A sensor system for collecting key data during Christmas tree installation operations

Abstract

The present invention discloses a sensor system for collecting key data during the installation of a Christmas tree, belonging to the technical field of oil and gas production equipment. The system includes: a sensor hardware module configured to sense key data during the lowering of the Christmas tree in real time and transmit it to a software processing module; a software processing module configured to receive data transmitted by the sensor hardware module and accurately map the real-time three-dimensional position and motion posture of the Christmas tree; the software processing module includes a three-dimensional digital model of the Christmas tree based on its structure and dimensions, a conical pendulum model that simulates the circular swing of the Christmas tree during the lowering process, and a guide installation model that simulates the three-axis spatial coordinate position of the Christmas tree with the geometric center of the bottom surface of the guide column as the origin. The present invention is a sensor system that can collect key data during the installation of the Christmas tree and transmit the data in real time to the Unity digital twin system to achieve homomorphic mapping of the Christmas tree installation operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of oil and gas production equipment, and in particular relates to a sensor system for collecting key data during a Christmas tree installation operation. Background Art

[0002] With the advent of "smart oilfields" and the digitalization of offshore oil engineering, the intelligence level of offshore production equipment continues to rise. Currently, some oilfields have deployed real-time video monitoring systems and environmental parameter sensing modules during the lowering and installation of Christmas trees to improve operational visibility and accuracy. Existing research on digital twins primarily focuses on surface equipment, wellbore sensing, and geological modeling. However, research on real-time mapping of dynamic underwater equipment operations remains relatively limited.

[0003] However, real-time mapping of the dynamic underwater device operation process is of great significance for the precise control of the oil and gas production process. Therefore, how to perform efficient real-time mapping of underwater device operations has become a key research topic in this field. Summary of the Invention

[0004] The present invention aims to solve one of the technical problems in the above-mentioned related art at least to a certain extent.

[0005] To this end, the purpose of the present invention is to provide a sensor system that collects key data during the Christmas tree installation operation, a sensor system that can collect key data during the Christmas tree installation operation and transmit the data in real time to the Unity digital twin system to achieve homomorphic mapping of the Christmas tree installation operation.

[0006] In order to solve the above-mentioned technical problems, the present invention is achieved as follows:

[0007] An embodiment of the present invention provides a sensor system for collecting key data during a Christmas tree installation operation, the system comprising:

[0008] A sensor hardware module is configured to sense key data of the Christmas tree lowering process in real time and transmit it to the software processing module;

[0009] a software processing module configured to receive data transmitted by the sensor hardware module and accurately map the real-time three-dimensional position and motion posture of the Christmas tree;

[0010] The software processing module includes a three-dimensional digital model of the Christmas tree based on its structure and dimensions, a conical pendulum model that simulates the circular swing of the Christmas tree during lowering, and a guide installation model that simulates the three-axis spatial coordinate position of the Christmas tree with the geometric center of the bottom surface of the guide column as the origin.

[0011] In addition, the sensor system for collecting key data during the Christmas tree installation operation according to the present invention may also have the following additional technical features:

[0012] In some embodiments, the process of creating the three-dimensional digital model of the Christmas tree includes: creating the Christmas tree model using SolidWorks, importing it into Unity3D via 3DMax, setting texture parameters of the Christmas tree model to improve the model's display effect based on the actual surface material of the Christmas tree, and using the material ball function to add materials to the Christmas tree model.

[0013] In some embodiments, the conical pendulum model considers that the sign of the tangent of an angle changes with the angle value.

[0014] In some embodiments, the conical pendulum model is expressed as:

[0015]

[0016] Where x', y', and z' are coordinate values, dis is the depth of the center of the Christmas tree base, h is the height of the Christmas tree, H is the target lowering depth, l' is the width of the Christmas tree base, rollX is the roll angle of the Christmas tree around the X-axis, and pitchY is the pitch angle of the Christmas tree around the Y-axis.

[0017] In some embodiments, the guide installation model is expressed as:

[0018]

[0019] Where a1 is the distance data measured by ranging sensor 1, a2 is the distance data measured by ranging sensor 2, b1 is the distance data measured by ranging sensor 3, b2 is the distance data measured by ranging sensor 4, L is the length of the outer bottom edge, l1 is the distance between the two sensors in the vertical direction, and l2 is the distance between the two sensors in the horizontal direction.

[0020] In some embodiments, the guide installation model is defined as follows: the intersection of the horizontal diagonal lines of the Christmas tree after movement relative to the movement trajectory before movement is a circle with (x', y') as the center and l as the radius; the coordinates of this point in the original coordinate system are:

[0021]

[0022] Where x and y are the coordinates before moving, and pitchY is the pitch angle of the Christmas tree around the Y axis.

[0023] In some embodiments, the expressions of the conical pendulum model and the guide installation model are related to the real-time depth of the Christmas tree, the roll angle around the x-axis, and the pitch angle around the y-axis in the world coordinate system.

[0024] In some embodiments, the sensor hardware module includes four groups of distance sensors, one group of liquid level sensors, and one group of posture sensors;

[0025] The distance measuring sensor is used to measure the real-time distance between the distance measuring sensor and the guide column directly opposite to it;

[0026] The liquid level sensor is used to measure the real-time depth;

[0027] The posture sensor is used to measure the posture of the Christmas tree lowering target.

[0028] In some embodiments, the attitude sensor has a built-in three-axis electronic compass and a three-axis accelerometer, the three-axis electronic compass is used to measure the heading angle and attitude angle of the target object in real time, and the three-axis accelerometer is used to measure real-time acceleration.

[0029] In some embodiments, the sensor hardware module includes a horizontally disposed target plane below the Christmas tree and four guide posts;

[0030] The target plane below the Christmas tree is a square, and the four guide posts are vertically arranged at the four corners of the target plane below the Christmas tree;

[0031] The four groups of distance measuring sensors are respectively arranged on two adjacent sides of the target plane below the Christmas tree;

[0032] The liquid level sensor is arranged above the target plane below the Christmas tree, and the attitude sensor is arranged above the guide column.

[0033] Compared with the prior art, the present invention has at least the following beneficial effects:

[0034] In an embodiment of the present invention, a sensor system for collecting key data during the Christmas tree installation operation is provided. This system can collect real-time information on the depth, posture, and relative position of the Christmas tree during its lowering, and build a three-dimensional spatial perception system through digital twin technology. Compared with traditional video surveillance, this system overcomes the limitations of low underwater visibility and large errors in manual judgment, achieving high-precision, all-weather, and full-process monitoring, thereby improving operational stability.

[0035] In an embodiment of the present invention, a sensor system for collecting key data during the Christmas tree installation operation is provided. The system uses inertial navigation and multi-point ranging sensor technology to ensure stable and reliable data in sea areas with high turbidity and large current fluctuations. It effectively avoids environmental interference, ensures the continuity and accuracy of the lowering operation, reduces the frequency of hoisting calibration and operational risks, and saves operation time and costs.

[0036] In an embodiment of the present invention, a sensor system for collecting key data during the installation process of the oil tree is provided. Based on the digital twin platform, the system dynamically maps the lowering process to achieve three-dimensional visualization of posture and position; it also has path deviation warning and working condition prediction functions, supports intelligent auxiliary decision-making for operations, promotes the transformation of traditional operations to digital and intelligent operations, reduces the risk of human intervention, speeds up the progress of operations, minimizes the operation cycle, and improves overall execution efficiency.

[0037] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A structural diagram of a three-dimensional model of a Christmas tree disclosed in one embodiment of the present invention;

[0039] Figure 2 The world coordinate system of Unity disclosed in one embodiment of the present invention;

[0040] Figure 3 A schematic diagram of a conical pendulum model disclosed in one embodiment of the present invention;

[0041] Figure 4 A schematic diagram of a guide installation model disclosed in one embodiment of the present invention;

[0042] Figure 5 This is a physical diagram of a liquid level gauge disclosed in one embodiment of the present invention;

[0043] Figure 6 A physical diagram of a posture sensor disclosed in one embodiment of the present invention;

[0044] Figure 7 A diagram showing the measurement principle of an underwater ultrasonic ranging sensor disclosed in one embodiment of the present invention;

[0045] Figure 8 A physical diagram of an underwater ultrasonic ranging sensor disclosed in one embodiment of the present invention;

[0046] Figure 9 This is a schematic diagram of the installation structure of the Christmas tree twin data perception system disclosed in one embodiment of the present invention.

[0047] Description of reference numerals:

[0048] 1- Christmas tree lowering target plane; 2- Guide column; 3- Distance sensor installation position; 4- Distance sensor; 5- Liquid level sensor; 6- Liquid level sensor installation position; 7- Attitude sensor; 8- Attitude sensor installation position. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0050] The embodiments of the present invention are described in detail below through specific embodiments and application scenarios with reference to the accompanying drawings.

[0051] See also Figure 1 As shown, some embodiments of the present invention provide a sensor system for collecting key data during the Christmas tree installation process. This system utilizes two main components: a sensor hardware module and a software processing module to achieve data collection and homomorphic mapping during the installation process. The sensor hardware module senses and transmits key data during the Christmas tree lowering process in real time. The software processing module is a mapping program built on the Unity platform, embedded in a microcontroller unit, that accurately maps the three-dimensional position and motion of the Christmas tree during installation in real time.

[0052] In some embodiments of the present invention, the step of collecting key data during the Christmas tree installation operation includes:

[0053] Step 1: Create a digital model of the Christmas tree

[0054] The size of the digital model of the Christmas tree directly affects the appearance characteristics of the Christmas tree and the accuracy of mapping the actual Christmas tree equipment. However, excessive modeling of small features will affect the rendering speed and running speed of the later software system. Therefore, the main features of the Christmas tree are reflected in the three-dimensional model based on the actual size, and non-critical features are simplified or omitted. The size of each feature of the Christmas tree guide structure is related to the installation of the guide column, and the model needs to be built based on precise dimensions. According to the parts engineering drawing of the Christmas tree operation panel and the reference materials containing the Christmas tree guide structure, after obtaining all the required key dimensions of the Christmas tree, use SolidWorks to build a three-dimensional digital model of the Christmas tree. The Christmas tree model created by SolidWorks is imported into Unity3D through 3DMax. According to the actual surface material of the Christmas tree, the texture parameters are set to improve the display effect of the model, and the material ball function is used to add materials to the Christmas tree model. The digital model of the Christmas tree is as follows Figure 1 shown.

[0055] Step 2: Kinematic modeling of the Christmas tree lowering and installation process

[0056] 1) Kinematic model modeling method

[0057] The mapping technology of the present invention includes two kinematic models: a general solution model for the circular swing of the Christmas tree during direct lowering (hereinafter referred to as the conical pendulum model) and a general solution model for the position of the Christmas tree in a three-axis spatial coordinate system with the geometric center of the bottom surface of the guide column as the origin during lowering in conjunction with the guide column (hereinafter referred to as the guide installation model). The spatial coordinate system used is the default world coordinate system of the Unity platform, which is a left-handed coordinate system, such as Figure 2 shown.

[0058] 2) Construction of the conical pendulum model

[0059] The initial parameters of the conical pendulum model are shown in Table 1, and the schematic diagram is shown in Figure 3 shown.

[0060] Define the world coordinate system O-xyz for the direct lowering of the Christmas tree: The origin is located at the geometric center of the bottom surface of the guide column. The three coordinate axes form a right-handed coordinate system and correspond to the built-in coordinate system of the attitude sensor. Define the Unity world coordinate system as O'-x'y'z'.

[0061] For the analysis of Model 1, temporarily ignoring the appearance characteristics of the Christmas tree itself, the Christmas tree can be abstracted as a cube. It is assumed that the upper surface of the cube is always perpendicular to the suspension rope and the swing origin passes through the y-axis of the world coordinate system O-xyz.

[0062] Table 1 Initial parameters of the conical pendulum model

[0063]

[0064] When the Christmas tree swings around the y-axis, the relationship between the depth of the center of the tree bottom and the depth measured by the sensor is:

[0065]

[0066] Based on the geometric relationship and formula (1), the coordinate expression of the center of mass of the Christmas tree in the world coordinate system O-xyz during the direct lowering process can be expressed as:

[0067]

[0068] Since the z'(y') axis in the Unity world coordinate system is the y(z) axis in the world coordinate system O-xyz during the direct lowering of the Christmas tree, and considering the change of the sign of the angle tangent value with the angle value, formula (2) is modified as follows:

[0069]

[0070] According to equation (3), it can be concluded that when the target lowering depth and the height of the Christmas tree are determined, the kinematic model of the Christmas tree swing during the direct lowering process is only related to the real-time depth of the Christmas tree, the roll angle around the x-axis in the world coordinate system O-xyz, and the pitch angle around the y-axis.

[0071] 3) Construction of the guided installation model

[0072] The initial parameters of the guided installation model are shown in Table 2, and the schematic diagram is shown in Figure 4 shown.

[0073] Table 2 Initial parameters of the guided installation model

[0074]

[0075] In the temporary coordinate system z1Ox1, the equation of edge 1 combined with a1, a2 and l1 can be expressed as:

[0076]

[0077] Because the coordinates of the origin of the temporary coordinate system z1Ox1 relative to the Unity world coordinate system are Therefore, the equation of edge 1 in the original coordinate system is:

[0078]

[0079] Similarly, in the temporary coordinate system z2Ox2, the equation of edge 2 can be expressed by combining b1, b2 and l2 as follows:

[0080]

[0081] Because the coordinates of the origin of the new coordinate system z2Ox2 relative to the Unity world coordinate system are Therefore, the equation of side 2 in the original coordinate system is:

[0082]

[0083] By combining the two equations, we can solve the coordinates of the intersection of the two in the original coordinate system:

[0084]

[0085] The trajectory of the intersection of the horizontal diagonal lines of the moved tree can be viewed as a circle with (x', y') as the center and a radius of l. The general parametric equation for a circle gives the coordinates of this point in the original coordinate system as:

[0086]

[0087] Step 3: Sensor System Selection

[0088] 1) Sensor selection

[0089] The real-time position data of the Christmas tree during direct lowering, along with the rotation angles around its own center of mass coordinate system, are key data for this process. This real-time position data can be divided into vertical depth data and horizontal distance from the ideal position. Depth data is obtained using a level gauge, horizontal distance from the ideal position is calculated using a conical pendulum model, and angle data is obtained using an attitude sensor.

[0090] The measurement of the liquid level gauge satisfies the basic equation of static pressure:

[0091] p=p0+ρgh (10)

[0092] Where: h is the liquid level height.

[0093] From formula (10), it can be seen that when the probe of the liquid level meter enters the liquid, the pressure of the liquid on the probe is linearly proportional to the liquid level. The pressure sensitive element inside the probe converts the sensed pressure into an electrical signal, which is then amplified and processed to output a digital signal. The liquid level meter selected in the present invention is as follows: Figure 5 The performance parameters of the level meter are shown in Table 3.

[0094] Table 3 Performance parameters of liquid level gauge

[0095]

[0096] The attitude sensor's angle measurement function is based on its built-in three-axis electronic compass and three-axis accelerometer. The three-axis electronic compass uses the principle of geomagnetic measurement to determine direction and can provide the target object's heading angle and attitude angle in real time. The coordinate transformation relationship between the object coordinate system and the navigation coordinate system can be expressed as:

[0097]

[0098] Assume that the accelerometer measurement value is A x 、A y and A z , according to formula (11), we can get:

[0099]

[0100] Equations (12) and (13) are the pitch angle and roll angle output by the attitude sensor.

[0101] When the object coordinate system and the navigation coordinate system are consistent, the sensor measurement value is recorded as and It can be solved as follows:

[0102]

[0103] Formula (14) is the heading angle output by the attitude sensor.

[0104] The posture sensor selected by the present invention is as follows Figure 6 The performance parameters of the attitude sensor are shown in Table 4.

[0105] Table 4 Performance parameters of attitude sensor

[0106]

[0107]

[0108] The distance data is obtained by underwater ultrasonic ranging sensors during the lowering process of the Christmas tree and the guide column.

[0109] The underwater ultrasonic ranging sensor is based on the principle of underwater sonar technology. When working, it emits ultrasonic waves according to the set frequency due to the inverse piezoelectric effect. When it propagates in the water, it hits an obstacle and reflects the echo. After being received by the sensor, its built-in circuit converts the received signal into a digital form and calculates the obstacle distance based on the TOF (Time of Flight) principle through the microcontroller unit MCU (Micro Controller Unit). The measurement principle of the underwater ultrasonic ranging sensor is as follows: Figure 7 As shown, the distance measuring sensor selected by the present invention is as follows Figure 8 The performance parameters of the ranging sensor are shown in Table 5.

[0110] Table 5 Performance parameters of ranging sensor

[0111]

[0112] Where s is the current ranging distance.

[0113] 2) Other hardware selection

[0114] The digital twin mapping technology hardware system for oil trees studied in this invention requires not only sensors as actuators, but also power elements, conversion elements, and transmission elements. The following describes other hardware devices required for the hardware system of this invention.

[0115] The power element is the power source for the normal operation of each sensor. Because the operating voltages of different types of sensors are different and relatively low, the hardware system of the present invention uses a switching power supply that can independently output 5V, 12V and 24V as the power element.

[0116] The conversion element converts the RS485 data sent back by the sensor into data that the system can directly accept. Because the data collected by each sensor needs to be transmitted to the computer equipped with the software system, the hardware system of the present invention uses an RS485 to USB serial port cable as the conversion element.

[0117] Transmission elements are elements that transfer energy and information. Because the hardware system of the present invention includes six sensors, and the RS485-to-USB serial port cable only has one set of RS485 channels, to simplify hardware system construction and ease maintenance, the hardware system of the present invention uses a breadboard to connect the power lines, ground lines, A lines, and B lines of the six sensors together, then leads a wire from each to the RS485-to-USB serial port cable.

[0118] Step 4: Sensor System Connection Scheme

[0119] The VCC lines of each selected sensor are connected to a breadboard respectively, and the VCC lines drawn from the breadboard are connected to the switch power supply contacts at the corresponding sensor operating voltage. The A and B lines of each sensor are connected to a breadboard respectively, and the A and B lines drawn from the breadboard are connected to the corresponding contacts of the serial port line. The GND lines of each sensor are uniformly connected to the ground contacts of the switch power supply. After each sensor is connected, each phase of the power line is connected to the contacts of the corresponding phase of the switch power supply. The present invention adopts four ranging sensors.

[0120] Step 5: Sensor System Installation Plan

[0121] The engineering application requirements of digital twin technology are mapped for the Christmas tree lowering and installation operation studied in this invention, and the installation plan of the twin data perception hardware system is designed according to the structure and data measurement characteristics of each sensor.

[0122] Based on the conical pendulum model established in step 2, the depth data in the model represents the distance from the water surface to the bottom of the Christmas tree. Therefore, the level gauge is installed parallel to the Christmas tree's guide structure, with the bottom surface of the level gauge coplanar with the tree's bottom surface. Due to differences between the attitude sensor's built-in coordinate system and the Unity world coordinate system, to ensure a one-to-one correspondence between the pitch, roll, and heading angles measured by the attitude sensor and the Unity world coordinate system, and given that sensors can be placed on any flat surface on the Christmas tree's top surface, the attitude sensor is installed at the midpoint of the edge of the Christmas tree's top panel near the operation panel. Based on the guide installation model established in step 2, a1, a2, b1, and b2 in the model represent the real-time distance between the underwater ultrasonic ranging sensor and the opposite guide column. Therefore, the underwater ultrasonic ranging sensor is installed on two mutually perpendicular inner surfaces of the shallow underwater production base plate, parallel to the two mutually perpendicular surfaces of the Christmas tree, and aligned with the guide structure.

[0123] In summary, the schematic diagram of the installation scheme of the twin data perception hardware system designed by the present invention is as follows: Figure 9 As shown. The structure includes a target plane 1 below the Christmas tree, guide posts 2, a distance sensor mounting position 3, a distance sensor 4, a liquid level sensor 5, a liquid level sensor mounting position 6, a posture sensor 7, and a posture sensor mounting position 8. The Christmas tree lowering target plane 1 is horizontally arranged, and four guide posts 2 are vertically arranged in a rectangular shape on the Christmas tree lowering target plane 1. The distance sensor mounting positions 3 are located on the sides of the Christmas tree lowering target plane 1, and the distance sensor 4 is mounted on the distance sensor mounting positions 3. There are multiple distance sensor mounting positions 3 and 4, each of which is arranged in a one-to-one correspondence. Preferably, two sets of distance sensors are installed on each of two adjacent sides, for a total of four sets. The liquid level sensor mounting position 6 is located above the Christmas tree lowering target plane 1, and the liquid level sensor 5 is mounted on the liquid level sensor mounting position 6 to measure real-time depth. The posture sensor mounting position 8 is located on the plane at the top of the four guide posts 2, and the posture sensor 7 is mounted on the posture sensor mounting position 8 to measure the posture of the Christmas tree lowering target. The distance sensor 4, the liquid level sensor 5 and the posture sensor 7 are all connected to the software processing module, and the software processing module receives the data collected by the sensors in real time for analysis and virtual mapping.

[0124] Parts of the present invention that are not described in detail may refer to the prior art or are well-known technologies to those skilled in the art, and this embodiment does not limit this and will not be described in detail here.

[0125] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. A sensor system for collecting key data during the installation of a Christmas tree, characterized in that: The system comprises: A sensor hardware module is configured to sense key data of the Christmas tree lowering process in real time and transmit it to the software processing module; a software processing module configured to receive data transmitted by the sensor hardware module and accurately map the real-time three-dimensional position and motion posture of the Christmas tree; The software processing module includes a three-dimensional digital model of the Christmas tree based on its structure and dimensions, a conical pendulum model that simulates the circular swing of the Christmas tree during lowering, and a guide installation model that simulates the three-axis spatial coordinate position of the Christmas tree with the geometric center of the bottom surface of the guide column as the origin. The conical pendulum model considers the change of the sign of the tangent value of the angle with the angle value; The expression of the conical pendulum model is: Where x', y', and z' are coordinate values, dis is the depth of the center of the Christmas tree base, h is the height of the Christmas tree, H is the target lowering depth, l' is the width of the Christmas tree base, rollX is the roll angle of the Christmas tree around the X-axis, and pitchY is the pitch angle of the Christmas tree around the Y-axis. The expression of the guided installation model is: Where a1 is the distance data measured by ranging sensor 1, a2 is the distance data measured by ranging sensor 2, b1 is the distance data measured by ranging sensor 3, b2 is the distance data measured by ranging sensor 4, L is the length of the outer bottom side, l1 is the distance between the two sensors in the vertical direction, and l2 is the distance between the two sensors in the horizontal direction; The guide installation model is defined as follows: the intersection of the horizontal diagonal lines of the Christmas tree after movement is a circle with (x', y') as the center and l as the radius relative to the movement trajectory before movement; the coordinates of this point in the original coordinate system are: Where x and y are the coordinates before moving, and pitchY is the pitch angle of the Christmas tree around the Y axis.

2. The sensor system for collecting key data during the installation of a Christmas tree according to claim 1, characterized in that: The process of creating the three-dimensional digital model of the Christmas tree includes: creating the Christmas tree model through SolidWorks, then importing it into Unity3D through 3DMax, setting the texture parameters of the Christmas tree model according to the actual surface material of the Christmas tree to improve the model's display effect, and using the material ball function to add materials to the Christmas tree model.

3. The sensor system for collecting key data during the installation of a Christmas tree according to claim 1, characterized in that: The expressions of the conical pendulum model and the guide installation model are related to the real-time depth of the Christmas tree, the roll angle around the x-axis in the world coordinate system, and the pitch angle around the y-axis.

4. The sensor system for collecting key data during the installation of a Christmas tree according to claim 1, characterized in that: The sensor hardware module includes four groups of distance sensors, one group of liquid level sensors and one group of posture sensors; The distance measuring sensor is used to measure the real-time distance between the distance measuring sensor and the guide column directly opposite to it; The liquid level sensor is used to measure the real-time depth; The posture sensor is used to measure the posture of the Christmas tree lowering target.

5. The sensor system for collecting key data during the installation of a Christmas tree according to claim 4, characterized in that: The attitude sensor has a built-in three-axis electronic compass and a three-axis accelerometer. The three-axis electronic compass is used to measure the heading angle and attitude angle of the target object in real time, and the three-axis accelerometer is used to measure real-time acceleration.

6. The sensor system for collecting key data during the Christmas tree installation process according to claim 4, characterized in that: The sensor hardware module includes a horizontally arranged target plane below the Christmas tree and four guide columns; The target plane below the Christmas tree is a square, and the four guide posts are vertically arranged at the four corners of the target plane below the Christmas tree; The four groups of distance measuring sensors are respectively arranged on two adjacent sides of the target plane below the Christmas tree; The liquid level sensor is arranged above the target plane below the Christmas tree, and the attitude sensor is arranged above the guide column.

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