Endoscopic active positioning detection device for termite nests in dikes

Abstract

This invention relates to the field of water conservancy engineering monitoring technology, and provides an endoscopic active positioning detection device for termite nests in dikes. The device includes a control terminal, a flexible cable, a guideable probe, and a positioning analyzer. One end of the flexible cable is connected to the control terminal. The guideable probe includes a fixing component, a driving component, an endoscopic camera, and a signal transmission module. The fixing component includes a fixed end, a connecting section, and a front end. The connecting section connects the fixed end and the front end. The fixed end is connected to the end of the flexible cable furthest from the control terminal. The endoscopic camera is located at the front end, and the signal transmission module is located at the fixed end. The positioning analyzer is adapted to receive signals emitted by the signal transmission module. This invention achieves active navigation by driving the front end through the driving component, and combines real-time images provided by the endoscopic camera with positioning analysis supported by the signal transmission module. It has the advantages of improving the active controllability of the detection equipment, realizing real-time visualization of the internal structure, and accurately locating the termite nest.

Description

Technical Field

[0001] This invention relates to the field of water conservancy engineering monitoring technology, and in particular to an endoscopic active positioning detection device for termite nests in dikes. Background Technology

[0002] In the safety maintenance of dike projects, termite nest detection is a crucial part of preventative work. Current detection technologies mainly include manual exploration (especially endoscopic methods), geophysical indirect detection, and biological characteristic detection. However, all these technologies face significant technical bottlenecks. Specifically, regarding the accessibility and controllability of detection equipment, existing technologies cannot support active and controlled navigation along naturally formed complex termite tunnel networks. Endoscopic probes lack guidance capabilities and are easily stuck at forks or bends, making it difficult to reach the main nest. In terms of positioning accuracy, existing technologies struggle to accurately determine the three-dimensional spatial coordinates of the main nest's core. Endoscopic methods lack distance measurement and spatial positioning capabilities, failing to provide depth and orientation information. Geophysical methods are affected by factors such as soil composition, moisture content variations, and external electromagnetic interference, often resulting in large error ranges and multiple solutions in the positioning inversion results. Termite metabolite detection methods are significantly affected by factors such as termite tunnel length, soil permeability, and environmental gas interference, and their positioning accuracy needs improvement. Regarding the comprehensiveness of information acquisition, existing technologies struggle to simultaneously acquire key geometric parameters such as the topology and length of the main termite tunnel during a single exploration. These parameters are crucial for assessing nest size, the extent of damage, and developing precise control measures. These limitations mean that current termite detection work on dikes still heavily relies on indirect inferences from surface termite activity based on personal experience, failing to meet the urgent need for efficient, intuitive, and accurate detection technologies for the safe operation of water conservancy projects. Summary of the Invention

[0003] This invention addresses the technical problems existing in related technologies by proposing an endoscopic active positioning and detection device for termite nests, aiming to improve the active controllability of the detection equipment, realize real-time visualization of the internal structure of termite nests, and accurately locate the termite nest position.

[0004] The endoscopic active positioning and detection device for termite nests in dikes according to an embodiment of the present invention includes: Control terminal; A flexible cable, one end of which is connected to the control terminal; A guideable probe includes a fixing component, a driving component, an endoscope camera, and a signal transmitting module. The fixing component includes a fixed end, a connecting section, and a front end. The connecting section is connected between the fixed end and the front end. The fixed end is connected to the end of the flexible cable away from the control terminal. The connecting section is adapted to deform. The driving component is connected between the fixed end and the front end. The driving component is adapted to drive the front end to move. The endoscope camera is located at the front end, and the signal transmitting module is located at the fixed end. A positioning analyzer, which is placed on the ground and is adapted to receive signals emitted by the signal transmitting module.

[0005] The endoscopic active positioning and detection device for termite nests according to embodiments of the present invention achieves active navigation by driving the front end through a driving component, and combines an endoscopic camera to provide real-time images and a signal transmission module to support positioning analysis. It has the advantages of improving the active controllability of the detection device, realizing real-time visualization of the internal structure, and accurately locating the termite nest.

[0006] According to one embodiment of the present invention, the guideable probe further includes a receiving chamber disposed at the fixed end, the receiving chamber being used to hold a pheromone attractant, and the receiving chamber being provided with a solenoid valve for controlling the release of the pheromone attractant.

[0007] According to one embodiment of the present invention, the receiving chamber is detachably connected to the fixed end.

[0008] According to one embodiment of the present invention, the driving component includes: A driving component, wherein the driving component is disposed at the fixed end; A transmission component, one end of which is connected to the driving component; A universal joint mechanism is located at the front end and is connected to the end of the transmission component away from the driving component. The driving component drives the transmission component to move, thereby moving the front end.

[0009] According to one embodiment of the present invention, the driving assembly includes two driving members and two transmission members, each driving member being correspondingly arranged with one transmission member, the two driving members being orthogonal, one driving member being used to drive one transmission member to cause the front end to swing up and down, and the other driving member being used to drive the other transmission member to cause the front end to swing left and right.

[0010] According to one embodiment of the present invention, the endoscopic active positioning and detection device for termite nests in dikes further includes a supplementary light group, which is disposed at the front end.

[0011] According to one embodiment of the present invention, the supplementary lighting assembly includes a plurality of LED beads, which are arranged in a ring at the front end.

[0012] According to one embodiment of the present invention, the outer surface of the fixed end is provided with a cable interface, the cable interface being electrically connected to the drive assembly, the endoscope camera and the signal transmitting module, and the cable interface being connected to the flexible cable; And / or, the flexible cable has a length indicator.

[0013] According to one embodiment of the present invention, the signal transmitting module includes an electromagnetic wave transmitting module and a miniature whip antenna. The electromagnetic wave transmitting module is disposed inside the fixed end, and one end of the miniature whip antenna is connected to the electromagnetic wave transmitting module, while the other end extends out of the fixed end.

[0014] According to one embodiment of the present invention, the outer surface of the front end has an arc-shaped structure.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the endoscopic active positioning and detection device for termite nests in dikes provided in an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of the guideable probe provided in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the working process of the endoscopic active positioning and detection device for termite nests in dikes provided in an embodiment of the present invention.

[0020] Figure label: 1. Control terminal; 2. Flexible cable; 3. Wire-operated probe; 31. Fixing component; 311. Fixing end; 312. Connecting section; 313. Front end; 32. Drive component; 321. Drive component; 322. Transmission component; 323. Universal joint mechanism; 33. Endoscopic camera; 34. Signal transmission module; 341. Electromagnetic wave transmission module; 342. Miniature whip antenna; 35. Reception chamber; 36. Cable interface; 4. Positioning analyzer; 5. Supplemental lighting assembly; 100. Dam body; 200. Termite main nest cavity; 300. Termite tunnel network. Detailed Implementation

[0021] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0022] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0024] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0025] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0026] Traditional termite detection technologies, whether manual exploration, indirect geophysical detection, or biological detection methods, have limitations in terms of accessibility and controllability, the directness and richness of information acquisition, the accuracy of location, the comprehensiveness of information acquisition, and on-site applicability. Existing methods struggle to enable detection equipment to actively and controllably navigate deep into natural termite tunnel networks, lack real-time visualization capabilities of the internal structure of termite tunnels, and are insufficient in determining the three-dimensional spatial coordinates of the main nest core. They also fail to comprehensively acquire the topological structure and geometric parameters of termite tunnels and are heavily constrained by on-site conditions, hindering widespread application.

[0027] Please refer to the reference. Figure 1 and Figure 2 This application proposes an endoscopic active positioning detection device for termite nests in dikes, including a control terminal 1, a flexible cable 2, a guideable probe, and a positioning analyzer 4. One end of the flexible cable 2 is connected to the control terminal 1. The guideable probe includes a fixing component 31, a driving component 32, an endoscopic camera 33, and a signal transmitting module 34. The fixing component 31 includes a fixed end 311, a connecting section 312, and a front end 313. The connecting section 312 is connected between the fixed end 311 and the front end 313. The fixed end 311 is connected to the end of the flexible cable 2 away from the control terminal 1. The connecting section 312 is adapted to deform. The driving component 32 is connected between the fixed end 311 and the front end 313. The driving component 32 is adapted to drive the front end 313 to move. The endoscopic camera is located at the front end 313. The signal transmitting module 34 is located at the fixed end 311. The positioning analyzer 4 is placed on the ground and is adapted to receive signals emitted by the signal transmitting module 34.

[0028] Understandably, control terminal 1 serves as the human-machine interface, used to receive operating commands and display detection data. Flexible cable 2 connects control terminal 1 to the guideable probe and transmits power and signals. The guideable probe is the main component for deep exploration within the ant tunnels, while the positioning analyzer 4 is placed on the ground to receive positioning signals sent by the probe. For example, control terminal 1 could be a tablet computer with a touchscreen, flexible cable 2 could be a multi-core cable, the guideable probe could be a slender structure with a diameter of approximately 10 mm, and positioning analyzer 4 could be a handheld receiver.

[0029] One end of the flexible cable 2 is connected to the control terminal 1 to establish a communication and power supply link between the two. For example, this connection can be achieved through a standardized multi-pin connector to ensure the stability of signal transmission and power supply. The other end of the flexible cable 2 is connected to the fixed end 311 of the guideable probe, enabling the probe to receive instructions from the control terminal 1 and transmit data back.

[0030] The directional probe is a crucial component of the device, integrating multiple functional modules. Specifically, the directional probe includes a fixing component 31, a driving component 32, an endoscopic camera 33, and a signal transmission module 34. These modules work together to enable the probe to perform functions such as depth detection, image acquisition, attitude adjustment, and position positioning. For example, the fixing component 31 can be made of rigid material to provide structural support; the driving component 32 can consist of a small motor and a transmission mechanism; and the signal transmission module 34 can be an electromagnetic wave transmitter.

[0031] The fixing component 31 is further subdivided into a fixing end 311, a connecting section 312, and a front end 313. The fixing end 311 is the part where the probe connects to the flexible cable 2, providing a stable mechanical and electrical interface. The connecting section 312 connects the fixing end 311 and the front end 313; its design allows it to deform, enabling the probe to bend to adapt to the complex paths of ant tunnels. The front end 313 is the foremost part of the probe and typically carries the main detection sensor. For example, the fixing end 311 can be a cylindrical shell, the connecting section 312 can be composed of a series of bendable joints or flexible material, and the front end 313 can be a conical or cylindrical head.

[0032] By deforming the connecting segment 312, the probe can change its forward direction or adjust its posture. For example, the connecting segment 312 can be composed of multiple interlocking short sections connected by a flexible material, or the connecting segment 312 can be made of a material with shape memory alloy properties, which can be bent by external excitation.

[0033] Through the action of the drive assembly 32, the front end 313 can perform activities such as swinging and turning, thereby guiding the probe forward along the ant trail. For example, the drive assembly 32 can be composed of a cable pulling mechanism, which can bend the front end 313 by pulling or releasing the cable; or, the drive assembly 32 can be composed of a small servo motor and a worm gear, which can drive the front end 313 to move by transmitting power.

[0034] The endoscopic camera 33 can transmit real-time images of the inside of the termite tunnel to the control terminal 1, allowing operators to observe termite activity, tunnel structure, and nest morphology. For example, the endoscopic camera 33 can be a small wide-angle camera with a field of view that can cover a large area in front of the probe for easy observation.

[0035] The signal transmitting module 34 is located at the fixed end 311 and is used to send positioning signals to the ground surface. The signals emitted by the signal transmitting module 34 can be received by the positioning analyzer 4 on the ground surface, thereby achieving accurate tracking of the probe's position in the underground nest. For example, the signal transmitting module 34 can be an ultrasonic transmitter, which uses ultrasonic signals for positioning; or, the signal transmitting module 34 can be a low-frequency electromagnetic wave transmitter, which uses electromagnetic wave signals for positioning.

[0036] The positioning analyzer 4 is placed on the ground surface and is adapted to receive signals emitted by the signal transmitting module 34. By processing and analyzing the received signals, the positioning analyzer 4 can calculate the three-dimensional spatial coordinates of the directional probe within the underground nest. For example, the positioning analyzer 4 abandons the traditional geophysical exploration method that requires the deployment of multiple sensor arrays, utilizing only a single portable surface receiving device to receive electromagnetic pulse signals emitted by the underground probe, analyze their intensity and propagation time, and obtain the three-dimensional spatial coordinates of the ant nest.

[0037] The endoscopic active positioning and detection device for termite nests on dikes proposed in this application overcomes the limitations of traditional detection devices that cannot actively and controllably penetrate inside termite tunnels by utilizing the active driving capability of its guideable probe and the real-time images provided by the endoscopic camera 33. This device can directly acquire real-time visual information on the three-dimensional orientation of termite tunnels, the morphology of nest chambers, and termite activity. Combined with the synergistic effect of the signal transmission module 34 and the positioning analyzer 4, it achieves accurate determination of the three-dimensional spatial coordinates of the core of the main nest. Therefore, this device improves the accessibility, directness and richness of information acquisition, and accuracy of positioning in termite nest detection on dikes, providing technical support for termite control on dikes.

[0038] This application further proposes the above-mentioned endoscopic active positioning and detection device for termite nests in dikes, wherein the guideable probe also includes a receiving chamber 35, the receiving chamber 35 is located at the fixed end 311, the receiving chamber 35 is used to place pheromone attractants, and the receiving chamber 35 is equipped with a solenoid valve for controlling the release of pheromone attractants.

[0039] Specifically, the container 35 is a container used to store specific substances; in this embodiment, its main function is to hold pheromone attractants. The container 35 is typically designed as a sealed structure to prevent premature evaporation or leakage of the attractant, and may be made of corrosion-resistant materials to accommodate the chemical properties of the attractant. To facilitate replenishment or replacement of the attractant, the container 35 can be designed as an easy-to-open or replaceable structure. The pheromone attractant is a substance that mimics the chemical pheromones secreted by termites themselves, used to attract termites. Termite pheromones play an important role in termite societies, such as summoning companions, indicating food sources, or marking paths. By releasing this attractant, the natural environmental signals of termites can be simulated, thereby inducing termites to approach the probe and increasing the probability of interaction between the detection device and the termite colony. The type and concentration of the attractant can be selected and adjusted according to the target termite species. The solenoid valve is a device that controls the opening and closing of a valve through electromagnetic force; in this embodiment, it is used to precisely control the release of the pheromone attractant. When a control signal is received, the solenoid valve opens, allowing the attractant (e.g., in gaseous or liquid form) to be released from the containment chamber 35; when the signal disappears, the solenoid valve closes, stopping the release. This control method allows for flexible adjustment of the amount and timing of attractant release according to detection needs, avoiding waste of attractant and enabling intermittent or continuous release based on the detection strategy.

[0040] By adding a containment chamber 35 to the guideable probe and configuring pheromone attractants and a solenoid valve, this application enables the active release of termite pheromone attractants. When the detection device enters the dike, the operator can remotely control the opening and closing of the solenoid valve via the control terminal 1 according to the detection needs, thereby precisely controlling the release of the pheromone attractants. These attractants can simulate the natural pheromones of termites, effectively attracting surrounding termites to approach the guideable probe. This active attraction mechanism significantly enhances the interaction between the detection device and the termite colony, allowing the endoscopic camera 33 to observe termite activity more clearly. Therefore, this technical solution not only overcomes the limitations of purely passive detection but also greatly improves the efficiency and accuracy of termite nest location, helping to discover and confirm termite nests more quickly and accurately, providing strong support for subsequent control work.

[0041] This application further proposes a detachable connection between the receiving chamber 35 and the fixed end 311.

[0042] When the pheromone attractant is depleted or needs to be replaced with a different type of attractant, the operator does not need to perform a complex disassembly of the entire guideable probe; they can simply remove the containment chamber 35 from the fixed end 311. Similarly, when dirt or residue accumulates inside the containment chamber 35 and needs cleaning, it can also be easily disassembled and cleaned, improving the maintenance efficiency and ease of operation of the endoscopic active positioning detection device for termite nest prevention.

[0043] like Figure 3 As shown below, the system's working process and workflow are described: (1) On-site preparation and probe insertion (step S301): In the identified termite activity area, locate the main termite tunnel entrance and carefully enlarge the hole to approximately 12 mm. Connect the guideable probe to the flexible cable 2, and apply special lubricating silicone grease to the front end 313 of both the guideable probe and the flexible cable 2. Manually insert the guideable probe into the initial section of the termite tunnel, and then connect the flexible cable 2 to the retraction mechanism of the surface control box.

[0044] (2) Active in-depth exploration and biological navigation (steps S302-S303): The operator starts the system, observes the video, and slowly releases the flexible cable 2. The operator controls the guide probe through the directional control panel to guide it forward along the wide and smooth main ant trail. The operator adjusts the thrust and rhythm in real time according to the video: when the screen shows that the ant trail is clear and the direction is straight, the thrust can be maintained or slightly increased to make the guide probe move forward at a constant speed. When the screen shows that the ant trail narrows, bends or obstacles appear, the thrust should be reduced immediately, or even paused briefly. At the same time, another operator (or the same operator alternates) operates the directional control panel according to the screen content to adjust the guiding mechanism of the front end 313 of the guide probe, making it "raise its head", "lower its head" or "turn left or right" to guide the guide probe through bends or align with the main channel.

[0045] (3) Biological navigation decision at forks (steps S304-S305): When encountering a fork in the road, pause the push, the operator pauses the advance, the operator at control terminal 1 remotely triggers the release of the attractant, waits for the termite attractant to take effect on the termites, and at the same time turns on the LED lights to attract the termites closer. Closely observe the video screen for 1-3 minutes and compare the frequency, number and activity direction of worker ants at each fork in the road. Select the channel with the most significant worker ant activity and the most frequent entry and exit of larger worker ants as the main road, and control the guide probe to turn into it.

[0046] (4) Main Nest Identification and Location Trigger (Steps S306-S307): As you go deeper, if the cavity in the video becomes significantly larger, a large number of ant eggs, larvae, fungal garden structures are found, or the queen and ant king are directly observed, it can be determined that you have reached the core area of ​​the main nest. Place the guide probe as centrally as possible in the cavity. After stabilization, start the "Location Transmission" function through the software interface. The electromagnetic wave transmitter on the guide probe will start to continuously transmit a specific coded pulse signal.

[0047] (5) Precise Surface Positioning and Data Acquisition (Steps S308-S309): The operator uses a portable time-difference positioning analyzer 4 to scan the estimated area, find the point with the strongest signal, and determine the horizontal position. The equipment is stabilized at this point, and the instrument automatically measures the signal propagation time difference. Combined with the preset electromagnetic wave velocity in the soil, it calculates and displays the burial depth of the directional probe in real time. Simultaneously, the control terminal 1 records the release length of the flexible cable 2 as auxiliary verification.

[0048] (6) Task completion and data integration (step 310): Recover the equipment, integrate the data, generate a report, and end the entire process.

[0049] Through the above design and process, this solution deeply integrates manual precision propulsion, real-time visual guidance, bio-information-assisted decision-making, and single-point time difference positioning technology, forming a systematic solution for direct access, direct visualization, and precise measurement of termite nests on dikes.

[0050] Compared with existing technologies, the directional and visual detection device and method for detecting termite nests in dikes provided by this invention have the following significant advantages and progressive effects: (1) Precise and controllable exploration path, directly reaching the core of the nest: In view of the shortcomings of existing endoscopes that cannot be turned and geophysical methods that cannot enter, this solution uses an active guide probe combined with manual precision propulsion to achieve flexible movement and direction selection in complex ant tunnels, ensuring that the detection terminal can overcome forks and bends and stably reach the core area of ​​the main nest.

[0051] (2) Real-time visualization of internal conditions, intuitive and reliable diagnosis: Addressing the issues of existing technologies relying on indirect geophysical data interpretation, which suffers from multiple interpretations and uncertainties, this solution utilizes a high-definition miniature camera integrated into the probe and a lighting system to transmit real-time images of the ant tunnels and nest interiors to the surface. Operators can directly observe the ant tunnel structure, termite activity, fungal gardens, and nest cavity morphology, achieving a clear and real-time diagnosis of the damage. This reduces reliance on operator experience and improves the accuracy and reliability of judgment.

[0052] (3) Three-dimensional positioning is fast and accurate, and the operation is simple and efficient: In view of the shortcomings of the existing geophysical exploration methods, such as limited positioning accuracy and complex equipment deployment, this scheme innovatively adopts the active source electromagnetic wave signal emitted from the nest and received by the equipment on the ground. By measuring the signal propagation time difference and capturing the peak signal strength, the horizontal coordinates and vertical depth of the nest center can be calculated simultaneously, thus realizing three-dimensional accurate positioning.

[0053] (4) Biological behavior-assisted decision-making and intelligent path selection: To address the problem of easily choosing the wrong path in the intricate ant tunnel network, this solution innovatively sets up a termite pheromone attractant chamber at the tail of the probe. The attractant is released at the fork in the road, and by observing the aggregation and activity flow of worker ants in the video, the operator is provided with direct biological and behavioral evidence to select the main ant tunnel, thereby improving the accuracy and efficiency of path selection.

[0054] (5) Synchronous acquisition of key parameters of ant trails, providing comprehensive and rich information: Compared with existing methods that are difficult to provide geometric information of ant trails, this solution uses a specially made flexible cable 2 with precise length markings on its outer belt to record the length of the probe's trajectory during the advancement process. Combined with video information, the winding length of the main ant trail can be easily estimated and the general direction can be determined, providing key data for assessing the size of the nest and formulating subsequent management plans.

[0055] (6) High system integration and strong practicality, facilitating on-site deployment: Addressing the issues of complex technical equipment and poor environmental adaptability in some existing systems, this solution highly integrates guidance, vision, positioning, and luring functions into a single miniature probe. The ground unit is simplified to a control terminal 1 and a handheld positioning device, and a direct manual propulsion method is adopted. The entire system is lightweight, reliable, highly adaptable to the field embankment environment, and has a clear operating logic, significantly reducing the barrier to entry and workload, thus facilitating the promotion and popularization of the technology at grassroots engineering sites.

[0056] like Figure 2 As shown, this application further proposes a drive assembly 32 including a drive member 321, a transmission member 322, and a universal joint mechanism 323. The drive member 321 is located at the fixed end 311; one end of the transmission member 322 is connected to the drive member 321; the universal joint mechanism 323 is located at the front end 313, and is connected to the end of the transmission member 322 away from the drive member 321. The drive member 321 drives the transmission member 322 to move, thereby moving the front end 313.

[0057] Specifically, the drive component 321 is the core component that provides power to achieve the movement of the front end 313. It can be a micro motor, such as a stepper motor or a servo motor, which drives the transmission component 322 to rotate or move linearly by precisely controlling the current or pulse signal. The drive component 321 is usually located at the fixed end 311 to take advantage of the space and stability of the fixed end 311, facilitate power connection and control signal transmission, and avoid adding unnecessary weight and volume to the front end 313, thereby maintaining the flexibility of the front end 313.

[0058] The function of the transmission component 322 is to transmit the motion and force generated by the drive component 321 to the universal joint mechanism 323 at the front end 313. The transmission component 322 can take the form of a flexible shaft, a push-pull steel wire rope (such as Boden cable), or a miniature linkage mechanism. A flexible shaft can transmit rotational motion and adapt to a certain degree of bending, while a push-pull steel wire rope achieves push-pull action by stretching or relaxing, and is suitable for transmitting linear motion. One end of the transmission component 322 is connected to the drive component 321, and the other end is connected to the universal joint mechanism 323. Its design must ensure efficient and reliable power transmission within the confined space inside or outside the flexible cable 2.

[0059] The universal joint mechanism 323 is a key structure for enabling multi-directional movement of the front end 313. It can take the form of a Cardin joint, ball joint, flexible bellows, or multi-link joint. Located at the front end 313, the universal joint mechanism 323 allows the front end 313 to deflect, swing, or rotate in multiple degrees of freedom, enabling the endoscopic camera 33 to adjust its viewing angle and observe areas in different directions. The universal joint mechanism 323 is connected to the end of the transmission component 322 furthest from the drive component 321. Through the power transmitted by the transmission component 322, the universal joint mechanism 323 can guide the front end 313 to a preset or operator-desired position and angle.

[0060] The entire drive chain works as follows: control terminal 1 sends a command, and drive component 321 receives the command and generates corresponding mechanical movement. This movement is precisely transmitted to the universal joint mechanism 323 at the front end 313 via transmission component 322. After receiving the force or movement from transmission component 322, universal joint mechanism 323, based on its structural characteristics, causes the front end 313 to deflect, swing, or rotate accordingly, thereby achieving precise control over the pointing of the endoscopic camera 33, enabling the probe to flexibly turn and position itself in complex termite nest tunnels.

[0061] This application further proposes that the drive assembly 32 includes two drive members 321 and two transmission members 322. Each drive member 321 is correspondingly arranged with one transmission member 322. The two drive members 321 are orthogonal. One drive member 321 is used to drive one transmission member 322 to make the front end 313 swing up and down, and the other drive member 321 is used to drive the other transmission member 322 to make the front end 313 swing left and right.

[0062] Specifically, the drive assembly 32 is designed to include two independent drive units, each consisting of a drive element 321 and a transmission element 322. The "orthogonal relationship" refers to the fact that the motion directions controlled by the two drive elements 321 are spatially perpendicular. For example, one drive element 321 controls the vertical (up-down) oscillation of the front end 313, while the other drive element 321 controls the horizontal (left-right) oscillation of the front end 313. This orthogonal motion control method is key to achieving arbitrary oscillation in a two-dimensional plane. More specifically, the combination of one set of drive elements 321 and transmission element 322, through the universal joint mechanism 323 or connection point of the front end 313, enables it to perform pitch or tilt adjustments around a horizontal axis. The combination of the other set of drive elements 321 and transmission element 322 enables it to perform yaw or lateral oscillation around a vertical axis, allowing the front end 313 to perform precise attitude adjustments in two independent planes.

[0063] This application further proposes that the endoscopic active positioning detection device for termite nests in dikes also includes a supplementary light group 5, which is located at the front end 313.

[0064] Specifically, the supplementary lighting unit 5 is a device used to provide additional illumination, designed to improve the imaging quality of the endoscope camera 33 in low-light environments. The supplementary lighting unit 5 can consist of one or more light-emitting elements, such as high-brightness LEDs. The light-emitting elements receive power from the control terminal 1 via a flexible cable 2, and their brightness can be adjusted as needed to adapt to the detection requirements under different lighting conditions. The supplementary lighting unit 5 ensures that the endoscope camera 33 receives sufficient light during detection, thereby clearly observing the internal details of the termite nest.

[0065] This application further proposes a supplementary lighting assembly 5 comprising multiple LEDs arranged in a ring at the front end 313. Specifically, the supplementary lighting assembly 5 consists of multiple independent LEDs. These LEDs are arranged in a ring array around the endoscope 33 at the front end 313 of the guideable probe, ensuring that light can be uniformly projected onto the observed area from multiple directions. This effectively avoids localized over-brightness or shadow areas that may occur with single-point light sources or non-ring light sources, providing not only uniform illumination but also helping to reduce light reflection and improve image quality.

[0066] This application further proposes that the outer surface of the fixed end 311 is provided with a cable interface 36, which is electrically connected to the drive assembly 32, the endoscope camera 33 and the signal transmission module 34, and the cable interface 36 is connected to the flexible cable 2; optionally, the flexible cable 2 has a length mark.

[0067] Specifically, the cable interface 36 is designed as a multi-core connector that transmits power and control signals from the control terminal 1 via the flexible cable 2 to the drive assembly 32, endoscope 33, and signal transmission module 34 inside the guideable probe. Simultaneously, it transmits image signals acquired by the endoscope 33 and operational status signals from the signal transmission module 34 back to the control terminal 1. The cable interface 36 is typically designed to be waterproof and dustproof to withstand the humid and dusty environment inside termite nests, ensuring the stability and reliability of the electrical connection.

[0068] Meanwhile, the flexible cable 2 has length markings, which can take the form of scale lines, numerical markers, color codes, or embedded sensors, and are evenly distributed or at specific intervals along the length of the flexible cable 2. For example, centimeter or decimeter scales can be printed directly on the outer sheath of the flexible cable 2, or a color ring can be set at certain intervals to indicate depth through a color sequence. By observing these length markings, operators can intuitively determine the distance the guideable probe has penetrated into the dike, thereby accurately determining the probe's position and depth within the termite nest.

[0069] This application further proposes a signal transmitting module 34 comprising an electromagnetic wave transmitting module 341 and a miniature whip antenna 342. The electromagnetic wave transmitting module 341 is the core component for generating and modulating electromagnetic wave signals. Specifically, this module can be an integrated radio frequency circuit containing components such as an oscillator, modulator, and power amplifier, capable of converting position information or other data acquired inside the probe into electromagnetic wave signals of a specific frequency. The miniature whip antenna 342 is a small, slender antenna whose main function is to efficiently radiate the electromagnetic wave signals generated by the electromagnetic wave transmitting module 341 to the external environment. This antenna typically consists of one or more wires, whose length and structure are precisely designed to resonate at the operating frequency of the electromagnetic wave transmitting module 341, thereby maximizing signal radiation efficiency. Due to its small size and simple structure, the miniature whip antenna 342 is ideally suited for integration into space-constrained guideable probes. Its material can be a conductive material with a certain degree of flexibility and corrosion resistance to adapt to the movement and bending of the probe in complex environments.

[0070] The electromagnetic wave transmitting module 341 is housed within the fixed end 311, effectively protecting it from the damp, corrosive environment inside the termite nest and from physical impacts. It also helps reduce electromagnetic interference to other precision electronic components of the probe. Typically, the electromagnetic wave transmitting module 341 is securely mounted within a pre-reserved cavity inside the fixed end 311 using methods such as encapsulation, potting, or a mounting bracket. One end of the miniature whip antenna 342 is electrically connected to the electromagnetic wave transmitting module 341, while the other end protrudes from the fixed end 311. The connection between the miniature whip antenna 342 and the electromagnetic wave transmitting module 341 is usually achieved through soldering or a dedicated RF connector to ensure signal transmission integrity.

[0071] This application further proposes that the outer surface of the front end 313 of the endoscopic active positioning detection device for termite nests in dikes has an arc-shaped structure.

[0072] Specifically, the "arc-shaped structure" refers to the smooth, continuous curved shape of the outer surface of the front end 313, rather than sharp edges or straight surfaces. This shape can be a hemisphere, part of an ellipsoid, a streamlined cone, etc., with the key being a smooth, rounded surface transition without abrupt edges. The main function of this structure is to reduce resistance, friction, and jamming when the probe moves in complex environments, improving probe passability and protection of the nest wall.

[0073] By designing the outer surface of the front end 313 as an arc-shaped structure, the probe can smoothly glide over the nest wall with less resistance when traveling through the narrow and irregular channels inside the termite nest, effectively avoiding friction, jamming, and damage between the probe and the nest wall. At the same time, it reduces damage to the termite nest structure, protects the integrity of the detection environment, and thus improves the overall efficiency and service life of the detection device.

[0074] The following example will provide a more detailed explanation of the above technical solution: (1) Overall System Composition like Figure 1 As shown, this detection system is an integrated detection device consisting of a surface control terminal 1, a flexible cable 2, and a guideable probe. The system's core principles are "internal depth, visual navigation, active control, and collaborative positioning." During operation, the operator views the high-definition video transmitted back by the guideable probe in real time on the surface control terminal 1 and remotely controls its direction of travel. The electromagnetic wave positioning signal emitted by the guideable probe in the ant tunnel is captured by an independent portable positioning analyzer 4 on the surface. By analyzing the signal's arrival time and intensity, the horizontal position of the nest center and the estimated depth are determined. The specially designed flexible cable 2 connecting the two simultaneously performs power transmission, signal transmission, and feed length measurement. Figure 1The exhibition also showcases the working environment of the detection device at the dam site, including the dam body 100, the termite main nest cavity 200, and the termite tunnel network 300.

[0075] (2) Specific structure and parameters of the directional probe The guideable probe design integrates four functional modules—observation, guidance, induction, and positioning—within a compact cylindrical housing. Its internal structure is as follows: Figure 2 As shown.

[0076] Shell and Overall Configuration: The shell is made of high-strength engineering plastic with a hydrophobic and smooth surface treatment. It has a streamlined shape, with the front end 313 being a blunt, rounded guide head with a maximum outer diameter of 10 mm (compatible with 8-12 mm range) to smoothly pass through most main termite tunnels. The guideable probe includes the front end 313, the connecting section 312, and the fixed end 311. The front end 313 is equipped with a visual perception module and a universal joint mechanism 323 in the guide actuator. The fixed end 311 is equipped with a positioning signal transmitter and a termite behavior induction module. The tail of the fixed end 311 is a cable interface.

[0077] Visual perception module: such as Figure 2 As shown, a miniature endoscopic camera 33 is integrated at the front end 313. The camera measures 6 mm (diameter) × 7 mm (length), has a resolution of 720P, and a lens field of view of no less than 120 degrees to ensure sufficient observation range. This camera features low-light night vision capability, with a minimum illumination of no more than 0.01 Lux. Surrounding the lens, a ring of 6-8 high-brightness, low-power white LED beads is precisely embedded, forming a ring-shaped shadowless supplementary lighting system. The illumination distance is adjustable, ensuring clear, shadow-free illumination within completely dark ant tunnels, while also attracting phototactic termites.

[0078] Guiding actuator: A compact active guidance mechanism is integrated behind the camera module. This mechanism uses two drive components 321, such as miniature high-torque digital servos, installed orthogonally to drive a set of precision universal joint mechanisms 323, which in turn drive the front end 313 to deflect. It can achieve independent deflection of no less than ±25 degrees in both vertical and horizontal directions, allowing the operator to flexibly adjust the direction of travel, bypass obstacles, and select paths at intersections.

[0079] The positioning signal transmitter: A signal transmitting module 34, such as a miniaturized complex-frequency electromagnetic wave transmitting module 341, is packaged in the fixed end 311. This module is connected to a miniature whip antenna 342 and integrates a high-precision clock synchronization unit. The transmitted signal uses complex-frequency pulse code modulation and can transmit electromagnetic wave signals at frequencies of 300MHz and 900MHz, suitable for ant nests buried at depths of 0.5-5 meters. Each transmitted positioning pulse contains precise transmission time information, enabling surface equipment to calculate depth by measuring the signal propagation time difference.

[0080] Termite behavior induction module: A separate, replaceable container 35, namely the "termite pheromone attractant container," is installed at the fixed end 311. This container is made of microporous slow-release material and filled with highly effective synthetic aggregation pheromones or bait pheromones targeting black-winged subterranean termites or yellow-winged macrotermites. Under system control, a miniature solenoid valve can be activated to slowly and continuously release the attractant odor into the termite tunnel environment. This function is used for biological behavior-assisted navigation. When the probe pauses before a branch tunnel, the released attractant attracts worker termites. The operator can observe the worker termite activity flow at each branch tunnel entrance through a camera, thereby visually determining the direction of the main termite tunnel.

[0081] (3) Design and specifications of flexible cable 2 Connecting the directional probe to the ground equipment is a specially designed multi-functional composite flexible cable 2, which provides data transmission, power supply, and mechanical traction.

[0082] Structure and Materials: Flexible Cable 2 has a multi-layer composite structure with a core of tensile-resistant aramid fiber reinforcement providing primary tensile strength. Surrounding this are tightly arranged twisted-pair shielded signal wires (for video and control signal transmission) and multiple power supply wires. The outermost layer is wrapped with a high-density polyurethane elastomer sheath, which possesses high abrasion resistance, hydrolysis resistance, a low coefficient of friction, and some corrosion resistance. The entire cable is required to have high flexibility, with a minimum bending radius not exceeding 50 mm.

[0083] Key Dimensions and Functions: The standard outer diameter of Flexible Cable 2 is 8 mm (adjustable from 6 mm to 20 mm depending on the actual ant trail dimensions). Flexible Cable 2 can integrate a fiber optic sensing system internally or have permanent length markings and digital labels laser-engraved on its outer sheath at 10 cm intervals. The standard cable length is 5 meters, but longer lengths can be customized according to project needs. One end of Flexible Cable 2 connects to a guideable probe via a waterproof, tensile-resistant aviation plug, while the other end connects to a ground-based control box integrating automatic cable deployment and retraction, photoelectric length measurement, and signal relay functions.

[0084] Propulsion mechanism design: The operator holds the cable and gently and slowly pushes it into the ant tunnel while observing. The damping provided by the control box ensures that the flexible cable 2 will not accidentally slip in due to its own weight or internal stress, so that the pushing force is completely controlled by the operator's feel.

[0085] (4) Surface control and receiving unit This unit is responsible for human-computer interaction, control, display, and data processing throughout the entire detection process.

[0086] Control and display terminals: such as Figure 1 As shown, a tablet computer is used as the control terminal 1, running customized control software. The software interface integrates: a high-definition real-time video display window, which can display in full screen, take screenshots, and record video; a probe attitude and direction control panel, which can be intuitively controlled by a virtual joystick or directional buttons; and a system status monitoring area, which displays parameters such as cable feed length and probe voltage.

[0087] Signal receiving and positioning unit: such as Figure 1 As shown, a portable positioning analyzer 4 is used as the signal receiving device. This device includes a broadband magnetic antenna operating in the corresponding frequency band to sense electromagnetic pulse signals and accurately measure the propagation time Δt from the pulse emitted by the directional probe to its reception by the surface antenna. The device has a built-in processor that guides the operator to move on the ground surface by indicating the received signal strength, finding the peak point where the signal is strongest. This point is the approximate horizontal projection position of the directional probe on the ground surface. Then, after stabilizing the measurement at the peak point, the burial depth H of the probe is directly calculated using the formula: depth H ≈ v × Δt (where v is the average propagation speed of electromagnetic waves in a specific dam soil).

[0088] Finally, it should be noted that the above embodiments are only for illustrating the present invention and not for limiting the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications, or equivalent substitutions of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention and should be covered within the scope of the claims of the present invention.

Claims

1. An endoscopic active positioning and detection device for termite nests in dikes, characterized in that, include: Control terminal; A flexible cable, one end of which is connected to the control terminal; A guideable probe includes a fixing component, a driving component, an endoscope camera, and a signal transmitting module. The fixing component includes a fixed end, a connecting section, and a front end. The connecting section is connected between the fixed end and the front end. The fixed end is connected to the end of the flexible cable away from the control terminal. The connecting section is adapted to deform. The driving component is connected between the fixed end and the front end. The driving component is adapted to drive the front end to move. The endoscope camera is located at the front end, and the signal transmitting module is located at the fixed end. A positioning analyzer, which is placed on the ground and is adapted to receive signals emitted by the signal transmitting module.

2. The endoscopic active positioning and detection device for termite nests in dikes according to claim 1, characterized in that, The directional probe also includes a receiving chamber located at the fixed end. The receiving chamber is used to hold a pheromone attractant and is equipped with a solenoid valve for controlling the release of the pheromone attractant.

3. The endoscopic active positioning and detection device for termite nests in dikes according to claim 2, characterized in that, The receiving chamber is detachably connected to the fixed end.

4. The endoscopic active positioning and detection device for termite nests in dikes according to claim 1, characterized in that, The driving component includes: A driving component, wherein the driving component is disposed at the fixed end; A transmission component, one end of which is connected to the driving component; A universal joint mechanism is located at the front end and is connected to the end of the transmission component away from the driving component. The driving component drives the transmission component to move, thereby moving the front end.

5. The endoscopic active positioning and detection device for termite nests in dikes according to claim 4, characterized in that, The drive assembly includes two drive members and two transmission members. Each drive member is correspondingly arranged with one transmission member. The two drive members are orthogonal. One drive member is used to drive one transmission member to make the front end swing up and down, and the other drive member is used to drive the other transmission member to make the front end swing left and right.

6. The endoscopic active positioning and detection device for termite nests in dikes according to claim 1, characterized in that, The endoscopic active positioning and detection device for termite nests in dikes also includes a supplementary lighting unit, which is located at the front end.

7. The endoscopic active positioning and detection device for termite nests in dikes according to claim 6, characterized in that, The supplementary lighting assembly includes multiple LED beads, which are arranged in a ring at the front end.

8. The endoscopic active positioning and detection device for termite nests in dikes according to claim 1, characterized in that, The outer surface of the fixed end is provided with a cable interface, which is electrically connected to the drive assembly, the endoscope camera and the signal transmitting module, and is also connected to the flexible cable. And / or, the flexible cable has a length indicator.

9. The endoscopic active positioning and detection device for termite nests in dikes according to claim 1, characterized in that, The signal transmitting module includes an electromagnetic wave transmitting module and a miniature whip antenna. The electromagnetic wave transmitting module is located inside the fixed end, and one end of the miniature whip antenna is connected to the electromagnetic wave transmitting module, while the other end extends out of the fixed end.

10. The endoscopic active positioning and detection device for termite nests in dikes according to any one of claims 1 to 9, characterized in that, The outer surface of the front end has an arc-shaped structure.

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