of a three-dimensional termite nest positioning device based on a multi-sensor array, which is mainly embodied in this embodiment.

[0015] Figure numerals: 1. Area division module; 2. Twin creation module; 3. Detection equipment layout module; 4. Surface activity sign identification module; 5. Ant nest location preliminary judgment module; 6. Termite nest positioning display module. DETAILED DESCRIPTION

[0016] The present application is further described in detail below with reference to the accompanying drawings.

[0017] The embodiment of the present application discloses a three-dimensional positioning method for termite nests based on a multi-sensor array.

[0018] A three-dimensional termite nest positioning method based on a multi-sensor array comprises the following steps: Reference Figure 1 In step S1, the regional division is performed based on the functional structure of the dam to be tested and the historical damage situation to obtain the regional division result. Step S1 specifically includes the following sub-steps: Step S11: Based on the functional characteristics of the dam to be tested, the dam to be tested is divided into regions to obtain a first type of division result, wherein the first type of division result includes an anti-seepage area, a drainage area, and a support area.

[0019] Step S12: Based on the first classification result, the dam to be tested is further divided into regions according to the structural design of the dam to be tested to obtain a second classification result. The structure of the dam to be tested can be divided into the dam crest, upstream and downstream slopes, slope foot, dam abutment, and ancillary facilities area.

[0020] Step S13: Based on the second classification result, the dam is further divided into regions according to the material composition of the dam to be tested, thereby obtaining a third classification result. The materials of the dam to be tested include an impermeable body (clay / concrete), a transition layer, a rockfill body, and a filtration and drainage body.

[0021] Step S14: obtaining historical ant damage information of the dam to be measured, wherein the historical ant damage information includes historical ant damage coordinates, historical ant damage frequencies, and the area of ​​each historical ant damage.

[0022] Step S15 , based on the historical ant damage coordinates and the historical ant damage frequency, the frequency of ant damage in each area in the third category division result of the dam to be measured in the historical situation is determined to obtain the regional historical ant damage frequency information.

[0023] Step S16: presetting the area threshold of the corresponding area based on the regional historical termite infestation frequency information of each area, wherein the higher the regional historical termite infestation frequency information, the larger the area threshold of the corresponding area.

[0024] Step S17, compare the area of ​​each region in the third category division result with the preset division area threshold. If the area of ​​a region is smaller than the preset division area threshold, there is no need to divide the region again. If the area of ​​a region is greater than or equal to the preset division area threshold, the region is divided equally again to obtain the regional division result of the dam to be tested.

[0025] Reference Figure 1 In step S2, the dam to be measured is photographed to obtain image information, and a digital twin of the dam to be measured is created based on the image information to obtain a digital twin model of the dam. Step S2 specifically includes the following sub-steps: Step S21 : photographing each area of ​​the dam to be measured from multiple angles based on the area division result to obtain multiple multi-angle area photographing image information of each area.

[0026] Step S22 , performing image fusion on the multi-angle regional image information of the same region to obtain regional fused image information of each region.

[0027] Step S23 , performing image fusion on the regional fused image information of each region to obtain the overall fused image information of the dam to be measured.

[0028] Step S24: creating a digital twin of the dam to be measured based on the overall fused image information of the dam to be measured to obtain a digital twin model of the dam, and displaying and marking the regional division results of the dam to be measured on the digital twin model of the dam.

[0029] Reference Figure 1 In step S3, the relevant parameters of the detection equipment for detecting the signs of termite surface activity on the dam to be tested are determined based on the basic information of the dam to be tested to obtain the relevant parameter information of the detection equipment. Step S3 specifically includes the following sub-steps: Step S31 , obtaining and storing basic information of the dam to be measured, wherein the basic information of the dam to be measured includes information of the region to which the dam belongs and information of a dam structure diagram.

[0030] Step S32: Based on the information of the area to which the dam belongs, determine the types of termites that may appear in the dam to be tested to obtain dam termite type prediction information; based on the information of the area to which the dam belongs, determine the degree of infestation of each type of termite in the dam termite type prediction information in the area to which the dam to be tested belongs to obtain infestation prediction index information of each predicted type of termite.

[0031] Step S33: determining favorable positions for termite nesting in the dam to be tested based on the dam structure diagram information to obtain favorable termite nesting position information.

[0032] In actual use, the back slope of the dam is the shady side and more moist, which is conducive to termite nesting. In addition, the slope foot, dam shoulders, and the junction of new and old soil and rocks of the dam are all favorable locations for termites to build nests.

[0033] Step S34 , based on the dam termite type prediction information and the flood prediction index information of each predicted termite type, the number of devices used to detect the dam is determined to obtain detection device number information.

[0034] Step S35 , determining the placement points of the detection devices based on the number information of the detection devices and the information on favorable termite nesting locations to obtain the placement location information of the detection devices.

[0035] Step S36: The number information of the detection devices and the layout position information of the detection devices are combined to form parameter information related to the detection devices.

[0036] Reference Figure 1 In step S4, the equipment for testing the dam to be tested is deployed based on the relevant parameter information of the detection equipment. After the deployment is completed, the surface of each area of ​​the dam to be tested is detected to see if there are signs of termite activity. If there are signs of termite activity, the result of the determination of the presence of termites in the dam is output, and the location information of the signs of termite activity in the dam is recorded. The location information of the signs of termite activity in the dam is displayed on the digital twin model of the dam. Step S4 specifically includes the following sub-steps: Step S41, based on the number information of detection equipment and the layout location information of detection equipment, the detection equipment is installed and set up in each area of ​​the dam to be measured to obtain the equipment array information. The detection equipment includes a high-definition camera and a mobile component. The mobile component is equipped with a high-definition camera for mobile shooting operations, which is convenient for all-round shooting of every corner of each area of ​​the dam to be measured.

[0037] Step S42 : Real-time shooting of each area of ​​the dam to be measured is performed based on each high-definition camera deployed in each area to obtain real-time shooting image information of each area.

[0038] Step S43: determine whether termites exist in each area of ​​the dam to be tested based on the real-time image information of each area. If termites exist, output a first-class termite existence determination result, and track the termite position in real time based on the real-time image information to obtain the first-class termite activity sign position.

[0039] Step S44, obtaining a termite type database, which includes standard termite name information of different termite types and standard termite image information corresponding to different termite types. The termite image in the real-time image information is compared with the standard termite image information in the termite type database to determine the termite type appearing in each area of ​​the dam to be tested and obtain regional termite type information.

[0040] Step S45, based on the real-time image information of each area, determine whether there is mud blanket / mud line in each area of ​​the dam to be tested. If there is a mud blanket / mud line, output the second type of termite existence judgment result, and locate the position of the mud blanket / mud line based on the real-time image shooting information to obtain the position of the second type of termite activity signs.

[0041] Step S46: obtaining the original image information of the dam to be measured and performing buffering processing.

[0042] Step S47, compare the real-time captured image information of each area with the original captured image information of the corresponding area to determine whether there are signs of decay in the facilities in each area of ​​the dam to be tested. If there are signs of decay, output the result of the presence of the third type of termites, and determine the location of the decay based on the real-time image shooting information to obtain the location of the third type of termite activity signs.

[0043] Step S48: When any one of the first type of termite presence determination result, the second type of termite presence determination result, and the third type of termite presence determination result is received, it is determined that termites exist in the dam to be tested, and the dam termite presence determination result is output.

[0044] In step S49, the first type of termite activity sign location, the second type of termite activity sign location, and the third type of termite activity sign location are combined to form the dam termite activity sign location information, and the dam termite activity sign location information is marked and displayed on the dam digital twin model.

[0045] Reference Figure 1 In step S5, after receiving the result of the determination of the presence of termites in the dam, the potential nest location of termites in the dam to be tested is determined based on the location information of the signs of termite activity to obtain the potential nest location. Step S5 specifically includes the following sub-steps: In step S51, upon receiving the dam termite presence determination result, the termite activity level in the area where termite activity signs are present in the area division results is determined based on the termite activity sign location information to obtain the regional termite activity level. The greater the number of termite activity sign locations in the termite activity sign location information in each area, the higher the termite activity level in that area. Furthermore, the greater the proportion of first-category termite activity sign locations in the termite activity sign location information in each area, the higher the termite activity level in that area.

[0046] Step S52: determining the priority of preliminary detection of termite nests in each area of ​​the dam to be detected based on the regional termite activity to obtain a result of the preliminary detection priority of the termite nests.

[0047] Step S53: determining the detection items for preliminary detection of termite nests in each area of ​​the dam to be detected based on the regional termite type information to obtain regional detection item information.

[0048] In practice, different termites nest at varying depths, and different detection methods have varying accuracy for detecting nests at different depths. For example, subterranean termite nests are typically 2-4 meters deep, while those of Macrotermes serratus can reach 3-5 meters or even deeper. Ground-penetrating radar (GPR) detection uses high-frequency electromagnetic waves to generate images based on reflected waves from different dielectric constants (e.g., soil, cavities, nest materials, and ant paths). GPR has high resolution for shallow and intermediate layers, but its effectiveness is limited for deeper structures. High-density electrical detection measures soil resistivity distribution. The internal structures of nests (channels, fungus beds, cavities) and humidity changes around the nest cavity differ from the surrounding dense soil in resistivity, making it suitable for detecting deep underground structures. In the embodiments of the present application, the termite nest depth in each area is determined by the type of termites present in that area, and the detection methods for that area are then determined. Termite nests on the dam to be tested are then zoned for detection, improving the accuracy of locating termite nests on the dam to be tested.

[0049] To illustrate, for example, if the regional termite type information indicates that only subterranean termites exist in an area, the regional detection item information for that area will be ground-penetrating radar detection. If the regional termite type information indicates that only Macrotermes fulvae exist in an area, the regional detection item information for that area will be high-density electrical detection. If the regional termite type information indicates that both subterranean termites and Macrotermes fulvae exist in an area, the regional detection item information for that area will be a combination of ground-penetrating radar detection and high-density electrical detection.

[0050] Step S54: Based on the result of the initial ant nest detection priority and the regional detection item information, each area of ​​the dam to be detected is detected in turn to obtain the potential ant nest location.

[0051] Reference Figure 1 In step S6, the acoustic waves emitted by termites are detected based on the potential nest location, and the nest coordinates are further determined and displayed on the dam digital twin model. Step S6 specifically includes the following sub-steps: Step S61: Determine a sensor placement pattern based on the potential nest locations and termite activity sign location information. Sensor placement patterns include grid arrays, radial arrays, and profile arrays. A grid array is used at potential nest locations. A profile array is used at the first and second termite activity sign locations in the termite activity sign location information. A radial array is used at the third termite activity sign location information.

[0052] Step S62: Based on the sensor placement pattern, sensors for detecting the location of potential ant nests and location information of signs of termite activity are deployed to obtain a sensor matrix.

[0053] Step S63, based on the sensor matrix, the shielding component is enclosed and set up. The shielding component is used to shield environmental interference. After the enclosing operation of the shielding component is completed, the vibration sound waves of termites in the potential ant nest are collected based on the sensor matrix to obtain the ant nest vibration sound wave information, and the source position, that is, the ant nest coordinate position information, is determined based on the ant nest vibration sound wave information.

[0054] In step S64, the ant nest coordinate location information is displayed on the dam digital twin, and the dam digital twin is sent to the background monitoring system based on the wireless communication module. It should be noted that the wireless communication module in the embodiment of the present application refers to a wireless communication module based on wireless Bluetooth technology.

[0055] The embodiment of the present application also discloses a three-dimensional termite nest positioning device based on a multi-sensor array.

[0056] Reference Figure 2 , a three-dimensional termite nest positioning device based on a multi-sensor array includes: The regional division module is configured to perform regional division according to the functional structure of the dam to be tested and the historical termite damage situation to obtain regional division results.

[0057] The twin creation module is configured to photograph the dam to be tested to obtain photographed image information, and create a digital twin of the dam to be tested based on the photographed image information of the dam to obtain a digital twin model of the dam.

[0058] The detection equipment deployment module is configured to determine relevant parameters of the detection equipment for detecting signs of termite surface activity on the dam to be tested based on basic information of the dam to be tested, and obtain relevant parameter information of the detection equipment.

[0059] The surface activity sign identification module is configured to deploy equipment for detecting the dam to be tested based on the relevant parameter information of the detection equipment. After the deployment is completed, it detects whether there are signs of termite activity on the surface of each area of ​​the dam to be tested. If there are signs of termite activity, the judgment result of the presence of termites in the dam is output, and the location information of the signs of termite activity on the dam is recorded, and the location information of the signs of termite activity on the dam is displayed on the digital twin model of the dam.

[0060] The ant nest location preliminary judgment module is configured to, after receiving the result of the determination of the existence of termites in the dam, determine the potential nest location of termites in the dam to be tested based on the location information of the signs of termite activity to obtain the potential ant nest location.

[0061] The termite nest positioning and display module is configured to detect the sound waves emitted by termites based on the potential nest location, further determine the nest coordinate location information and display it on the digital twin model of the dam.

[0062] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A three-dimensional positioning method for termite nests based on a multi-sensor array, characterized in that: The following steps are involved: The regional division results are obtained based on the functional structure of the dam to be tested and the historical termite damage situation; The dam to be measured is photographed to obtain photographic image information, and a digital twin of the dam to be measured is created based on the photographic image information to obtain a digital twin model of the dam; Determining relevant parameters of a detection device for detecting signs of termite surface activity on the dam to be tested based on basic information of the dam to be tested to obtain relevant parameter information of the detection device; Deploy equipment for inspecting the dam to be inspected based on relevant parameter information of the inspection equipment. After deployment, detect whether there are signs of termite activity on the surface of each area of ​​the dam to be inspected. If there are signs of termite activity, output a determination result of the presence of termites in the dam, record the location information of the signs of termite activity in the dam, and display the location information of the signs of termite activity in the dam on the digital twin model of the dam. After receiving the result of the determination of the presence of termites in the dam, the potential nest location of the termites in the dam to be tested is determined based on the location information of the signs of termite activity to obtain the potential nest location; The sound waves emitted by termites are detected based on the potential ant nest location, and the coordinate position information of the ant nest is further determined and displayed on the digital twin model of the dam.

2. The three-dimensional positioning method for termite nests based on a multi-sensor array according to claim 1, characterized in that: The step of performing regional division according to the functional structure of the dam to be measured and the historical termite damage to obtain regional division results specifically includes: Based on the functional characteristics of the dam to be tested, the dam is divided into regions to obtain the first type of division results; Based on the first type of division results, the dam to be tested is divided into two areas according to the structural design of the dam to be tested to obtain the second type of division results; Based on the second classification result, the dam to be tested is divided into regions again according to the material composition of the dam to be tested to obtain the third classification result; Obtaining historical ant damage information of the dam to be measured, wherein the historical ant damage information includes historical ant damage coordinates, historical ant damage frequency, and historical ant damage area of ​​each incident; Based on the historical ant damage coordinates and the historical ant damage frequency, the frequency of ant damage in each area in the third category division result of the dam to be tested is determined in the historical situation to obtain the regional historical ant damage frequency information; Based on the regional historical ant damage frequency information of each area, the area threshold of the corresponding area is pre-set; The area of ​​each region in the third category division result is compared with the preset division area threshold. If the area of ​​a region is smaller than the preset division area threshold, there is no need to divide the region again. If the area of ​​a region is greater than or equal to the preset division area threshold, the region is divided equally again to obtain the regional division result of the dam to be tested.

3. The method for three-dimensional positioning of termite nests based on a multi-sensor array according to claim 2, characterized in that: The steps of photographing the dam to be measured to obtain photographed image information, and creating a digital twin of the dam to be measured based on the photographed image information to obtain a digital twin model of the dam specifically include: Based on the regional division results, each area of ​​the dam to be measured is photographed from multiple angles to obtain multiple multi-angle regional shooting image information of each area; Perform image fusion on the multi-angle regional image information of the same area to obtain regional fused image information of each area; Perform image fusion on the regional fusion image information of each region to obtain the overall fusion image information of the dam to be measured; A digital twin of the dam to be measured is created based on the overall fused image information of the dam to be measured to obtain a digital twin model of the dam, and the regional division result of the dam to be measured is displayed and marked on the digital twin model of the dam.

4. The method for three-dimensional positioning of termite nests based on a multi-sensor array according to claim 3, characterized in that: The step of determining relevant parameters of a detection device for detecting signs of termite surface activity on the dam to be tested based on the basic information of the dam to be tested to obtain relevant parameter information of the detection device specifically includes: Obtaining and storing basic information of the dam to be measured, wherein the basic information of the dam to be measured includes information about the region to which the dam belongs and information about the dam structure diagram; Determining the possible termite species that may appear in the dam to be tested based on the information about the area to which the dam belongs to obtain dam termite type prediction information; determining the infestation degree of each type of termite in the dam termite type prediction information in the area to which the dam to be tested belongs based on the information about the area to which the dam belongs to obtain infestation prediction index information of each predicted termite type; Determining favorable termite nesting locations in the dam to be tested based on the dam structure diagram information to obtain favorable termite nesting location information; According to the prediction information of the dam termite type and the infestation prediction index information of each predicted termite type, the number of devices to be used for testing the dam is determined to obtain the number of testing devices; Determine the placement points of the detection devices based on the number of detection devices and the favorable termite nesting location information to obtain the detection device placement location information; The information on the number of detection devices and the information on the locations of the detection devices are combined to form parameter information related to the detection devices.

5. The method for three-dimensional positioning of termite nests based on a multi-sensor array according to claim 4, characterized in that: The steps of deploying equipment for detecting the dam to be tested based on relevant parameter information of the detection equipment, detecting whether there are signs of termite activity on the surface of each area of ​​the dam to be tested after the deployment is completed, outputting a determination result of the presence of termites in the dam if there are signs of termite activity, recording location information of the signs of termite activity in the dam, and displaying the location information of the signs of termite activity in the dam on the digital twin model of the dam specifically include: Based on the number of detection equipment and the location of the detection equipment, the detection equipment is installed and set up in each area of ​​the dam to be measured to obtain equipment array information, wherein the detection equipment includes a high-definition camera and a mobile component, and the mobile component is equipped with a high-definition camera for mobile shooting operation; Based on the high-definition cameras deployed in each area, each area of ​​the dam to be measured is photographed in real time to obtain real-time image information of each area; Based on the real-time image information of each area, it is determined whether termites exist in each area of ​​the dam to be tested. If termites exist, a first-class termite presence determination result is output, and the position of the termites is tracked in real time based on the real-time image information to obtain the location of the first-class termite activity signs; Obtaining a termite type database, the termite type database including standard termite name information of different termite types and standard termite image information corresponding to different termite types, comparing the termite image in the real-time image information with the standard termite image information in the termite type database, determining the termite type appearing in each area of ​​the dam to be tested, and obtaining regional termite type information; Based on the real-time image information of each area, it is determined whether there is a mud blanket / mud line in each area of ​​the dam to be tested. If a mud blanket / mud line exists, a second-category termite presence determination result is output, and the position of the mud blanket / mud line is located based on the real-time image information to obtain the location of the second-category termite activity signs; Obtain the original image information of the dam to be measured and perform cache processing; Compare the real-time image information of each area with the original image information of the corresponding area to determine whether there are signs of decay in the facilities in each area of ​​the embankment to be tested. If there are signs of decay, output a third-category termite presence determination result, and determine the location of the decay based on the real-time image information to obtain the location of the third-category termite activity signs; Upon receiving any one of the first termite presence determination result, the second termite presence determination result, and the third termite presence determination result, determining that termites exist on the dam to be tested, and outputting the dam termite presence determination result; The first type of termite activity sign location, the second type of termite activity sign location, and the third type of termite activity sign location are combined to form dam termite activity sign location information, which is marked and displayed on the dam digital twin model.

6. The method for three-dimensional positioning of termite nests based on a multi-sensor array according to claim 5, characterized in that: The step of determining the potential nest location of termites in the dam based on the location information of termite activity signs after receiving the result of the determination of the presence of termites in the dam to be tested specifically includes: After receiving the result of the determination of the presence of termites in the dam, the termite activity level of the area with the termite activity signs in the area division result is determined based on the location information of the termite activity signs to obtain the regional termite activity level; Based on the regional termite activity, the priority of preliminary detection of termite nests in each area of ​​the dam to be tested is determined to obtain the result of the preliminary detection priority of termite nests; Determine, based on the regional termite type information, the detection items for preliminary detection of termite nests in each area of ​​the dam to be tested to obtain regional detection item information; Based on the initial ant nest priority results and regional detection project information, each area of ​​the dam to be tested is detected in turn to obtain the potential ant nest location.

7. The method for three-dimensional positioning of termite nests based on a multi-sensor array according to claim 6, characterized in that: The step of detecting the sound waves emitted by termites based on the potential ant nest location, further determining the coordinate location information of the ant nest and displaying it on the digital twin model of the dam specifically includes: Determine the sensor deployment pattern based on the location of potential termite nests and the location of signs of termite activity; Based on the sensor deployment pattern, sensors are deployed to detect the location of potential ant nests and the location information of signs of termite activity to obtain a sensor matrix; A shielding assembly is installed based on the sensor matrix to shield environmental interference. After the shielding assembly is installed, vibration sound waves of termites in a potential ant nest are collected based on the sensor matrix to obtain ant nest vibration sound wave information. The earthquake source position, i.e., ant nest coordinate position information, is determined based on the ant nest vibration sound wave information. The coordinate location information of the ant nest is displayed on the digital twin of the dam, and the digital twin of the dam is sent to the background monitoring system based on the wireless communication module.

8. A three-dimensional termite nest positioning device based on a multi-sensor array, characterized in that: The three-dimensional termite nest positioning device based on a multi-sensor array is used to implement the three-dimensional termite nest positioning method based on a multi-sensor array according to any one of claims 1 to 7, comprising: A regional division module is configured to divide the region according to the functional structure of the dam to be tested and the historical termite damage to obtain a regional division result; a twin creation module configured to photograph the dam to be measured to obtain photographed image information, and to create a digital twin of the dam to be measured based on the photographed image information to obtain a digital twin model of the dam; a detection equipment deployment module configured to determine, based on basic information of the dam to be tested, relevant parameters of a detection equipment for detecting signs of termite surface activity on the dam to be tested, and obtain relevant parameter information of the detection equipment; a surface activity sign identification module configured to deploy equipment for detecting the dam to be tested based on relevant parameter information of the detection equipment, and after the deployment is completed, detect whether there are signs of termite activity on the surface of each area of ​​the dam to be tested. If there are signs of termite activity, output a determination result of the presence of termites in the dam, record the location information of the signs of termite activity in the dam, and display the location information of the signs of termite activity in the dam on the digital twin model of the dam; The ant nest location preliminary determination module is configured to determine the potential nest location of termites in the dam based on the location information of termite activity signs after receiving the determination result of the presence of termites in the dam, and obtain the potential ant nest location; The termite nest positioning and display module is configured to detect the sound waves emitted by termites based on the potential ant nest location, further determine the ant nest coordinate position information and display it on the digital twin model of the dam.

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