A method for locating and repairing a dam termite nest by polymer grouting and related equipment

Abstract

The application discloses a kind of dam termite nest location and polymer grouting repair method and related equipment, method includes: obtaining the vegetation coverage of each area of target dam, based on vegetation coverage, corresponding inspection equipment is used to collect the image data of target dam;Wherein, each collection image in image data is associated with coordinate information;Image data is identified to feature point, and the recognition result is synchronized with coordinate information, to generate key detection area distribution map;The region corresponding to key detection area distribution map is detected and analyzed by ground penetrating radar equipment, to obtain underground nest information;Based on underground nest information, each termite nest in target dam is injected with polymer material to complete filling repair.The application can maximize the disturbance to dam structure while eradicating the root cause, realize the integrated management of accurate positioning, efficient and safe and reliable repair, and can be widely applied in dam termite control technical field.

Description

Technical Field

[0001] This invention relates to the field of termite control technology for dikes, and in particular to a method and related equipment for locating termite nests and repairing them with polymer grouting. Background Technology

[0002] As core infrastructure of water conservancy projects such as flood control, irrigation, and water supply, the structural integrity and stability of dams directly affect the safety of people's lives and property and the sustainable and stable development of the social economy within the basin. Termites feed on the cellulose in the dam soil. During nest building and foraging, they construct a crisscrossing network of tunnels inside the dam. These tunnels and nests severely damage the compactness and integrity of the dam soil, forming through-flow seepage channels. Under high water levels during the flood season, water can easily seep rapidly along these tunnels, leading to major safety hazards such as piping, seepage, and even dam failure, posing a continuous threat to dam safety.

[0003] Currently, traditional methods for locating termite nests mainly include manual inspection, baiting and killing, and cone probing, all of which have significant technical defects: manual inspection relies on the experience and judgment of operators and can only identify external signs such as surface ant trails and swarming holes, making it difficult to accurately locate deep underground nests; baiting and killing is time-consuming and cannot determine the specific location, depth, and size of the nest; cone probing is a destructive detection method, which is not only inefficient but may also damage the original structural integrity of the dam, creating new seepage channels and further exacerbating the safety hazards of the dam.

[0004] Existing termite mound grouting repair technology has several drawbacks, including high cost, significant disturbance to dikes, uneven diffusion of grouting material within the mound, and poor repair results. Summary of the Invention

[0005] The main objective of this invention is to provide a method, apparatus, electronic device, storage medium, and program product for locating termite nests and repairing them with polymer grouting, aiming to solve at least one problem in the prior art.

[0006] To achieve the above objectives, one aspect of this invention proposes a method for locating termite nests in dams and repairing them using polymer grouting, the method comprising: The vegetation cover of each area of ​​the target embankment is obtained, and image data of the target embankment is collected through corresponding inspection equipment based on the vegetation cover. Each image in the image data is associated with coordinate information. Feature points are identified in the image data, and the identification results are synchronized with coordinate information to generate a distribution map of key detection areas; By using ground-penetrating radar equipment to detect and analyze the areas corresponding to the key detection area distribution map, information on underground nests can be obtained. Based on information about underground nests, polymer materials are injected into each termite nest in the target dam to complete the filling and repair.

[0007] In some embodiments, the inspection equipment is equipped with a multispectral camera and a positioning module, and collects image data of the target embankment based on the vegetation cover using the corresponding inspection equipment, including the following steps: Based on vegetation cover, all areas of the target embankment are classified into a first area with no vegetation cover and a second area with vegetation cover. A drone is used to conduct low-altitude patrol and inspection of the first area, and a multispectral camera is used to collect the first image data of the first area; during the process of collecting the first image data through low-altitude patrol and inspection, the positioning module associates the real-time coordinate information with each collected image in the first image data. A robot dog is used to conduct ground inspections of the second area, and a multispectral camera is used to collect second image data of the second area. During the process of collecting second image data through ground inspection, the positioning module associates real-time coordinate information with each collected image in the second image data.

[0008] In some embodiments, feature point identification is performed on image data, and the identification results are synchronized with coordinate information to generate a distribution map of key detection areas, including the following steps: A pre-trained image recognition model is used to identify feature points in image data, thus obtaining the presence of feature points in each acquired image. Among them, the feature points include the fly-off holes, ventilation holes, mud back and mud line. The image recognition model is obtained by training a preset deep learning model on images labeled with feature point tags. Based on the existence of feature points, the coordinate information associated with the acquired images containing feature points is used to conduct key detection and marking on the regional distribution map of the target dam, generating a key detection area distribution map.

[0009] In some embodiments, the three-dimensional coordinates of feature points are marked on the key detection area distribution map. Ground-penetrating radar equipment is used to detect and analyze the area corresponding to the key detection area distribution map to obtain underground nest information, including the following steps: Based on three-dimensional coordinates, ground-penetrating radar equipment is used to detect and analyze the preset surrounding range of feature points to obtain radar image waveforms of the relevant areas. The radar image waveform is compared with a radar map library of termite nests. Termite nests are identified based on the comparison results, and then the location information of the termite nests is determined by combining the three-dimensional coordinates and the echo parameters of the detection analysis. Information on underground termite nests was compiled based on all identified termite nests and their locations.

[0010] In some embodiments, the underground nest information includes the location information of each termite nest. Based on the underground nest information, polymer material is injected into each termite nest in the target dam to complete the filling and repair, including the following steps: Based on the coordinate and location information of feature points, or in response to manual identification and review instructions, termite nests are classified to obtain the connectivity type between each termite nest and the feature points. Based on the connectivity type, a sampling preset method is used to inject polymer materials into each termite nest in the target dam to complete the filling and repair.

[0011] In some embodiments, the connectivity type includes direct connectivity and indirect connectivity. Based on the connectivity type, a preset sampling method is used to inject polymer material into each termite nest in the target dam to complete the filling and repair, including the following steps: When the connection type is direct connection, a visible grouting pipe laying system is used to probe into the corresponding termite nest from the feature point to inject polymer material. The ant nest visual grouting pipe deployment system includes a flexible grouting pipe with a camera at the top. The flexible grouting pipe is used to transport polymer materials, and the camera is used to capture real-time views of the flexible grouting pipe. The polymer materials contain termite-killing drugs and expansion agents. When the connection type is not directly connected, the location of the soil directly above the corresponding termite nest is located through the location information. A vertical hole is drilled from the soil directly above to the termite nest. Then, a visible grouting pipe laying system is used to probe into the corresponding termite nest from the soil directly above to inject polymer material. The termite nest is filled and repaired by the reactive expansion of the expanding agent in the polymer material.

[0012] In some embodiments, the method further includes the following steps: The area corresponding to the termite nest was detected and re-examined using ground-penetrating radar equipment. By comparing the results of the re-inspection with the results of the detection analysis, data on the filling and repair effect of termite nests were obtained.

[0013] To achieve the above objectives, another aspect of the present invention provides a device for locating termite nests and repairing them with polymer grouting, the device comprising: The first module is used to obtain the vegetation cover of various areas of the target embankment, and to collect image data of the target embankment through corresponding inspection equipment based on the vegetation cover; each collected image in the image data is associated with coordinate information; The second module is used to identify feature points in image data, synchronize the identification results with coordinate information, and generate a distribution map of key detection areas. The third module is used to detect and analyze the areas corresponding to the key detection area distribution map using ground penetrating radar equipment to obtain information on underground nests; The fourth module is used to inject polymer materials into each termite nest in the target dam based on underground nest information to complete the filling and repair.

[0014] In some embodiments, the apparatus further includes a fifth module for performing the following operations: The area corresponding to the termite nest was detected and re-examined using ground-penetrating radar equipment. By comparing the results of the re-inspection with the results of the detection analysis, data on the filling and repair effect of termite nests were obtained.

[0015] To achieve the above objectives, another aspect of the present invention provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the aforementioned method.

[0016] To achieve the above objectives, another aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned method.

[0017] To achieve the above objectives, another aspect of the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the aforementioned method.

[0018] The embodiments of the present invention include at least the following beneficial effects: The present invention provides a method, apparatus, electronic device, storage medium, and program product for locating termite nests and repairing them with polymer grouting in embankments. This solution obtains the vegetation cover of various areas of the target embankment, and collects image data of the target embankment using corresponding inspection equipment based on the vegetation cover. Each collected image is associated with coordinate information. Feature points are identified in the image data, and the identification results are synchronized with the coordinate information to generate a key detection area distribution map. Ground-penetrating radar is used to detect and analyze the areas corresponding to the key detection area distribution map to obtain underground nest information. Based on the underground nest information, polymer materials are injected into each termite nest in the target embankment to complete the filling and repair. This invention utilizes vegetation cover analysis combined with image recognition and coordinate positioning to initially screen key areas, significantly improving detection efficiency and targeting, and effectively overcoming the blindness of manual inspections. Furthermore, this invention employs ground-penetrating radar for non-destructive detection of key areas, accurately acquiring the location, depth, and size information of underground nests, avoiding structural damage to the dam body caused by traditional cone probing methods. Moreover, this invention uses polymer grouting based on precise nest information, enabling effective diffusion and filling of the material within the ant tunnels, significantly improving the compactness and integrity of the repair. While eradicating hidden dangers, it minimizes disturbance to the dam structure, achieving integrated governance that is precise in location, efficient in repair, and safe and reliable. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of an implementation environment for a method of locating termite nests and repairing polymer grouting in dams, provided in an embodiment of the present invention. Figure 2 This is a flowchart illustrating a method for locating termite nests and repairing them with polymer grouting, as provided in an embodiment of the present invention. Figure 3 This is a schematic diagram of a typical map example of the termite nest radar map library provided in the embodiments of the present invention; Figure 4 This is a schematic diagram of the overall process of the method for locating termite nests and repairing polymer grouting in dams provided in an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating a typical distribution example of termite nests provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of an example of grouting repair of ant tunnels directly connected in an embodiment of the present invention; Figure 7 This is a schematic diagram of an example of grouting repair of vertically drilled holes provided in an embodiment of the present invention; Figure 8 This is a schematic diagram illustrating a structural example of the anthill visual grouting pipe laying system provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of a device for locating termite nests and repairing polymer grouting in dams, provided in an embodiment of the present invention. Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention; Figure 11 This is a schematic diagram illustrating an example of locating ant nests based on different branching paths of ant trails, provided by an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of this invention; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this invention as detailed in the appended claims.

[0021] It is understood that the terms “first,” “second,” etc., used in this invention may be used herein to describe various concepts, but unless specifically stated otherwise, these concepts are not limited by these terms. These terms are used only to distinguish one concept from another. For example, first information may also be referred to as second information without departing from the scope of embodiments of the invention, and similarly, second information may also be referred to as first information. Depending on the context, the words “if,” “when,” or “in response to determination” as used herein may be interpreted as “when…” or “when…” or “in response to determination.”

[0022] The terms “at least one,” “multiple,” “each,” “any,” etc., used in this invention, “at least one” includes one, two, or more than two; “multiple” includes two or more than two; “each” refers to each of the corresponding multiple; and “any” refers to any one of the multiple.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing embodiments of the invention only and is not intended to limit the invention.

[0024] In related technologies, traditional methods are difficult to meet the core requirements of water conservancy projects for termite control in dikes: "precise, efficient, low-disturbance, and economical".

[0025] In view of this, this invention provides a method and related equipment for locating termite nests and repairing them with polymer grouting in a dam. This method involves acquiring the vegetation cover of various areas of the target dam, and then collecting image data of the target dam using corresponding inspection equipment based on the vegetation cover. Each acquired image is associated with coordinate information. Feature points in the image data are identified, and the identification results are synchronized with the coordinate information to generate a key detection area distribution map. Ground-penetrating radar is used to detect and analyze the areas corresponding to the key detection area distribution map to obtain underground nest information. Based on the underground nest information, polymer materials are injected into each termite nest in the target dam to complete the filling and repair. This invention utilizes vegetation cover analysis combined with image recognition and coordinate positioning to initially screen key areas, significantly improving detection efficiency and targeting, and effectively overcoming the blindness of manual inspections. Furthermore, this invention employs ground-penetrating radar for non-destructive detection of key areas, accurately acquiring the location, depth, and size information of underground nests, avoiding structural damage to the dam body caused by traditional cone probing methods. Moreover, this invention uses polymer grouting based on precise nest information, enabling effective diffusion and filling of the material within the ant tunnels, significantly improving the compactness and integrity of the repair. While eradicating hidden dangers, it minimizes disturbance to the dam structure, achieving integrated governance that is precise in location, efficient in repair, and safe and reliable.

[0026] It is understood that the method for locating termite nests and repairing dams using polymer grouting provided by this invention can be applied to any computer device with data processing and computing capabilities, and this computer device can be various types of terminals or servers. When the computer device in the embodiments is a server, the server is an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. Optionally, the terminal can be a smartphone, tablet, laptop, or desktop computer, but it is not limited to these.

[0027] like Figure 1 The diagram shown is a schematic representation of an implementation environment provided by an embodiment of the present invention. (Refer to...) Figure 1 The implementation environment includes at least one terminal 102 and a server 101. The terminal 102 and the server 101 can be connected via a network, either wirelessly or via a wired connection, to complete data transmission and exchange.

[0028] Server 101 can be a standalone physical server, a server cluster or distributed system consisting of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms.

[0029] Additionally, server 101 can also be a node server in a blockchain network. Blockchain is a novel application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanisms, and encryption algorithms.

[0030] Terminal 102 can be a smartphone, tablet computer, laptop computer, desktop computer, smart speaker, smartwatch, etc., but is not limited to these. Terminal 102 and server 101 can be directly or indirectly connected via wired or wireless communication, and this embodiment of the invention does not impose any limitations.

[0031] For example, based on Figure 1 The implementation environment shown in this embodiment of the invention provides a method for locating termite nests in dams and repairing them with polymer grouting. The following description uses the application of this method in server 101 as an example. It can be understood that this method can also be applied in terminal 102.

[0032] Reference Figure 2 , Figure 2 This is an optional flowchart of the method for locating termite nests and repairing polymer grouting in dams provided in this embodiment of the invention. The execution subject of this method for locating termite nests and repairing polymer grouting in dams can be any of the aforementioned computer devices (including servers or terminals). Figure 2 The method may include, but is not limited to, steps S100 to S400.

[0033] Step S100: Obtain the vegetation cover of each area of ​​the target embankment, and collect image data of the target embankment through the corresponding inspection equipment based on the vegetation cover. Each captured image in the image data is associated with coordinate information; It should be noted that the inspection equipment is equipped with a multispectral camera and a positioning module. In some embodiments, collecting image data of the target embankment based on vegetation cover using the corresponding inspection equipment may include the following steps: classifying all areas of the target embankment into a first area without vegetation cover and a second area with vegetation cover based on vegetation cover; using a drone to conduct low-altitude patrol inspection of the first area and collecting first image data of the first area using a multispectral camera; wherein, during the process of collecting the first image data through low-altitude patrol inspection, the positioning module associates real-time coordinate information with each collected image in the first image data; using a robot dog to conduct ground inspection of the second area and collecting second image data of the second area using a multispectral camera; wherein, during the process of collecting the second image data through ground inspection, the positioning module associates real-time coordinate information with each collected image in the second image data.

[0034] For example, in some specific implementations, a preliminary survey of the vegetation cover on the target embankment is first conducted. For areas where vegetation has been promptly trimmed and there is no obvious obstruction, a drone equipped with a multispectral camera is used for low-altitude patrol inspection to collect image data of the embankment surface (visible light and infrared). For areas where vegetation height exceeds 1.5m and cannot be penetrated by drones, a robotic dog is used for ground inspection, collecting feature point information through its onboard short-range detection module to ensure that the inspection covers the entire embankment area.

[0035] The "close-range detection module" mainly refers to a multispectral camera that acquires image data (visible light and infrared) of the dam surface, including coordinate information, with consistent data format and accuracy. By pre-setting the flight paths of the robot dog and drone, the dam inspection is ensured to be thorough, with the robot dog conducting inspections at the boundary.

[0036] Step S200: Identify feature points in the image data, synchronize the identification results with coordinate information, and generate a distribution map of key detection areas; It should be noted that in some embodiments, step S200 may include the following steps: using a pre-trained image recognition model to identify feature points in the image data, thereby obtaining the presence of feature points in each acquired image in the image data; wherein, the feature points include spur holes, ventilation holes, and mud back and mud line, and the image recognition model is trained on a preset deep learning model through images labeled with feature point labels; based on the coordinate information associated with the acquired images containing feature points according to the presence of feature points, key detection and marking are performed on the regional distribution map of the target dam, generating a key detection area distribution map.

[0037] For example, in some specific implementations, the image data collected during the inspection is imported into a background processing system. A pre-set deep learning image recognition model is used to automatically identify and filter feature points such as termite swarming holes and ventilation holes in the images, eliminating interfering information. Simultaneously, the three-dimensional coordinates of each feature point are acquired via a GPS positioning module, generating a distribution map of key detection areas. Here, "synchronous" means that the system identifies the inherent positioning data in the images and marks them on the map.

[0038] Step S300: The area corresponding to the key detection area distribution map is detected and analyzed by ground penetrating radar equipment to obtain information on underground nests; It should be noted that the three-dimensional coordinates of the feature points are marked on the key detection area distribution map. In some embodiments, step S300 may include the following steps: based on the three-dimensional coordinates, the ground penetrating radar device is used to detect and analyze the preset surrounding area of ​​the feature points to obtain the radar image waveform of the relevant area; the radar image waveform is compared with the termite nest radar map library, and termite nests are identified according to the comparison results. Then, the location information of the termite nests is determined by combining the three-dimensional coordinates and the echo parameters of the detection analysis; and underground nest information is obtained by organizing all the identified termite nests and their location information.

[0039] For example, in some specific implementations, ground-penetrating radar (GPR) equipment is used to detect areas within 5-10 meters around swarming holes and ventilation openings, based on a key detection area distribution map. Through analysis of radar electromagnetic wave reflection signals, the specific location, outline size, burial depth, and connection with termite tunnels of underground nests are accurately identified, generating a nest detection report. Since termite nests on dams are mainly distributed at depths above 3 meters, the center frequency of the GPR used is 200 MHz. The underground cavities (nests) and specific radar image waveforms are determined and compared with a typical termite nest radar image library (typical image examples are shown in...). Figure 3 As shown in the figure, the termite nest is finally identified based on the comparison results (for example, if the similarity is greater than the pre-screening threshold, it is determined to be the corresponding termite nest).

[0040] Step S400: Based on the underground nest information, inject polymer material into each termite nest in the target dam to complete the filling and repair. It should be noted that the underground nest information includes the location information of each termite nest. In some embodiments, step S400 may include the following steps: classifying termite nests based on the coordinate information and distance relationship of the location information of the feature points or in response to manual identification and review instructions, and obtaining the connectivity type between each termite nest and the feature points; based on the connectivity type, injecting polymer material into each termite nest in the target dam using a sampling preset method to complete the filling and repair.

[0041] For example, in some specific implementations, the connectivity type can first be determined by the distance relationship between the coordinate information and location information of the feature points to adaptively determine the operation mode for injecting polymer materials. For example, termite nests with a distance relationship less than a preset distance are determined to be directly connected, while other termite nests are determined to be not directly connected; or, to avoid errors due to differences between logical judgment and reality, the connectivity type of each termite nest can be directly identified by manually verifying and inputting signals.

[0042] It should be noted that the connectivity type includes direct connectivity and indirect connectivity. In some embodiments, based on the connectivity type, a sampling preset method is used to inject polymer materials into each termite nest in the target dam to complete the filling and repair. This may include the following steps: When the connectivity type is direct connectivity, a visible grouting pipe deployment system is used to probe into the corresponding termite nest from the feature point to inject polymer materials; wherein, the visible grouting pipe deployment system includes a flexible grouting pipe, the top of which is equipped with a camera. The flexible grouting pipe is used to transmit polymer materials, and the camera is used to collect real-time probe views of the flexible grouting pipe; the polymer materials contain termite-killing drugs and expansion agents; When the connectivity type is indirect connectivity, the location of the soil directly above the corresponding termite nest is located through location information, and a vertical hole is drilled from the soil directly above the termite nest to the termite nest. Then, the visible grouting pipe deployment system is used to probe into the corresponding termite nest from the soil directly above the termite nest to inject polymer materials; the expansion of the expansion agent in the polymer materials fills and repairs the termite nest.

[0043] For example, in some specific embodiments, for the first nest confirmed by detection to be directly connected to the swarming hole through the termite tunnel, a visible grouting pipe deployment system is used. A flexible PE grouting pipe with a diameter of 1cm is selected and precisely inserted into the nest along the termite tunnel. (Specifically, when the visible grouting system penetrates the termite tunnel, the correct termite tunnel leading to the nest is selected according to the different types of forks in the road; such as...) Figure 11 The image shows an example of some nest directions when encountering a fork in the termite tunnel (until the grouting pipe outlet reaches the core area of ​​the nest, where the nest is identified by a camera in the visible grouting pipe deployment system). For nests inaccessible by direct termite tunnel access, vertical holes are drilled on the soil surface directly above them, with the hole diameter strictly controlled to ≤4cm, using the visible grouting pipe deployment system. The grouting process involves: releasing the endoscope clip, removing the endoscope, and directionally injecting a polymer material containing termite-killing agents. The injected polymer material undergoes a rapid chemical reaction within the nest (reaction time ≤1 minute), expanding rapidly (expansion ratio ≥10 times), fully filling the nest and surrounding termite tunnel gaps, achieving simultaneous termite extermination and nest structure reinforcement, ultimately achieving the goal of dam repair. The polymer grouting material used has expansion properties and can diffuse within the termite nest, effectively filling all the pores.

[0044] It should be noted that, in some embodiments, the method may also include the following steps: using ground-penetrating radar equipment to re-inspect the area corresponding to the termite nest; comparing the results of the re-inspection with the results of the detection analysis to obtain data on the filling and repair effect of the termite nest.

[0045] For example, in some specific implementations, after grouting is completed, the area is left to stand for 1 minute to allow the polymer material to fully react and expand; 24 hours later, the repair area is re-inspected by ground-penetrating radar (the ground-penetrating radar waveform during the detection and analysis no longer appears in the grouting area), confirming that the nests and ant tunnels have been completely filled with solidified material, all termites have been killed, and the compactness of the dam soil has been restored, thus completing the entire repair process.

[0046] To explain in detail the principle of the technical solution of the present invention, the overall process of the present invention will be described below with reference to some specific embodiments. It is easy to understand that the following is an explanation of the technical principle of the present invention and should not be regarded as a limitation of the present invention.

[0047] First, it should be noted that existing technologies are insufficient to meet the core requirements of water conservancy projects for termite control on dams: "precise, efficient, low-disturbance, and economical." Therefore, there is an urgent need to develop a new repair technology to overcome the aforementioned difficulties.

[0048] In view of this, the present invention discloses a method for locating termite nests and repairing them with polymer grouting, aiming to solve the technical problems of existing termite nest grouting repair methods in the background art, such as high cost, large disturbance to the dike, and poor diffusion effect in the termite nest.

[0049] like Figure 4 As shown, the present invention proposes a method for locating termite nests and repairing them with polymer grouting, which specifically includes the following steps: (1) Use drones and robot dogs to inspect dikes; (2) Based on deep learning image recognition algorithm, analyze and process the image data collected during inspection, accurately identify characteristic points such as termite swarming holes and ventilation holes, and simultaneously label the three-dimensional coordinate information of each characteristic point; (3) Using the identified swarming holes and ventilation holes as the core, delineate the surrounding area as the key area for termite nest detection. Use ground-penetrating radar to conduct detailed detection of the key area to clarify the specific location, size, burial depth, and distribution characteristics of the nest; such as Figure 5 The diagram shown is a typical example of the distribution of termite nests.

[0050] (4) For the first nest that is confirmed to be directly connected to the swarming hole through the termite tunnel, a flexible PE grouting pipe with a diameter of 1cm is used to precisely penetrate into the nest along the termite tunnel and inject polymer material containing termite killing drugs in a directional manner.

[0051] (5) For nests that cannot be directly accessed by ant tunnels, vertical holes are drilled on the soil surface directly above them, and the diameter of the holes is strictly controlled to be ≤4cm. Polymer material containing termite-killing drugs is evenly injected into the nest through the holes.

[0052] (6) The injected polymer material undergoes a rapid chemical reaction in the nest (reaction time ≤ 1 minute), expands rapidly (expansion ratio ≥ 10 times), fully fills the nest and surrounding ant tunnel gaps, and achieves the simultaneous completion of termite extermination and nest structure reinforcement, ultimately achieving the goal of dam ant nest repair.

[0053] It should be noted that, in some optional implementations, the embodiments of the present invention may employ the following technical means: Based on the vegetation cover at the embankment site, appropriate inspection equipment is selected to conduct full-coverage embankment inspections. For embankment areas where vegetation is promptly trimmed and there are no obstructions, drones are used for efficient inspections; for areas where vegetation is too tall and drones cannot penetrate, robotic dogs are used for close-range, precise inspections to ensure there are no blind spots. Features of flexible grouting pipe: Designed with a diameter of 1cm and PE material, it combines good flexibility and structural strength, and can flexibly penetrate deep into the ant tunnels, avoiding secondary damage to the ant tunnels. Polymer material parameters: It adopts a two-component organic polymer material, and fipronil powder (the core component for termite extermination) is uniformly mixed in the slurry. The material reacts rapidly and has excellent expansion performance. The solidified body formed after the reaction has strong density and has the dual functions of killing termites and reinforcing soil. The polymer material has a reaction time of less than or equal to 1 minute and an expansion ratio of greater than or equal to 10 times. After the reaction, it can fully fill the termite nest.

[0054] The core objective of this invention is to provide an integrated method for precise location of termite nests in dams and polymer grouting repair. This method addresses the technical pain points of existing termite nest grouting repair technologies, such as high cost, significant disturbance to the dam, uneven diffusion of grouting materials, and poor repair results, thereby achieving efficient control of termite infestations and rapid restoration of structural safety in dams.

[0055] To make the above-mentioned objects, features and advantages of the present invention clearer and easier to understand, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation process: Step 1: For the target embankment, conduct a preliminary survey of the vegetation cover. For areas where vegetation has been promptly trimmed and there are no obvious obstructions, use a drone equipped with a multispectral camera for low-altitude patrol inspection to collect image data of the embankment surface (visible light and infrared). For areas where vegetation is taller than 1.5m and cannot be penetrated by the drone, switch to a robotic dog for ground inspection, using its onboard short-range detection module to collect feature point information to ensure that the inspection covers the entire embankment area.

[0056] Step 2: Import the image data collected during the inspection into the background processing system. Using a preset deep learning image recognition model, the system automatically identifies and filters feature points such as termite swarming holes and ventilation holes in the images, eliminating interfering information. The GPS positioning module synchronously acquires the three-dimensional coordinates of each feature point to generate a distribution map of key detection areas.

[0057] Step 3: Based on the key detection area distribution map, use ground-penetrating radar to detect the area within 5-10m around the swarming holes and ventilation holes. Through analysis of radar electromagnetic wave reflection signals, accurately identify the specific location, outline size, burial depth, and connection relationship with ant tunnels of the underground nest, and generate a nest detection report.

[0058] Step 4: As Figure 6 The diagram shows an example of grouting repair for a termite nest directly connected by termite tunnels. For the first nest that is confirmed to be directly connected to the swarming hole through the termite tunnel, a termite nest visual grouting pipe laying system is used. A flexible PE grouting pipe with a diameter of 1cm is selected and precisely inserted into the nest along the termite tunnel until the outlet of the grouting pipe reaches the core area of ​​the nest. The termite nest is identified by the camera of the termite nest visual grouting pipe laying system.

[0059] Step 5: As Figure 7 The diagram shows an example of grouting repair using vertical drilling. For nests where ant tunnels cannot be directly accessed, vertical drilling is performed on the soil surface directly above the nest. The diameter of the drilling is strictly controlled to be ≤4cm, and a visible grouting pipe deployment system for the ant nest is used.

[0060] Step 6: As Figure 8 The diagram shown is a structural example of an anthill visible grouting pipe laying system. Figure 8 The grouting pipes A and B are examples of two grouting pipes. In practical applications, the number of grouting pipes can be adjusted according to actual needs. The grouting operation can be achieved by: loosening the buckle of the ant nest endoscope, taking out the ant nest endoscope (which can be rotated 360°), and directionally grouting the polymer material containing termite-killing drugs.

[0061] Step 7: The injected polymer material undergoes a rapid chemical reaction within the nest (reaction time ≤ 1 minute), expands rapidly (expansion ratio ≥ 10 times), fully filling the nest and surrounding ant tunnels, achieving simultaneous termite extermination and nest structure reinforcement, ultimately achieving the goal of repairing the dam and ant nest.

[0062] Step 8: After grouting is completed, let it stand for 1 minute to allow the polymer material to fully react and expand; 24 hours later, re-inspect the repair area with ground penetrating radar (the grouting area does not have the ground penetrating radar waveform in step 3) to confirm that the nest and ant tunnels have been completely filled with solidified material, all termites have been killed, and the soil density of the dam has been restored, thus completing the entire repair process.

[0063] In summary, this invention demonstrates significant innovation in technical principles, positioning accuracy, and repair processes. By combining collaborative inspection with a drone and robotic dog, precise identification using deep learning algorithms, and refined ground-penetrating radar detection, it achieves accurate location of termite nests. For nests with different connectivity types, it employs differentiated construction schemes such as directional grouting via flexible grouting pipes or vertical grouting via small-diameter drilling, coupled with an integrated "extermination-reinforcement" polymer material, achieving the technical goals of "precise positioning, targeted treatment, and efficient repair." This repair method effectively addresses many pain points of traditional technologies and has significant practical implications and broad application prospects for promoting the upgrading of termite control and dam repair technologies in water conservancy projects.

[0064] Compared with the prior art, the embodiments of the present invention have at least the following beneficial effects: (1) Simplified process and efficient construction: The process design is scientific and reasonable, without complicated procedures, and the construction operation is convenient; the reaction time of polymer materials is ≤1 minute, which can quickly meet the repair and use needs and greatly shorten the construction cycle.

[0065] (2) Low disturbance and environmentally friendly structure: The diameter of the grouting borehole is ≤4cm, no heavy construction machinery is required, and the disturbance to the original structure of the dam is minimal; the materials are environmentally friendly and pollution-free, and the impact on the surrounding ecological environment is slight.

[0066] (3) Integrated extermination and repair: The grouting material has both termite extermination and nest filling and reinforcement functions, so that termite control and dam repair can be completed simultaneously, avoiding secondary construction and greatly improving repair efficiency.

[0067] (4) Strong durability and stable performance: The two-component organic polymer material used has stable chemical properties and excellent anti-aging, anti-permeability and anti-weathering capabilities. After repair, the durability of the dam structure is significantly improved and the service life is long.

[0068] (5) Cost controllable and economical: Compared with the traditional grouting repair scheme, this method can save more than 70% of the project cost and reduce the later maintenance cost, which has significant economic advantages and promotion value.

[0069] like Figure 9 As shown, this embodiment of the invention also provides a device 900 for locating termite nests and repairing polymer grouting in dams, which can implement the above-mentioned method. This device may include: The first module 910 is used to obtain the vegetation cover of various areas of the target embankment, and to collect image data of the target embankment through corresponding inspection equipment based on the vegetation cover; wherein, each collected image in the image data is associated with coordinate information; The second module 920 is used to identify feature points in image data, synchronize the identification results with coordinate information, and generate a distribution map of key detection areas. The third module 930 is used to detect and analyze the area corresponding to the key detection area distribution map through ground penetrating radar equipment to obtain information on underground nests. The fourth module 940 is used to inject polymer materials into each termite nest in the target dam based on underground nest information to complete the filling and repair.

[0070] In some embodiments, the apparatus may further include a fifth module for performing the following operations: The area corresponding to the termite nest was detected and re-examined using ground-penetrating radar equipment. By comparing the results of the re-inspection with the results of the detection analysis, data on the filling and repair effect of termite nests were obtained.

[0071] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0072] This invention also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described above. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0073] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0074] like Figure 10 As shown, Figure 10 The hardware structure of an electronic device 1000 according to another embodiment is illustrated. The electronic device 1000 includes: The processor 1001 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (aSIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present invention. The memory 1002 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RaM). The memory 1002 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1002 and is called and executed by the processor 1001. Input / output interface 1003 is used to implement information input and output; The communication interface 1004 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 1005 transmits information between various components of the device (e.g., processor 1001, memory 1002, input / output interface 1003, and communication interface 1004); The processor 1001, memory 1002, input / output interface 1003 and communication interface 1004 are connected to each other within the device via bus 1005.

[0075] The electronic device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0076] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0077] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0078] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0079] It is understood that the content of the above method embodiments is applicable to the embodiments of this program product. The specific functions implemented by the embodiments of this program product are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0080] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0081] The present invention provides a method, apparatus, electronic device, storage medium, and program product for locating termite nests and repairing them with polymer grouting. This method acquires the vegetation cover of various areas of the target dam and collects image data of the target dam using corresponding inspection equipment based on the vegetation cover. Each acquired image is associated with coordinate information. Feature points in the image data are identified, and the identification results are synchronized with the coordinate information to generate a key detection area distribution map. Ground-penetrating radar is used to detect and analyze the areas corresponding to the key detection area distribution map to obtain underground nest information. Based on the underground nest information, polymer material is injected into each termite nest in the target dam to complete the filling and repair. This invention utilizes vegetation cover analysis combined with image recognition and coordinate positioning to initially screen key areas, significantly improving detection efficiency and targeting, and effectively overcoming the blindness of manual inspections. Furthermore, this invention employs ground-penetrating radar for non-destructive detection of key areas, accurately acquiring the location, depth, and size information of underground nests, avoiding structural damage to the dam body caused by traditional cone probing methods. Moreover, this invention uses polymer grouting based on precise nest information, enabling effective diffusion and filling of the material within the ant tunnels, significantly improving the compactness and integrity of the repair. While eradicating hidden dangers, it minimizes disturbance to the dam structure, achieving integrated governance that is precise in location, efficient in repair, and safe and reliable.

[0082] The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and spirit of the present invention should be within the scope of the claims of the present invention.

Claims

1. A method for locating termite nests and repairing them with polymer grouting in embankments, characterized in that, The method includes the following steps: The vegetation cover of each area of ​​the target embankment is obtained, and image data of the target embankment is collected by corresponding inspection equipment based on the vegetation cover. Each collected image in the image data is associated with coordinate information. The image data is used to identify feature points, and the identification results are synchronized with the coordinate information to generate a distribution map of key detection areas; By using ground-penetrating radar equipment to detect and analyze the areas corresponding to the key detection area distribution map, information on underground nests can be obtained. Based on the information about the underground nests, polymer materials are injected into each termite nest in the target dam to complete the filling and repair.

2. The method according to claim 1, characterized in that, The inspection equipment is equipped with a multispectral camera and a positioning module. The process of collecting image data of the target embankment based on the vegetation cover using the corresponding inspection equipment includes the following steps: Based on the vegetation cover, all areas of the target embankment are classified into a first area with no vegetation cover and a second area with vegetation cover. A drone is used to conduct low-altitude patrol and inspection of the first area, and the multispectral camera is used to collect first image data of the first area; wherein, during the process of collecting the first image data through the low-altitude patrol and inspection, the positioning module associates the real-time coordinate information with each of the collected images in the first image data. A robot dog is used to conduct ground inspections of the second area, and the multispectral camera is used to collect second image data of the second area; wherein, during the process of collecting the second image data through the ground inspection, the positioning module associates the real-time coordinate information with each of the collected images in the second image data.

3. The method according to claim 1, characterized in that, The process of identifying feature points in the image data, synchronizing the identification results with the coordinate information, and generating a distribution map of key detection areas includes the following steps: The image data is used to identify feature points by a pre-trained image recognition model to obtain the presence of feature points in each of the acquired images. The feature points include splitting holes, ventilation holes, mud backs, and mud lines. The image recognition model is obtained by training a preset deep learning model on images labeled with feature point tags. Based on the coordinate information associated with the acquired image where the feature points exist, key detection and marking are performed on the regional distribution map of the target dam, generating the key detection area distribution map.

4. The method according to claim 1, characterized in that, The key detection area distribution map is marked with the three-dimensional coordinates of the feature points. The step of using ground-penetrating radar equipment to detect and analyze the area corresponding to the key detection area distribution map to obtain underground nest information includes the following steps: Based on the three-dimensional coordinates, the ground-penetrating radar device is used to detect and analyze the preset surrounding area of ​​the feature point to obtain the radar image waveform of the relevant area. The radar image waveform is compared with a termite nest radar map library. Termite nests are identified based on the comparison results. Then, the location information of the termite nests is determined by combining the three-dimensional coordinates and the echo parameters of the detection analysis. The underground nest information is obtained by organizing all the identified termite nests and their location information.

5. The method according to claim 1, characterized in that, The underground nest information includes the location information of each termite nest. Based on this underground nest information, the process of injecting polymer material into each termite nest in the target dam to complete the filling and repair includes the following steps: Based on the distance relationship between the coordinate information and the location information of the feature points or in response to manual identification and review instructions, the termite nests are classified to obtain the connectivity type between each termite nest and the feature points; Based on the connectivity type, a sampling preset method is used to inject polymer materials into each termite nest in the target dam to complete the filling and repair.

6. The method according to claim 5, characterized in that, The connectivity types include direct connectivity and indirect connectivity. Based on the connectivity type, the sampling preset method injects polymer material into each termite nest in the target dam to complete the filling and repair, including the following steps: When the connection type is direct connection, a visible grouting pipe laying system is used to probe into the corresponding termite nest from the feature point to inject polymer material. The ant nest visual grouting pipe deployment system includes a flexible grouting pipe with a camera at its top. The flexible grouting pipe is used to transmit the polymer material, and the camera is used to capture real-time views of the flexible grouting pipe. The polymer material contains termite-killing drugs and an expansion agent. When the connection type is not directly connected, the location information is used to locate the soil position directly above the termite nest, and a vertical hole is drilled from the soil position directly above to the termite nest. Then, the termite nest visual grouting pipe laying system is used to probe into the corresponding termite nest from the soil position directly above to inject the polymer material. The termite nest is filled and repaired by the reactive expansion of the expanding agent in the polymer material.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes the following steps: The ground-penetrating radar device was used to detect and re-inspect the area corresponding to the termite nest. The results of the re-inspection of the detection are compared with the results of the detection analysis to obtain the filling and repair effect data of the termite nest.

8. A device for locating termite nests and repairing them with polymer grouting in embankments, characterized in that, The device includes: The first module is used to obtain the vegetation cover of various areas of the target embankment, and to collect image data of the target embankment through corresponding inspection equipment based on the vegetation cover; wherein, each collected image in the image data is associated with coordinate information; The second module is used to identify the feature points of the image data, synchronize the identification results with the coordinate information, and generate a distribution map of the key detection area. The third module is used to detect and analyze the area corresponding to the key detection area distribution map using ground penetrating radar equipment to obtain information about underground nests; The fourth module is used to inject polymer materials into each termite nest in the target dam based on the underground nest information to complete the filling and repair.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 7.

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