Surface matrix sensor installation tool and method

Abstract

The invention provides an earth surface matrix sensor installation tool and method, and solves the problems that when a sensor is installed in a monitoring pipe in a traditional method, a soil sensor needs to be manually excavated and installed, the efficiency is low, and high-precision sensor position alignment is difficult to achieve. In addition, a traditional installation mode often causes disturbance to a ground surface matrix, and the accuracy of monitoring data is affected. The installation tool is used for installing a plurality of sensor modules in a to-be-monitored earth surface matrix monitoring pipe, and comprises a plurality of vertically arranged installation areas; comprising a mobile device arranged in an earth surface matrix monitoring pipe, and a plurality of sensor modules arranged on the mobile device; the image acquisition equipment is used for acquiring area image information corresponding to each mounting area; and the control equipment controls the mobile equipment according to the area image information so as to enable each sensor module to be pre-aligned with one mounting area, and controls the mobile equipment to transversely eject each sensor module out of the ground surface matrix monitoring pipe so as to complete mounting of the sensor modules.

Description

Technical Field

[0001] This application relates to the technical field of surface matrix detection, and particularly to a tool and method for installing a surface matrix sensor. Background Art

[0002] As an important part of the earth's surface layer, the surface matrix is the basic substance that supports ecological tools, agricultural production, and ecological construction. The surface matrix monitoring technology sets sensors in the surface matrix to obtain key parameters such as moisture, temperature, salinity, pH value, redox potential, etc., providing important data support for agricultural management, environmental protection, and ecological security. However, traditional surface matrix monitoring technologies mainly focus on surface soil monitoring, and the monitoring depth is usually limited to 0 - 2 meters. Moreover, the sensors are installed by manually digging pits, which not only causes great damage to the surface matrix, affecting the timeliness and representativeness of the monitoring data, but also cannot meet the needs of deep surface matrix monitoring.

[0003] In recent years, with the increasing demand for deep surface matrix monitoring, the limitations of existing monitoring technologies have become more prominent. When installing sensors using traditional methods, manual operation is required to dig and install soil sensors, which is not only inefficient but also difficult to achieve high-precision alignment of sensor positions. In addition, traditional installation methods often cause disturbances to the surface matrix, affecting the accuracy of monitoring data.

[0004] Therefore, there is an urgent need for a technical means that can achieve non-invasive, high-precision, and multi-dimensional surface matrix monitoring. Summary of the Invention

[0005] This application provides a tool and method for installing a surface matrix sensor, aiming to solve the problems that when installing sensors using traditional methods, manual operation is required to dig and install soil sensors, which is not only inefficient but also difficult to achieve high-precision alignment of sensor positions. In addition, traditional installation methods often cause disturbances to the surface matrix, affecting the accuracy of monitoring data.

[0006] In a first aspect, this application provides a tool for installing a surface matrix sensor, which is used to install a plurality of sensor modules in a surface matrix monitoring tube to be monitored. The surface matrix monitoring tube includes a plurality of vertically arranged installation areas; the tool includes: A mobile device, which is arranged in the surface matrix monitoring tube, and a plurality of the sensor modules are arranged on the mobile device; An image acquisition device, which is used to acquire regional image information corresponding to each of the installation areas; A control device, which controls the mobile device according to the regional image information so that each sensor module is pre-aligned with an installation area, and controls the mobile device to laterally eject each sensor module out of the surface matrix monitoring tube to complete the installation of the sensor module.

[0007] In a second aspect, the present application provides a method for installing a surface matrix sensor, which is applied to the surface matrix sensor installation tool provided in any embodiment of the present application; the method includes: Obtain the regional image information corresponding to each installation area collected by the image acquisition device; Control the mobile device according to the regional image information so that each sensor module is pre-aligned with an installation area; Control the mobile device to laterally eject each sensor module out of the surface matrix monitoring tube to complete the installation of the sensor module.

[0008] The present application provides a surface matrix sensor installation tool and method. By integrating a mobile device, an image acquisition device, and a control device, the surface matrix sensor installation tool provides an efficient, accurate, and environmentally friendly sensor installation solution.

[0009] Installed inside the monitoring tube through a mobile device, it can carry multiple sensor modules. The device may be equipped with rails or slides to enable it to move freely inside the monitoring tube, and is usually driven by a motor to achieve precise position adjustment.

[0010] The image acquisition device is installed on the mobile device or inside the monitoring tube and is used to capture images of each installation area. A high-resolution camera or other imaging technologies may be used to capture detailed regional image information for subsequent alignment and positioning.

[0011] As the center of the system, the control device receives the image information from the image acquisition device. It processes the image data through built-in algorithms (which may include image recognition and machine learning technologies), calculates the precise position of the sensor module, and controls the mobile device to make adjustments according to the calculation results to ensure that each sensor module is accurately aligned with the target installation area.

[0012] The sensor module is pre-installed on the mobile device. After the mobile device is adjusted to the correct position, the sensor module is fixed to the installation area of the monitoring tube through a lateral ejection mechanism.

[0013] The provided installation tools and methods can achieve trenchless installation of deep surface matrix sensors by integrating automated equipment. Meanwhile, during the sensor installation process, the dependence on manual operations is reduced, the installation efficiency is significantly improved, and time and labor costs are saved. The coordinated operation of the image acquisition device and the control device ensures the precise alignment of the sensor module, reduces the errors caused by manual operations in traditional methods, and improves the accuracy of monitoring data. The sensor module is installed through an ejection mechanism, avoiding the need for additional excavation or drilling in traditional methods, reducing the disturbance to the surface matrix, protecting the monitoring environment, and ensuring data reliability. Real-time image processing and algorithm recognition enable the tool to adapt to changes in different environments and monitoring pipe structures, enhancing the flexibility and adaptability of the installation. The high-efficiency image processing ability of the control device ensures quick feedback and adjustment, making the installation process smoother and improving the overall efficiency.

[0014] Through automation and high-precision alignment technology, this installation tool solves the problems of low efficiency and disturbance in traditional installation methods, significantly improves the efficiency and data accuracy of sensor installation, and provides a reliable solution for surface matrix monitoring.

[0015] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application. Brief Description of the Drawings

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a schematic structural diagram of the installation tool provided by an embodiment of this application; Figure 2 It is a schematic structural diagram of the installation tool and the sensor module provided by an embodiment of this application; Figure 3 It is a schematic sectional view of the installation tool provided by an embodiment of this application; Figure 4 It is a schematic structural diagram of the surface matrix comprehensive channel provided by an embodiment of this application; Figure 5 It is a schematic diagram of the use of an installation tool provided by an embodiment of this application; Figure 6 It is a schematic flow chart of the steps of the surface matrix sensor installation method provided by an embodiment of this application; Figure 7It is a structural schematic block diagram of a surface matrix sensor installation device provided by an embodiment of the present application; Figure 8 It is a structural schematic block diagram of a control device provided by an embodiment of the present application.

[0018] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. Detailed implementation manners

[0019] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0020] The flowcharts shown in the accompanying drawings are only illustrative, and do not necessarily include all contents and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can also be decomposed, combined or partially merged, so the actual execution order may change according to the actual situation.

[0021] It should be understood that in order to facilitate the clear description of the technical solutions in the embodiments of the present invention, in the embodiments of the present invention, terms such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the terms "first" and "second" do not limit the quantity and execution order, and the terms "first" and "second" do not necessarily mean different.

[0022] It should be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application and the appended claims, unless otherwise clearly specified in the context, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0023] It should also be understood that the term " / and / " used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0024] Next, some embodiments of the present application will be described in detail in conjunction with the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0025] As an important component of the earth's surface layer, the surface substrate is the basic material that supports the ecosystem, agricultural production, and ecological construction. The surface substrate monitoring technology obtains key parameters such as moisture, temperature, salinity, pH value, and redox potential by setting sensors in the surface substrate, providing important data support for agricultural management, environmental protection, and ecological security. However, traditional surface substrate monitoring technology mainly focuses on the monitoring of surface soil, and the monitoring depth is usually limited to 0-2 meters. Moreover, the sensors are installed by manually digging pits, which not only causes great damage to the surface substrate, affects the timeliness and representativeness of the monitoring data, but also cannot meet the needs of deep surface substrate monitoring.

[0026] In recent years, with the increasing demand for deep monitoring of the surface substrate, the limitations of existing monitoring technologies have become more prominent. When installing sensors in the monitoring tube using traditional methods, manual operation or simple mechanical devices are usually required, which is not only inefficient but also difficult to achieve high-precision alignment of the sensor positions. In addition, the traditional installation method often disturbs the surface substrate, affecting the accuracy of the monitoring data. Therefore, there is an urgent need for a technical means that can achieve non-invasive, high-precision, and multi-dimensional surface substrate monitoring.

[0027] In response to the above problems, the present invention proposes a surface substrate sensor installation tool. Through the collaborative work of a mobile device, an image acquisition device, and a control device, it realizes the automatic alignment and precise installation of the sensor module, avoiding the destructive operation of the traditional method on the surface substrate, and significantly improving the accuracy and representativeness of the monitoring data. This technology can not only monitor the deep surface substrate but also meet the multi-dimensional and high-precision monitoring requirements, providing more scientific technical support for agricultural production and ecological construction.

[0028] Please refer to Figures 1 to 5 , this application provides a surface substrate sensor installation tool 30 for installing a plurality of sensor modules 20 in a surface substrate monitoring tube 11 to be monitored. The surface substrate monitoring tube 11 includes a plurality of vertically arranged installation areas. The provided installation tool 30 includes a mobile device 31, an image acquisition device 32, and a control device 33 (the positions of the control device 33 and the image acquisition device 32 are only schematic in Figure 3 and can be adjusted arbitrarily according to the actual design). The mobile device 31 is arranged in the surface substrate monitoring tube 11, and a plurality of sensor modules 20 are arranged on the mobile device 31; the image acquisition device 32 is used to acquire the area image information corresponding to each installation area; the control device 33 controls the mobile device 31 according to the area image information so that each sensor module 20 is pre-aligned with an installation area, and controls the mobile device 31 to horizontally push each sensor module 20 out of the surface substrate monitoring tube 11 to complete the installation of the sensor module 20.

[0029] Specifically, in the provided installation tool 30, the mobile device 31 is the core of the installation tool 30 and is responsible for moving the sensor module 20 along the surface matrix monitoring pipe 11 to the designated installation area. It may include rollers, slide rails or other moving mechanisms to ensure the smooth movement of the sensor module 20. The specific type of the moving tool is not limited in this application.

[0030] Exemplarily, the mobile device 31 can adopt a modular slide rail framework. The main body is made of high-strength aviation aluminum (compressive strength ≥ 500 MPa) and can be adapted to monitoring pipes 11 with any diameter. It is equipped with a multi-axis linkage robotic arm array. Each robotic arm has the ability to move in 6 degrees of freedom (XYZ translation + pitch / yaw / rotation), and a micro hydraulic ejector device (thrust range 0.5 - 20 N) is integrated at the end. It has a built-in laser positioning calibration ring, which interacts with the prefabricated optical marks on the pipe wall by emitting a 532 nm laser beam to achieve sub-millimeter positioning (accuracy ±0.2 mm).

[0031] The corresponding drive part of the mobile device 31 can adopt a magnetic levitation linear motor. Through contactless drive technology, friction loss is avoided. The maximum moving speed is 1 m / s, and it supports continuous operation within the depth range corresponding to the surface matrix monitoring pipe 11. At the same time, an adaptive damping system is integrated. The piezoelectric acceleration sensor is used to detect the vibration of the pipe wall in real time, and the motion parameters are dynamically adjusted to maintain stability.

[0032] The image acquisition device 32 is used to acquire image information of each installation area in the monitoring pipe 11 and provide a decision-making basis for the control device 33. It may include a high-definition camera, an infrared camera, a laser scanner, etc. to adapt to different monitoring environments. The image acquisition device 32 transmits the acquired image information to the control device 33 in real time.

[0033] Exemplarily, the image acquisition device 32 may include, but is not limited to: a multi-spectral imaging module, a confocal microscope lens and a ring-shaped LED matrix. The multi-spectral imaging module includes at least three-band cameras for visible light (400 - 700 nm), near-infrared (900 - 1700 nm) and thermal imaging (8 - 14 μm), and can synchronously obtain soil structure, moisture distribution and temperature field information. The confocal microscope lens is equipped with a 50-fold optical zoom lens and supports micron-level pore structure analysis (resolution 2 μm). The ring-shaped LED matrix may include, for example, 256 programmable RGBW lamp beads, and the brightness dynamic adjustment range is 0 - 20000 lux to adapt to the completely dark underground environment.

[0034] The image acquisition device 32 can be equipped with an edge computing unit to run customized image processing algorithms, such as identifying the texture features of the installation area through a convolutional neural network (CNN), using structured light three-dimensional reconstruction technology to generate a point cloud model of the installation point, so as to implement multi-sensor data fusion and overlay and analyze the optical image and the ground penetrating radar data.

[0035] The control device 33 is used to process the information provided by the image acquisition device 32, and control the mobile device 31 to accurately install the sensor module 20 at the specified position. By analyzing the image through the built-in algorithm, it identifies the position and characteristics of the installation area, and calculates the movement path and speed of the mobile device 31. It can also provide an operation interface to allow the user to monitor the installation process and perform manual intervention when necessary.

[0036] The control device 33 can construct a three-dimensional motion map based on the improved A* algorithm to avoid obstacles such as bumps on the pipe wall. Dynamically adjust the movement trajectory of the robotic arm, optimize energy consumption, and complete the intelligent path planning within the surface matrix monitoring pipe 11.

[0037] At the same time, the six-axis force sensor is used to monitor the ejection torque in real time to prevent the sensor from being damaged during the ejection process, and algorithms such as PID and fuzzy control are used to achieve precise control of the contact force.

[0038] The sensor module 20 includes, but is not limited to, a moisture sensor, a temperature sensor, a salinity sensor, a pH sensor, and a redox potential sensor. By integrating a variety of different types of sensors in a modular unit in this application, it is convenient for installation and maintenance.

[0039] Before installation, the provided installation tool 30 needs to ensure that the corresponding surface matrix monitoring pipe 11 is clean, obstacle-free, and suitable for the installation of the sensor module 20. Check whether the mobile device 31, the image acquisition device 32, and the control device 33 are working properly.

[0040] During the installation process, the image acquisition device 32 automatically acquires images along the monitoring pipe 11, covering all installation areas. The acquired image information is stored in the control device 33 for subsequent analysis.

[0041] The control device 33 analyzes the image to determine the precise position of each installation area. According to the analysis results, the control device 33 plans the movement path of the mobile device 31 to ensure that the sensor module 20 can accurately reach the installation area. The mobile device 31 aligns the sensor module 20 to the installation area according to the instructions of the control device 33. The mobile device 31 laterally ejects the sensor module 20 out of the monitoring pipe 11 to complete the installation.

[0042] By arranging multiple installation areas vertically in the monitoring pipe 11, sensor modules 20 with different depths are installed in each area. The control device 33 integrates the data from the sensor modules 20 at different depths to provide comprehensive surface matrix information. Automated installation reduces human operation errors and improves the accuracy of data. Uniform installation standards and processes ensure the consistency of data.

[0043] Automated installation also reduces the dependence on manual labor and lowers the labor intensity. The fast automated installation process shortens the installation time and improves the efficiency. It avoids the damage to the surface substrate caused by the traditional way of digging pits. It reduces the disturbance to the surface substrate, which helps to protect the ecological balance. At the same time, the sensor module 20 that can be installed into the deep surface substrate meets the deep monitoring requirements. Through the sensor modules 20 at different depths, multi-dimensional surface substrate data can be obtained.

[0044] In summary, the provided surface substrate sensor installation tool 30, through the integrated automated technology, not only improves the accuracy and efficiency of monitoring, but also reduces the damage to the environment, providing strong technical support for agricultural production and ecological construction.

[0045] In some embodiments, the mobile device 31 includes either a robotic arm or a hydraulic jack.

[0046] In this embodiment, the mobile device 31 uses a robotic arm or a hydraulic jack as the main actuator. The robotic arm has multiple degrees of freedom and can precisely control the installation position and angle of the sensor module 20, which is suitable for complex terrains and scenarios with high-precision requirements. The hydraulic jack provides a greater thrust force and is suitable for environments that require a large installation force. Both are equipped with advanced control systems that can adjust the action parameters in real time to ensure the stability and reliability of the installation process.

[0047] The multi-degree-of-freedom design of the robotic arm ensures the precise installation of the sensor module 20, reduces human error, and improves the accuracy of the monitoring data. The hydraulic jack provides a powerful thrust force, is suitable for various complex terrains and high-resistance environments, and expands the application range of the device. Automated control reduces the manpower requirement, improves the installation efficiency, and shortens the operation time.

[0048] The robotic arm solution can adopt a six-degree-of-freedom serial robotic arm, and the end effector is equipped with an electromagnetic adsorption device. A rotary encoder is provided at the base of the robotic arm, which can achieve a repeat positioning accuracy of 0.1 mm. The servo motor drives the rack and pinion mechanism to achieve vertical movement, and the adjustable speed range is 5 - 50 cm / min.

[0049] The hydraulic jack solution can be powered by a plunger-type hydraulic cylinder. The hydraulic system includes a precision proportional valve and an accumulator, and the working pressure is set to 5 - 20 MPa. The guiding mechanism adopts a chrome-plated hard steel rail, and the surface roughness is controlled below Ra0.8 to ensure the smoothness of movement.

[0050] In some embodiments, the sensor module 20 includes multiple sensor probes, the installation area includes multiple sensor installation holes, and the control device 33 controls the mobile device 31 to horizontally push each sensor probe out of the surface substrate monitoring tube 11 through the corresponding sensor installation hole.

[0051] The sensor module 20 consists of multiple sensor probes, and each probe is designed to measure different surface substrate parameters. The installation area is configured with multiple sensor mounting holes, and each hole corresponds to one probe. The control device 33 coordinates the mobile device 31 to accurately push each probe out of the monitoring tube 11, ensuring good contact between the probe and the substrate.

[0052] Multi-dimensional monitoring data is provided through the combination of multiple sensor probes to comprehensively evaluate the condition of the surface substrate. Each probe is pushed out through an independent mounting hole to avoid mutual interference and improve the reliability and accuracy of the data. The sensor module 20 is easy to replace and maintain, and can be flexibly adjusted to meet different monitoring requirements.

[0053] Exemplarily, the mobile device 31 includes multiple lateral pushing modules, one lateral pushing module corresponding to one sensor module 20, and the control device 33 is used to control each lateral pushing module to push the sensor module 20 out of the surface substrate monitoring tube 11.

[0054] The mobile device 31 is configured with multiple lateral pushing modules, each module is independently controlled, and corresponds to different sensor modules 20. The control device 33 coordinates the actions of each pushing module according to a preset program or real-time data to ensure the precise installation and positioning of the sensor module 20.

[0055] By having multiple pushing modules work simultaneously, the installation efficiency is improved, and the overall operation time is shortened. Each module operates independently, adapts to the installation requirements of different sensor modules 20, improves the flexibility and adaptability of the system, reduces manual intervention, increases the degree of automation of the installation process, and reduces the risk of operation errors.

[0056] Among them, the matching relationship between the pushing distance and the pipe diameter is determined by formula calculation: Δ L = Dtube -( Lprobe +2 δ ); Dtube is the inner diameter of the monitoring tube 11, Lprobe is the exposed length of the probe, δ is the safety margin (such as taking 1 - 3 mm). During implementation, parameter constraints are set on the control interface: when ΔL < 2 mm, an alarm is triggered and the pushing-out operation is prohibited; the optimal working range is ΔL = 5 - 15 mm, and at this time the compression ratio of the seal is 20 - 40% (the specific parameter range can be adjusted according to the actual size).

[0057] It should be noted that in some embodiments, the difference between the maximum pushing distance corresponding to the lateral pushing module and the channel inner diameter corresponding to the surface substrate monitoring tube 11 is within a preset difference range.

[0058] The maximum pushing distance design of the lateral pushing module is kept within a preset difference range from the inner diameter of the channel of the surface matrix monitoring tube 11. This design ensures that while the pushing module provides sufficient thrust, it avoids waste of resources and structural complexity caused by over-design. The reasonable matching of the pushing distance and the inner diameter improves the reliability and durability of the device, reduces the maintenance cost, avoids unnecessary energy consumption and structural complexity, improves the operating efficiency and service life of the device. Through optimization design, the manufacturing and use costs of the device are reduced, and the overall economy is improved.

[0059] It should be noted that in some embodiments, if the control device determines according to the regional image information that the sensor probe has not been fully pushed out of the surface matrix monitoring tube, the lateral pushing module is controlled to reciprocate relative to the sensor probe until the sensor probe is completely pushed out of the surface matrix monitoring tube.

[0060] The control device 33 integrates advanced image processing technology to analyze the image information of the sensor installation area in real time. If it is detected that the sensor probe has not been fully pushed out of the monitoring tube 11, the system automatically adjusts the lateral pushing module to reciprocate to ensure that the probe is accurately installed in place. Through image feedback and automatic adjustment, the accurate installation of the sensor probe is ensured, and the reliability of the monitoring data is improved. The automatic adjustment reduces the need for manual inspection and correction, improves the operation efficiency, and reduces the labor cost. The real-time monitoring and feedback mechanism ensure the installation quality and reduce the monitoring error caused by improper installation.

[0061] It should be noted that in some embodiments, the surface matrix parameters corresponding to the sensor probe include at least any one of moisture content, conductivity, pH value, redox potential, temperature, carbon dioxide value, methane value, oxygen value, groundwater level value, nitrogen, phosphorus and potassium value, and organic matter value.

[0062] The sensor probe is designed to measure a variety of surface matrix parameters, including moisture content, conductivity, pH value, etc. Each probe is optimized for specific parameters to ensure the accuracy and sensitivity of the measurement. The control device 33 coordinates the work of each probe to achieve comprehensive surface matrix monitoring.

[0063] By measuring a variety of parameters, comprehensive surface matrix information is provided to support more accurate analysis and decision-making. Each probe is optimized for specific parameters to improve the measurement accuracy and sensitivity and ensure the reliability of the data. By flexible sensor combination, different monitoring requirements are adapted, and the applicability and flexibility of the system are improved.

[0064] It should be noted that in some embodiments, the installation area further includes a hyperspectral lens mounting hole, and the sensor module 20 further includes a hyperspectral module. The hyperspectral lens of the hyperspectral module extends out of the surface matrix monitoring tube 11 through the hyperspectral lens mounting hole.

[0065] The sensor module 20 integrates a hyperspectral module and is configured with a hyperspectral lens mounting hole. The hyperspectral lens extends outside the monitoring tube 11 through the mounting hole to collect hyperspectral images of the surface substrate, providing detailed composition and structure information. By providing detailed composition and structure information of the surface substrate through hyperspectral imaging, it supports more in-depth analysis and research. The hyperspectral module does not need to directly contact the substrate, reducing interference with the environment and maintaining the natural state of the monitoring area. Hyperspectral imaging quickly obtains a large amount of data, improving the monitoring efficiency and data processing ability.

[0066] It should be noted that in some embodiments, the image acquisition device 32 includes a camera, which is arranged in the installation area and faces the sensor mounting hole for capturing the image information corresponding to the sensor mounting hole.

[0067] The image acquisition device 32 is configured with a camera, which is arranged in the installation area and faces the sensor mounting hole to capture the image information of the sensor mounting hole in real time. Multi-angle image acquisition ensures comprehensive coverage of the monitoring area, improving the accuracy and integrity of the data. The multi-camera design ensures comprehensive coverage of the installation area, reducing blind spots and omissions and improving the integrity of the data. Multi-angle image acquisition provides detailed information about the installation area, supporting more accurate analysis and judgment. Through multi-angle data fusion, the accuracy and reliability of image analysis are improved, reducing the risk of misjudgment and missed judgment.

[0068] In some embodiments, the control module is equipped with an intelligent path planning algorithm, which dynamically optimizes the path of the mobile device 31 based on real-time environmental data and preset goals. The system integrates advanced sensors and cameras to collect real-time surrounding environment information, including terrain, obstacle distribution, etc. The algorithm uses an improved A* algorithm, combined with dynamic weight adjustment, to preferentially select the optimal path. During the path planning process, the system will consider the complexity of the terrain, the type of obstacles, and the priority of sensor installation to ensure the efficiency and safety of the path.

[0069] Dynamic path planning reduces unnecessary movement and improves the installation efficiency. It automatically adjusts the path in complex terrains to adapt to different environmental conditions. It avoids obstacles and dangerous areas, reducing equipment damage and operation risks.

[0070] In some embodiments, the control module uses deep learning technology to perform real-time processing on the images obtained by the image acquisition device 32. A convolutional neural network (CNN) is used to accurately identify the position, shape, and surrounding environment of the sensor mounting hole. The algorithm improves the accuracy and speed of recognition by training a large amount of image data. In addition, the system can also perform image segmentation and feature extraction to further optimize the position and angle of sensor installation.

[0071] Improve the recognition accuracy of the sensor installation position and reduce the installation error. Quickly process image data and support real-time adjustment and optimization. Through deep learning algorithms, enhance the stability and reliability of image analysis.

[0072] In some embodiments, the control module integrates data from multiple sensors through a real-time data fusion algorithm, including parameters such as moisture content, conductivity, pH value, etc., as well as hyperspectral image data. The system uses fuzzy logic and Bayesian networks to comprehensively analyze multi-source data and extract more valuable information. The algorithm optimizes the data fusion process through dynamic weight adjustment according to the importance and real-time nature of different parameters, ensuring the comprehensiveness and accuracy of the monitoring results. By integrating multiple data sources, more comprehensive surface matrix information is provided. Through data fusion, the error impact of a single sensor is reduced, and the reliability of the monitoring results is enhanced. According to real-time environmental changes, the data fusion strategy is dynamically adjusted to adapt to different monitoring requirements.

[0073] In some embodiments, the control module predicts the performance changes and potential faults of the device by analyzing the historical operation data and real-time monitoring data of the device. For example, time series analysis and support vector regression (SVR) models are used to establish a prediction model for the device performance. By analyzing parameters such as the vibration, temperature, and pressure of the device, potential problems are discovered in advance, maintenance suggestions are generated, and installation interruptions caused by device failures are avoided. Through predictive maintenance, the service life of the device is extended, and the failure rate is reduced. Potential problems are discovered and solved in advance, and the downtime caused by device failures is reduced.

[0074] In some embodiments, the control module dynamically adjusts the control parameters of the mobile device 31 and the sensor module 20 according to real-time environmental data and sensor feedback through an adaptive control algorithm. The system analyzes the environmental changes and dynamic parameters during the installation process in real time through machine learning algorithms, and automatically adjusts the thrust of the propulsion module, the installation speed, etc. The algorithm continuously optimizes the control strategy through a feedback mechanism, ensuring the stability and efficiency of the installation process. By automatically adjusting the control parameters in different environments, it adapts to complex and changeable conditions.

[0075] In some embodiments, as Figure 4 shown, a comprehensive surface matrix channel 10 is provided, and the system includes: a comprehensive channel monitoring pipe 11, multiple sensor modules 20, a water level measurement module, a grouting module, and a terminal device.

[0076] The comprehensive channel monitoring pipe 11 is arranged in the surface matrix. The inner side of the comprehensive channel monitoring pipe 11 includes a water level measuring pipe 14 and a grouting pipe 13 arranged opposite to each other. Multiple installation areas 12 are formed on the side wall of the comprehensive channel monitoring pipe 11, and at least one installation area 12 corresponds to each formation type. At the same time, the depth of the comprehensive channel monitoring pipe 11 is related to the groundwater depth corresponding to the set surface matrix, and the embodiment of the present application does not limit its depth. A filter module 15 can also be included to filter the groundwater.

[0077] Each sensor module 20 corresponds to one installation area 12. Each sensor module 20 is arranged outside the comprehensive channel monitoring pipe 11 through the installation area 12 to monitor the surface matrix outside the installation area 12. The grouting pipe 13 is provided with grouting holes between two adjacent installation areas 12. At the same time, the water level measuring module of the sensor module 20 is arranged in the water level measuring pipe 14 to monitor the water level information below the surface matrix.

[0078] In some embodiments, such as Figure 1 and Figure 4 shown, each installation area 12 includes multiple monitoring holes, each integrated sensor module 20 includes multiple sensor probes 23, and each sensor probe 23 is arranged outside the comprehensive channel monitoring pipe 11 through the monitoring holes.

[0079] Please refer to Figure 2 and Figure 3 simultaneously. By opening multiple installation areas 12 on the side of the comprehensive channel monitoring pipe 11 and arranging multiple monitoring holes in each installation area 12, and then Figure 3 the multiple sensor probes 23 shown are inserted into the corresponding surface matrix outside the comprehensive channel monitoring pipe 11 through the monitoring holes to achieve precise monitoring of the surface matrix.

[0080] Exemplarily, the measurement information corresponding to each sensor probe 23 at least includes any one of the surface matrix parameters including at least water content, conductivity, pH value, redox potential, temperature, carbon dioxide value, methane value, oxygen value, nitrogen, phosphorus and potassium value, and organic matter value. These parameters can comprehensively reflect the physical and chemical properties of the surface matrix, thus providing detailed data support for subsequent analysis.

[0081] Multiple parameters can be monitored simultaneously through multiple sensor probes 23 to ensure the integrity and accuracy of the data. The sensor probes 23 can collect data in real time to detect changes in the surface matrix in a timely manner. The design of multiple monitoring holes reduces the possible errors of a single hole position and improves the reliability of the overall monitoring.

[0082] Exemplarily, each installation area 12 further includes a hyperspectral monitoring hole; further comprising: a plurality of hyperspectral modules 24, each hyperspectral module 24 is disposed outside the integrated channel monitoring tube 11 through the hyperspectral monitoring hole, and the hyperspectral module 24 is communicatively connected to the terminal device; wherein, the terminal device receives the hyperspectral information sent by each hyperspectral module 24, and is used to complete the surface substrate monitoring of each installation area 12 according to the measurement information, hyperspectral information and water level information corresponding to each installation area 12. Hyperspectral monitoring can obtain detailed spectral data of the surface substrate for identifying and analyzing the composition and state of the surface substrate. The terminal device combines the measurement information, hyperspectral information and water level information, and can perform multi-dimensional data analysis to improve the accuracy and precision of monitoring. The communication connection between the hyperspectral module 24 and the terminal device realizes remote monitoring, facilitating real-time transmission and processing of data.

[0083] Meanwhile, as Figure 1 shown, each integrated sensor module 20 further includes a housing 21, and the sensor probe 23 and the hyperspectral module 24 are disposed outside the integrated channel monitoring tube 11 by drilling corresponding hyperspectral monitoring holes and monitoring holes in the housing 21.

[0084] Please refer to Figure 6 , Figure 6 is a schematic flow chart of a method for installing a surface substrate sensor provided by an embodiment of the present application. The method for installing a surface substrate sensor can be implemented by a control device of the surface substrate sensor installation tool provided by any embodiment of the present application, and the control device can be deployed on a single server or a server cluster. It can also be deployed on a handheld terminal, a laptop computer, a wearable device or a robot, etc.

[0085] As Figure 6 shown, the provided method for installing a surface substrate sensor includes steps S101 to S103. Details are as follows: Step S101. Obtain the area image information corresponding to each of the installation areas collected by the image acquisition device.

[0086] Specifically, the core of this step is to use an image acquisition device (such as a camera) to obtain the image information of the installation area. The image acquisition device usually includes a camera, and each camera is set in the installation area and faces the corresponding sensor installation hole. These cameras can capture images of the sensor installation hole and its surrounding environment in real time, providing visual data support for subsequent installation alignment.

[0087] By configuring a camera in the installation area of the surface matrix monitoring tube, each camera corresponding to a sensor installation hole. The position and orientation of the camera are precisely designed to ensure that the images of the sensor installation hole and its surrounding environment can be clearly captured. The camera takes real-time images of the sensor installation hole to obtain regional image information. The image information includes the position and shape of the sensor installation hole, the distribution of obstacles in the surrounding environment, etc. The collected image information is transmitted to a control device (such as a server or a handheld terminal) by wired or wireless means for subsequent processing and analysis.

[0088] Through real-time image acquisition, the position and status of the sensor installation hole can be accurately identified, providing a reliable basis for subsequent alignment and installation. Automated image acquisition reduces the need for manual inspection and improves the efficiency of the installation preparation stage. The multi-angle configuration of the camera can adapt to complex terrain and environmental conditions, ensuring the comprehensiveness of the image information.

[0089] Step S102. Control the mobile device according to the regional image information so that each sensor module is pre-aligned with an installation area.

[0090] Specifically, in this step, by analyzing the regional image information, the control device coordinates the actions of the mobile device (such as a robotic arm or a hydraulic jack) to align each sensor module with the corresponding installation area. This process involves technologies such as image processing, feature recognition, and motion control to ensure the precise positioning of the sensor module.

[0091] The control device processes the collected regional image information to identify the position, shape, and other key features of the sensor installation hole. This usually involves using image processing algorithms such as edge detection, feature extraction, and object recognition. According to the image analysis results, the deviation between the current position of the sensor module and the target installation area is calculated. The deviation includes position offset, angle deviation, etc., which need to be adjusted by the mobile device. The control device sends adjustment instructions to the mobile device to drive the mobile device (such as the joints of the robotic arm or the push rod of the hydraulic jack) to adjust the position and angle so that the sensor module is aligned with the installation area. During the adjustment process, the system may adopt closed-loop control to provide real-time feedback on the adjustment effect to ensure the accuracy of the alignment.

[0092] Through image analysis and precise adjustment of the control device, the precise alignment of the sensor module with the installation area is ensured, reducing the installation error. The automated alignment process reduces the need for manual operation, improves the installation efficiency and safety. It can flexibly adjust the alignment strategy according to different installation areas and the characteristics of the sensor module to adapt to diverse installation requirements.

[0093] Step S103. Control the mobile device to laterally push each sensor module out of the surface matrix monitoring tube to complete the installation of the sensor module.

[0094] Specifically, after the sensor module is pre-aligned with the installation area, the control device drives the mobile device to horizontally push the sensor module so that it is ejected from the surface matrix monitoring tube to complete the installation. This process requires precise control of the pushing force and speed to ensure that the sensor module is stably installed at the target position.

[0095] The mobile device is configured with multiple horizontal pushing modules, and each module corresponds to a sensor module. The control device sends a pushing instruction to drive the pushing module to move horizontally and eject the sensor module from the monitoring tube. During the pushing process, the control device monitors the pushing force and moving speed in real time to ensure a smooth pushing process and avoid damage or unstable installation of the sensor module due to excessive force. After the sensor module is ejected from the monitoring tube, the installation is completed. The system may further check the installation status to ensure that the sensor module is correctly positioned and ready for subsequent monitoring work. By automating the pushing process, the installation of the sensor module is completed quickly, improving the overall operation efficiency. Precise control of the pushing force and speed ensures the stability of the sensor module installation and reduces monitoring errors caused by improper installation. The design of the pushing module can adapt to the characteristics of different sensor modules and monitoring tubes to ensure reliable installation under various conditions.

[0096] Through the above three steps, the surface matrix sensor installation method realizes a complete process from image acquisition, alignment adjustment to sensor module installation. Each step combines advanced image processing, motion control and automation technologies to ensure the efficiency, precision and stability of the installation process. These steps not only improve the installation efficiency and data accuracy, but also enhance the adaptability and reliability of the system, providing strong technical support for surface matrix monitoring.

[0097] It should be noted that those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described surface matrix sensor installation method and each step can refer to the corresponding processes in the surface matrix sensor installation tool embodiments described in the above embodiments, and will not be elaborated here.

[0098] Please refer to Figure 7 as shown in Figure 7 FIG. 18 is a schematic structural diagram of a surface matrix sensor installation device 200 provided by an embodiment of the present application. The surface matrix sensor installation device 200 is used to execute the steps of the surface matrix sensor installation method shown in the above embodiments. The surface matrix sensor installation device 200 may be a single server or a server cluster, or the surface matrix sensor installation device 200 may be a terminal, and the terminal may be a handheld terminal, a laptop computer, a wearable device or a robot, etc.

[0099] As Figure 7As shown, the surface matrix sensor installation device 200 includes: An information acquisition unit 201 for acquiring the area image information corresponding to each of the installation areas collected by the image acquisition device; A movement control unit 202 for controlling the mobile device according to the area image information so that each of the sensor modules is pre-aligned with an installation area; An installation completion unit 203 for controlling the mobile device to laterally eject each of the sensor modules out of the surface matrix monitoring tube to complete the installation of the sensor modules.

[0100] It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described surface matrix sensor installation device and each module can refer to the corresponding processes in the surface matrix sensor installation tool embodiments described in the above embodiments, and will not be elaborated here.

[0101] The above-described surface matrix sensor installation method can be implemented in the form of a computer program, and this computer program can run on a device as shown in Figure 7 the figure.

[0102] Please refer to Figure 8 , Figure 8 which is a schematic block diagram of the structure of the control device provided by an embodiment of the present application. The control device includes a processor, a memory, and a network interface connected through a device bus. Among them, the memory can include a storage medium and an internal memory.

[0103] The storage medium can store an operating device and a computer program. This computer program includes program instructions, and when the program instructions are executed, the processor can execute any surface matrix sensor installation method.

[0104] The processor is used to provide computing and control capabilities to support the operation of the entire control device.

[0105] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When this computer program is executed by the processor, the processor can execute any surface matrix sensor installation method.

[0106] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art can understand that Figure 8 the structure shown in the figure is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the terminal to which the solution of the present application is applied. The specific control device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0107] It should be understood that the processor may be a Central Processing Unit (CPU), and the processor may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0108] Among them, in one embodiment, the processor is used to run a computer program stored in a memory to implement the following steps: Obtain the area image information corresponding to each of the installation areas collected by the image acquisition device; Control the mobile device according to the area image information so that each of the sensor modules is pre-aligned with an installation area; Control the mobile device to horizontally push each of the sensor modules out of the surface matrix monitoring tube to complete the installation of the sensor modules.

[0109] This application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor is caused to implement the steps of the surface matrix sensor installation method described in the first aspect above.

[0110] Among them, the computer-readable storage medium may be an internal storage unit of the control device described in the foregoing embodiment, such as the hard disk or memory of the control device. The computer-readable storage medium may also be an external storage device of the control device, such as a plug-in hard disk equipped on the control device, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc.

[0111] The above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A surface matrix sensor installation tool, characterized in that, For installing a plurality of sensor modules in a surface matrix monitoring tube to be monitored, the surface matrix monitoring tube includes a plurality of vertically arranged installation areas; the tool includes: A mobile device, which is arranged in the surface matrix monitoring tube, and a plurality of the sensor modules are arranged on the mobile device; An image acquisition device, which is used to acquire area image information corresponding to each of the installation areas; A control device, which controls the mobile device according to the area image information, so that each of the sensor modules is pre-aligned with an installation area, and controls the mobile device to horizontally push each of the sensor modules out of the surface matrix monitoring tube to complete the installation of the sensor modules.

2. The installation tool according to claim 1, characterized in that, The mobile device includes either a robotic arm or a hydraulic jack.

3. The installation tool according to claim 1, characterized in that, The sensor module includes a plurality of sensor probes, the installation area includes a plurality of sensor installation holes, and the control device controls the mobile device to horizontally push each of the sensor probes out of the surface matrix monitoring tube through the corresponding sensor installation holes.

4. The installation tool according to claim 3, characterized in that, The mobile device includes a lateral pushing module, and the control device is used to control the lateral pushing module to push the sensor module out of the surface matrix monitoring tube.

5. The installation tool according to claim 4, characterized in that, The difference between the maximum pushing distance corresponding to the lateral pushing module and the inner diameter of the channel corresponding to the surface matrix monitoring tube is within a preset difference range.

6. The installation tool according to claim 3, characterized in that, If the control device determines according to the area image information that the sensor probe is not completely pushed out of the surface matrix monitoring tube, it controls the lateral pushing module to reciprocate relative to the sensor probe until the sensor probe is completely pushed out of the surface matrix monitoring tube.

7. The installation tool according to claim 3, characterized in that, The surface matrix parameters corresponding to the sensor probe include at least any one of water content, conductivity, pH value, redox potential, temperature, carbon dioxide value, methane value, oxygen value, groundwater level value, nitrogen, phosphorus and potassium value, and organic matter value.

8. The installation tool according to claim 3, characterized in that, The installation area further includes a hyperspectral lens installation hole, the sensor module further includes a hyperspectral module, and the hyperspectral lens of the hyperspectral module extends out of the surface matrix monitoring tube through the hyperspectral lens installation hole.

9. The installation tool according to claim 3, the image acquisition device includes a camera, the camera is arranged in the installation area and faces the sensor installation hole, and is used for shooting the image information corresponding to the sensor installation hole.

10. A surface matrix sensor installation method, characterized in that, Applied to the installation tool according to any one of claims 1 to 9; the method includes: Obtaining the area image information corresponding to each of the installation areas acquired by the image acquisition device; Controlling the mobile device according to the area image information so that each of the sensor modules is pre-aligned with an installation area; Controlling the mobile device to horizontally push each of the sensor modules out of the surface matrix monitoring tube to complete the installation of the sensor modules.

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