Surface matrix sensor installation tool and method

Abstract

The present application provides a surface matrix sensor installation tool and method, which solves the problem that the traditional method of installing sensors in monitoring pipes requires manual excavation to install soil sensors, which is not only inefficient but also difficult to achieve high-precision sensor position alignment. In addition, traditional installation methods often cause disturbances to the surface matrix, affecting the accuracy of monitoring data. The installation tool is used to install multiple sensor modules in the surface matrix monitoring pipe to be monitored, including multiple vertically arranged installation areas; including: a mobile device, which is arranged in the surface matrix monitoring pipe, and multiple sensor modules are arranged on the mobile device; an image acquisition device, which is used to collect regional image information corresponding to each installation area; 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 push each sensor module out of the surface matrix monitoring pipe horizontally to complete the installation of the sensor module.

Description

Technical Field

[0001] The present application relates to the technical field of surface matrix detection, and in particular to a surface matrix sensor installation tool and method. Background Art

[0002] The surface matrix, a crucial component of the Earth's surface, is the fundamental material supporting ecological tools, agricultural production, and ecological conservation. Surface matrix monitoring technology employs sensors embedded in the surface matrix to capture key parameters such as moisture, temperature, salinity, pH, and redox potential, providing crucial data support for agricultural management, environmental protection, and ecological security. However, traditional surface matrix monitoring techniques primarily focus on surface soil monitoring, typically limited to a depth of 0-2 meters. Sensors are installed using manually dug pits, a procedure that not only significantly damages the surface matrix, impacting the timeliness and representativeness of monitoring data, but also fails to meet the needs of deeper surface matrix monitoring.

[0003] In recent years, with the increasing demand for deep-substrate monitoring, the limitations of existing monitoring technologies have become increasingly prominent. Traditional sensor installation methods require manual excavation and installation of soil sensors, which is not only inefficient but also difficult to achieve high-precision sensor alignment. Furthermore, traditional installation methods often disturb the surface matrix, affecting the accuracy of monitoring data.

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

[0005] This application provides a surface matrix sensor installation tool and method, designed to address the traditional method of sensor installation, which requires manual excavation and installation of soil sensors. This is not only inefficient but also difficult to achieve high-precision sensor alignment. Furthermore, traditional installation methods often disturb the surface matrix, affecting the accuracy of monitoring data.

[0006] In a first aspect, the present application provides a surface substrate sensor installation tool for installing multiple sensor modules in a surface substrate monitoring pipe to be monitored, wherein the surface substrate monitoring pipe includes multiple vertically arranged installation areas; the tool comprises:

[0007] A mobile device, the mobile device is arranged in the surface matrix monitoring tube, and the plurality of sensor modules are arranged on the mobile device;

[0008] An image acquisition device, the image acquisition device being used to acquire regional image information corresponding to each of the installation areas;

[0009] A control device 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 push each sensor module out of the surface matrix monitoring tube laterally to complete the installation of the sensor module.

[0010] In a second aspect, the present application provides a surface matrix sensor installation method, which is applied to the surface matrix sensor installation tool provided in any embodiment of the present application; the method comprises:

[0011] Acquire regional image information corresponding to each of the installation areas acquired by an image acquisition device;

[0012] controlling the mobile device according to the regional image information so that each of the sensor modules is pre-aligned with an installation area;

[0013] The mobile device is controlled to push each sensor module out of the surface matrix monitoring pipe in a horizontal direction to complete the installation of the sensor module.

[0014] The present application provides a surface matrix sensor installation tool and method. The surface matrix sensor installation tool provides an efficient, accurate and environmentally friendly sensor installation solution by integrating a mobile device, an image acquisition device and a control device.

[0015] The device is installed inside the monitoring tube and can carry multiple sensor modules. The device may be equipped with tracks or slides to enable it to move freely within the monitoring tube and is usually driven by a motor to achieve precise position adjustment.

[0016] Image acquisition equipment is installed on a mobile device or inside the monitoring tube to capture images of each installation area. High-resolution cameras or other imaging technologies may be used to capture detailed regional image information for subsequent alignment and positioning.

[0017] The control device serves as the system's hub, receiving image information from the image acquisition device. Using built-in algorithms (which may include image recognition and machine learning techniques), it processes the image data and calculates the precise position of the sensor modules. Based on this calculation, the control device makes adjustments to ensure that each sensor module is accurately aligned with its target installation area.

[0018] Sensor module installation 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 the lateral ejection mechanism.

[0019] The provided installation tools and methods, through the integration of automated equipment, enable trenchless installation of deep-layer surface matrix sensors. This reduces reliance on manual operation during sensor installation, significantly improving installation efficiency and saving time and labor costs. The collaborative work of the image acquisition and control equipment ensures precise alignment of the sensor modules, reduces errors introduced by manual operation in traditional methods, and improves the accuracy of monitoring data. The sensor modules are installed via a knockout mechanism, avoiding the additional excavation or drilling that may be required in traditional methods, reducing disturbances 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 different environments and changes in the monitoring tube structure, enhancing installation flexibility and adaptability. The efficient image processing capabilities of the control equipment ensure rapid feedback and adjustments, making the installation process smoother and improving overall efficiency.

[0020] This installation tool solves the inefficiency and disturbance problems of traditional installation methods through automation and high-precision alignment technology, significantly improving the efficiency of sensor installation and data accuracy, and providing a reliable solution for surface matrix monitoring.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 This is a schematic structural diagram of an installation tool provided in one embodiment of the present application;

[0024] Figure 2 This is a schematic structural diagram of an installation tool and a sensor module provided in one embodiment of the present application;

[0025] Figure 3 is a cross-sectional schematic diagram of an installation tool provided in one embodiment of the present application;

[0026] Figure 4 This is a schematic structural diagram of a surface matrix integrated channel provided in one embodiment of the present application;

[0027] Figure 5 This is a schematic diagram of the use of an installation tool provided in one embodiment of the present application;

[0028] Figure 6This is a schematic flow chart of the steps of a surface matrix sensor installation method provided in one embodiment of the present application;

[0029] Figure 7 This is a schematic block diagram of the structure of a surface matrix sensor installation device provided by an embodiment of the present application;

[0030] Figure 8 This is a schematic block diagram of the structure of a control device provided in one embodiment of the present application.

[0031] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0033] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0034] It should be understood that, in order to clearly describe the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, terms such as "first" and "second" are used to distinguish between identical or similar items having substantially the same functions and effects. Those skilled in the art will understand that terms such as "first" and "second" do not limit the quantity or order of execution, and that terms such as "first" and "second" do not necessarily define differences.

[0035] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0036] It will also be understood that the term "and / or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0037] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0038] The surface matrix, a vital component of the Earth's surface, is the fundamental material supporting ecosystems, agricultural production, and ecological development. Surface matrix monitoring technology employs sensors embedded in the surface matrix to capture key parameters such as moisture, temperature, salinity, pH, and redox potential, providing crucial data support for agricultural management, environmental protection, and ecological security. However, traditional surface matrix monitoring techniques primarily focus on surface soil monitoring, typically limited to a depth of 0-2 meters. Sensors are installed using manually dug pits, which not only significantly damages the surface matrix, impacting the timeliness and representativeness of monitoring data, but also fails to meet the needs of deeper surface matrix monitoring.

[0039] In recent years, with the increasing demand for deep-seated monitoring of the ground matrix, the limitations of existing monitoring technologies have become increasingly prominent. Traditional methods for installing sensors in monitoring tubes typically require manual operation or simple mechanical devices, which is not only inefficient but also difficult to achieve high-precision sensor alignment. Furthermore, traditional installation methods often disturb the ground matrix, affecting the accuracy of monitoring data. Therefore, there is an urgent need for a technology that can achieve non-invasive, high-precision, and multi-dimensional ground matrix monitoring.

[0040] To address these issues, the present invention proposes a surface matrix sensor installation tool. Through the collaborative work of a mobile device, an image acquisition device, and a control device, this tool enables automatic alignment and precise installation of sensor modules, avoiding the destructive manipulation of the surface matrix required by traditional methods and significantly improving the accuracy and representativeness of monitoring data. This technology not only enables deep surface matrix monitoring but also meets the needs of multi-dimensional, high-precision monitoring, providing more scientific technical support for agricultural production and ecological development.

[0041] See also Figures 1 to 5 The present application provides a surface substrate sensor installation tool 30 for installing a plurality of sensor modules 20 in a surface substrate monitoring pipe 11 to be monitored, wherein the surface substrate monitoring pipe 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 control device 33 and the image acquisition device 32 are located at Figure 3The figure is only for illustration, and the specific position can be adjusted arbitrarily according to the actual design). The mobile device 31 is set in the surface matrix monitoring tube 11, and multiple sensor modules 20 are set on the mobile device 31; the image acquisition device 32 is used to collect regional image information corresponding to each installation area; the control device 33 controls the mobile device 31 according to the regional image information, so that each sensor module 20 is pre-aligned with an installation area, and controls the mobile device 31 to push each sensor module 20 out of the surface matrix monitoring tube 11 laterally to complete the installation of the sensor module 20.

[0042] 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. The mobile device 31 may include rollers, slides, or other moving mechanisms to ensure smooth movement of the sensor module 20. This application does not limit the specific type of moving device.

[0043] For example, the mobile device 31 can utilize a modular slide frame constructed from high-strength aviation aluminum (compressive strength ≥ 500 MPa), adaptable to monitoring tubes 11 of any diameter. It is equipped with a multi-axis robotic arm array, each with six degrees of freedom (XYZ translation + pitch / yaw / rotation) and an integrated micro-hydraulic ejector (thrust range 0.5-20N). A built-in laser positioning calibration ring achieves submillimeter positioning (accuracy ±0.2mm) by emitting a 532nm laser beam that interacts with prefabricated optical markers on the tube wall.

[0044] The drive unit 31 utilizes a magnetically suspended linear motor, utilizing contactless drive technology to eliminate frictional losses. The motor achieves a maximum speed of 1 m / s, enabling continuous operation within the depth range corresponding to the surface matrix monitoring pipe 11. An integrated adaptive damping system utilizes a piezoelectric accelerometer to detect pipe wall vibrations in real time and dynamically adjust motion parameters to maintain stability.

[0045] Image acquisition device 32 is used to collect image information from various installation areas within monitoring tube 11, providing a basis for decision-making by control device 33. This device may include a high-definition camera, infrared camera, or laser scanner to adapt to different monitoring environments. Image acquisition device 32 transmits the collected image information to control device 33 in real time.

[0046] Exemplarily, image acquisition device 32 may include, but is not limited to, a multispectral imaging module, a confocal microscope lens, and a ring-shaped LED matrix. The multispectral imaging module includes at least three cameras: visible light (400-700 nm), near-infrared (900-1700 nm), and thermal imaging (8-14 μm), enabling simultaneous acquisition of soil structure, moisture distribution, and temperature field information. The confocal microscope lens is equipped with a 50x optical zoom lens, supporting micron-level pore structure analysis (resolution 2 μm). The ring-shaped LED matrix may include, for example, 256 programmable RGBW LEDs with a dynamic brightness adjustment range of 0-20,000 lux, adapting to completely dark underground environments.

[0047] 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), and using structured light three-dimensional reconstruction technology to generate a point cloud model of the installation surface to implement multi-sensor data fusion and overlay and analyze optical images with geological radar data.

[0048] The control device 33 processes the information provided by the image acquisition device 32 and controls the mobile device 31 to precisely install the sensor module 20 in the designated location. A built-in algorithm analyzes the image, identifies the location and features of the installation area, and calculates the movement path and speed of the mobile device 31. An operator interface is also provided, allowing the user to monitor the installation process and manually intervene when necessary.

[0049] The control device 33 can construct a three-dimensional motion map based on the improved A* algorithm to avoid obstacles such as pipe wall protrusions, dynamically adjust the robot arm's motion trajectory, optimize energy consumption, and complete intelligent path planning within the surface matrix monitoring pipe 11.

[0050] At the same time, the ejection torque is monitored in real time through a six-dimensional force sensor 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.

[0051] The sensor module 20 includes but is not limited to a moisture sensor, a temperature sensor, a salinity sensor, a pH sensor, and an oxidation-reduction potential sensor. The present application integrates multiple different types of sensors into a modular unit to facilitate installation and maintenance.

[0052] Before installing the provided installation tool 30, ensure that the corresponding surface matrix monitoring pipe 11 is clean and unobstructed, suitable for the installation of the sensor module 20. Check whether the mobile device 31, image acquisition device 32 and control device 33 are working properly.

[0053] During the installation process, the image acquisition device 32 automatically captures images along the monitoring pipe 11, covering all installation areas. The captured image information is stored in the control device 33 for subsequent analysis.

[0054] Control device 33 analyzes the image and determines the precise location of each installation area. Based on the analysis, control device 33 plans the movement path of mobile device 31 to ensure that sensor module 20 accurately reaches the installation area. Following the instructions of control device 33, mobile device 31 automatically aligns sensor module 20 with the installation area. Mobile device 31 then pushes sensor module 20 horizontally out of monitoring tube 11, completing the installation.

[0055] Multiple installation zones are arranged vertically within the monitoring tube 11, each containing sensor modules 20 at different depths. The control device 33 integrates data from the sensor modules 20 at different depths, providing comprehensive surface matrix information. Automated installation reduces human error and improves data accuracy. Unified installation standards and procedures ensure data consistency.

[0056] Automated installation also reduces reliance on manual labor and reduces labor intensity. The rapid automated installation process shortens installation time and improves efficiency. It avoids the damage to the surface matrix caused by traditional pit digging. This reduces disturbance to the surface matrix, helping to maintain ecological balance. Furthermore, the sensor module 20 can be installed deep into the surface matrix, meeting deep-layer monitoring needs. By using sensor modules 20 at different depths, multi-dimensional surface matrix data can be obtained.

[0057] In summary, the provided surface matrix sensor installation tool 30 not only improves the accuracy and efficiency of monitoring through integrated automation technology, but also reduces damage to the environment, providing strong technical support for agricultural production and ecological construction.

[0058] In some embodiments, the mobile device 31 includes any one of a robotic arm or a hydraulic jack.

[0059] In this embodiment, mobile device 31 uses a robotic arm or hydraulic jack as its primary actuator. The robotic arm, with its multiple degrees of freedom, precisely controls the installation position and angle of the sensor module 20, making it suitable for complex terrain and high-precision applications. The hydraulic jack provides greater thrust, making it suitable for environments requiring high installation force. Both are equipped with advanced control systems capable of real-time adjustment of motion parameters, ensuring stability and reliability during the installation process.

[0060] The multi-degree-of-freedom design of the robotic arm ensures precise installation of the sensor module 20, reducing human error and improving the accuracy of monitoring data. The hydraulic jack provides powerful thrust, suitable for complex terrain and high-resistance environments, expanding the device's application range. Automated control reduces manpower requirements, improves installation efficiency, and shortens operation time.

[0061] The robotic arm solution can utilize a six-degree-of-freedom tandem manipulator with an end effector equipped with an electromagnetic suction device. A rotary encoder is installed at the base of the manipulator, enabling 0.1mm repeatability. A servo motor drives a rack-and-pinion mechanism for vertical movement, with an adjustable speed range of 5-50 cm / min.

[0062] The hydraulic jack solution can be powered by a plunger-type hydraulic cylinder. The hydraulic system includes a precision proportional valve and accumulator, and the operating pressure is set at 5-20MPa. The guide mechanism uses chrome-plated hard steel rails with a surface roughness controlled below Ra0.8 to ensure smooth movement.

[0063] In some embodiments, the sensor module 20 includes multiple sensor probes, and the installation area includes multiple sensor installation holes. The control device 33 controls the mobile device 31 to push each sensor probe out of the surface matrix monitoring pipe 11 through the corresponding sensor installation hole.

[0064] The sensor module 20 consists of multiple sensor probes, each designed to measure a different surface matrix parameter. The mounting area is configured with multiple sensor mounting holes, one for each probe. The control device 33 coordinates the movement device 31 to precisely push each probe out of the monitoring tube 11, ensuring good contact between the probe and the matrix.

[0065] A combination of multiple sensor probes provides multi-dimensional monitoring data, comprehensively assessing the condition of the surface substrate. Each probe is ejected through an independent mounting hole to prevent mutual interference, improving data reliability and accuracy. The sensor module 20 is easy to replace and maintain, allowing for flexible adjustment to meet different monitoring needs.

[0066] Exemplarily, the mobile device 31 includes a plurality of lateral pushing modules, one lateral pushing module corresponds 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 matrix monitoring pipe 11 .

[0067] The mobile device 31 is equipped with multiple lateral push modules, each of which is independently controlled and corresponds to a different sensor module 20. The control device 33 coordinates the actions of the push modules according to a preset program or real-time data to ensure the accurate installation and positioning of the sensor module 20.

[0068] By enabling multiple push modules to operate simultaneously, installation efficiency is improved and overall operation time is shortened. Each module operates independently to accommodate the installation requirements of different sensor modules 20, enhancing the system's flexibility and adaptability. This reduces manual intervention, automates the installation process, and mitigates the risk of operational errors.

[0069] Among them, the matching relationship between the pushing distance and the pipe diameter is determined by the formula:

[0070] Δ L = Dtube -( Lprobe +2 δ );

[0071] Dtube To monitor the inner diameter of the tube 11, Lprobe is the exposed length of the probe, δ A safety margin (e.g., 1-3mm) is provided. During implementation, parameter constraints are set on the control interface: when ΔL < 2mm, a warning is triggered, prohibiting ejection. The optimal operating range is ΔL = 5-15mm, at which point the seal compression rate is 20-40% (the specific parameter range can be adjusted based on actual dimensions).

[0072] It should be noted that, in some embodiments, 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 11 is within a preset difference range.

[0073] The maximum thrust distance of the lateral push module is designed to be within a preset differential range with the inner diameter of the surface matrix monitoring tube 11. This design ensures that the push module provides sufficient thrust while avoiding the waste of resources and structural complexity caused by overdesign. The proper matching of thrust distance and inner diameter improves the reliability and durability of the equipment and reduces maintenance costs. This avoids unnecessary energy consumption and structural complexity, improving the equipment's operating efficiency and service life. Through optimized design, the manufacturing and operating costs of the equipment are reduced, improving its overall economic efficiency.

[0074] It should be noted that, in some embodiments, if the control device determines that the sensor probe has not been completely pushed out of the surface matrix monitoring tube based on the regional image information, 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.

[0075] Control device 33 integrates advanced image processing technology to analyze image information from the sensor installation area in real time. If the sensor probe is detected to be partially extended out of monitoring tube 11, the system automatically adjusts the lateral push module to reciprocate, ensuring the probe is accurately installed. Through image feedback and automatic adjustment, accurate sensor probe installation is ensured, improving the reliability of monitoring data. Automated adjustment reduces the need for manual inspection and correction, improving operational efficiency and reducing labor costs. Real-time monitoring and feedback mechanisms ensure installation quality and reduce monitoring errors caused by improper installation.

[0076] 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, redox potential, temperature, carbon dioxide value, methane value, oxygen value, groundwater level value, nitrogen, phosphorus and potassium value, and organic matter value.

[0077] The sensor probes are designed to measure a variety of surface substrate parameters, including moisture content, conductivity, and pH. Each probe is optimized for a specific parameter, ensuring accurate and sensitive measurements. A control unit 33 coordinates the operation of the probes to achieve comprehensive surface substrate monitoring.

[0078] The system provides comprehensive surface matrix information through the measurement of multiple parameters, supporting more accurate analysis and decision-making. Each probe is optimized for a specific parameter, improving measurement accuracy and sensitivity and ensuring data reliability. Flexible sensor combinations adapt to different monitoring needs, increasing system applicability and flexibility.

[0079] It should be noted that, in some embodiments, the installation area also includes a hyperspectral lens mounting hole, the sensor module 20 also includes a hyperspectral module, and the hyperspectral lens of the hyperspectral module extends out of the surface matrix monitoring tube 11 through the hyperspectral lens mounting hole.

[0080] The sensor module 20 integrates a hyperspectral module and features a mounting hole for a hyperspectral lens. The hyperspectral lens extends out of the monitoring tube 11 through the mounting hole, capturing hyperspectral images of the surface matrix and providing detailed compositional and structural information. Hyperspectral imaging provides detailed compositional and structural information about the surface matrix, enabling deeper analysis and research. The hyperspectral module eliminates the need for direct contact with the matrix, minimizing environmental interference and preserving the natural state of the monitored area. Hyperspectral imaging rapidly captures large amounts of data, improving monitoring efficiency and data processing capabilities.

[0081] 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 installation hole, and is used to capture image information corresponding to the sensor installation hole.

[0082] Image acquisition device 32 is equipped with a camera, positioned within the installation area and oriented toward the sensor mounting hole, capturing real-time image information of the sensor mounting hole. Multi-angle image acquisition ensures comprehensive coverage of the monitoring area, improving data accuracy and integrity. The multi-camera design ensures comprehensive coverage of the installation area, reducing blind spots and omissions, and enhancing data integrity. Multi-angle image acquisition provides detailed information about the installation area, enabling more precise analysis and judgment. Multi-angle data fusion improves the accuracy and reliability of image analysis, reducing the risk of misjudgments and missed detections.

[0083] In some embodiments, the control module incorporates an intelligent path planning algorithm that dynamically optimizes the path of the mobile device 31 based on real-time environmental data and pre-set objectives. The system integrates advanced sensors and cameras to collect real-time information about the surrounding environment, including terrain and obstacle distribution. This algorithm utilizes a modified A* algorithm combined with dynamic weight adjustment to prioritize the optimal path. During path planning, the system considers terrain complexity, obstacle types, and sensor installation priorities to ensure efficient and safe routing.

[0084] Dynamic path planning reduces unnecessary movement and improves installation efficiency. It automatically adjusts the path in complex terrain to adapt to different environmental conditions. It avoids obstacles and dangerous areas, reducing equipment damage and operational risks.

[0085] In some embodiments, the control module utilizes deep learning technology to perform real-time processing of images captured by the image acquisition device 32. This system employs a convolutional neural network (CNN) to accurately identify the location, shape, and surrounding environment of the sensor mounting hole. The algorithm, trained on large amounts of image data, improves recognition accuracy and speed. Furthermore, the system is capable of image segmentation and feature extraction to further optimize the sensor mounting position and angle.

[0086] Improves sensor installation location recognition accuracy and reduces installation errors. Rapidly processes image data, supporting real-time adjustment and optimization. Enhances the stability and reliability of image analysis through deep learning algorithms.

[0087] In some embodiments, the control module integrates data from multiple sensors, including parameters such as moisture content, conductivity, and pH, as well as hyperspectral image data, using a real-time data fusion algorithm. The system employs fuzzy logic and Bayesian networks to comprehensively analyze multi-source data and extract more valuable information. The algorithm dynamically adjusts weights to optimize the data fusion process based on the importance and real-time nature of different parameters, ensuring the comprehensiveness and accuracy of monitoring results. By integrating multiple data sources, more comprehensive surface matrix information is provided. Data fusion reduces the impact of individual sensor errors and improves the reliability of monitoring results. Data fusion strategies are dynamically adjusted based on real-time environmental changes to adapt to varying monitoring needs.

[0088] In some embodiments, the control module analyzes historical equipment operating data and real-time monitoring data to predict equipment performance changes and potential failures. For example, time series analysis and support vector regression (SVR) models are used to build a predictive model for equipment performance. By analyzing equipment parameters such as vibration, temperature, and pressure, potential problems can be identified in advance, generating maintenance recommendations and avoiding installation interruptions caused by equipment failures. Predictive maintenance extends equipment life and reduces failure rates. Preemptive identification and resolution of potential problems reduces downtime caused by equipment failures.

[0089] In some embodiments, the control module uses an adaptive control algorithm to dynamically adjust control parameters of the mobile device 31 and sensor module 20 based on real-time environmental data and sensor feedback. Using machine learning algorithms, the system analyzes environmental changes and dynamic parameters during the installation process in real time, automatically adjusting the thrust and installation speed of the push module. The algorithm continuously optimizes the control strategy through feedback mechanisms, ensuring a stable and efficient installation process. By automatically adjusting control parameters in different environments, the system can adapt to complex and changing conditions.

[0090] In some embodiments, as Figure 4 As shown, a surface matrix integrated channel 10 is provided, and the system includes: an integrated channel monitoring pipe 11, multiple sensor modules 20, a water level measurement module, a grouting module and a terminal device.

[0091] The integrated channel monitoring pipe 11 is installed in the surface matrix. The inner side of the integrated channel monitoring pipe 11 includes a water level measurement pipe 14 and a grouting pipe 13 arranged opposite each other. The sidewalls of the integrated channel monitoring pipe 11 are formed with multiple installation areas 12, with at least one installation area 12 corresponding to each stratum type. The depth of the integrated channel monitoring pipe 11 is related to the groundwater depth corresponding to the surface matrix in which it is installed, and this embodiment of the application does not impose any restrictions on this depth. A water filtration module 15 may also be included to filter the groundwater.

[0092] Each sensor module 20 corresponds to an installation area 12 and is installed outside the integrated 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. The water level measurement module of the sensor module 20 is also installed in the water level measurement pipe 14 to monitor the water level information below the surface matrix.

[0093] In some embodiments, as Figure 1 and Figure 4 As shown, each installation area 12 includes a plurality of monitoring holes, and each integrated sensor module 20 includes a plurality of sensor probes 23 . Each sensor probe 23 is disposed on the outside of the integrated channel monitoring tube 11 through the monitoring hole.

[0094] Please also refer to Figure 2 and Figure 3 By opening multiple installation areas 12 on the side of the integrated channel monitoring pipe 11 and setting multiple monitoring holes in each installation area 12, Figure 3 The multiple sensor probes 23 shown are inserted into the corresponding surface matrix outside the integrated channel monitoring tube 11 through the monitoring holes to achieve accurate monitoring of the surface matrix.

[0095] Illustratively, the measurement information corresponding to each sensor probe 23 includes at least one of the following surface matrix parameters: moisture content, conductivity, pH, redox potential, temperature, carbon dioxide level, methane level, oxygen level, nitrogen, phosphorus, potassium, and organic matter level. These parameters can comprehensively reflect the physical and chemical properties of the surface matrix, thereby providing detailed data support for subsequent analysis.

[0096] Multiple sensor probes 23 enable simultaneous monitoring of multiple parameters, ensuring data integrity and accuracy. The sensor probes 23 collect data in real time, enabling timely detection of changes in the surface matrix. The multiple monitoring holes reduce potential errors at individual locations and improve overall monitoring reliability.

[0097] Exemplarily, each installation area 12 also includes a hyperspectral monitoring port and multiple hyperspectral modules 24, each of which is positioned outside the integrated channel monitoring tube 11 through the hyperspectral monitoring port. The hyperspectral modules 24 are communicatively connected to a terminal device. The terminal device receives hyperspectral information transmitted by each hyperspectral module 24 and uses it to monitor the surface matrix of each installation area 12 based on the corresponding measurement information, hyperspectral information, and water level information. Hyperspectral monitoring can acquire detailed spectral data of the surface matrix, enabling identification and analysis of its composition and state. The terminal device combines measurement information, hyperspectral information, and water level information to perform multi-dimensional data analysis, improving monitoring precision and accuracy. The communication connection between the hyperspectral modules 24 and the terminal device enables remote monitoring and facilitates real-time data transmission and processing.

[0098] At the same time, if Figure 1 As shown, each integrated sensor module 20 further includes a housing 21 , and the sensor probe 23 and the hyperspectral module 24 are arranged on the outside of the integrated channel monitoring tube 11 by drilling corresponding hyperspectral monitoring holes and monitoring holes on the housing 21 .

[0099] See also Figure 6 , Figure 6 This is a schematic flow chart of a surface matrix sensor installation method provided by one embodiment of the present application. This surface matrix sensor installation method can be implemented using the control device of the surface matrix sensor installation tool provided by any embodiment of the present application. The control device can be deployed on a single server or a server cluster. Alternatively, it can be deployed on a handheld terminal, laptop computer, wearable device, or robot.

[0100] like Figure 6 As shown, the surface substrate sensor installation method provided includes steps S101 to S103. The details are as follows:

[0101] Step S101: Acquire regional image information corresponding to each installation area captured by an image capture device.

[0102] Specifically, this step involves using an image acquisition device (such as a camera) to capture image information of the installation area. This image acquisition device typically includes multiple cameras, each positioned within the installation area and facing a corresponding sensor mounting hole. These cameras capture real-time images of the sensor mounting hole and its surroundings, providing visual data support for subsequent installation alignment.

[0103] A camera is deployed in the installation area of the surface matrix monitoring tube, with each camera corresponding to a sensor mounting hole. The camera's position and orientation are precisely designed to ensure clear image capture of the sensor mounting hole and its surroundings. The camera captures the sensor mounting hole in real time, acquiring image information of the area. This information includes the location and shape of the sensor mounting hole, as well as the distribution of obstacles in the surrounding environment. The captured image information is transmitted via wired or wireless means to a control device (such as a server or handheld terminal) for subsequent processing and analysis.

[0104] Real-time image acquisition accurately identifies the position and status of sensor mounting holes, providing a reliable basis for subsequent alignment and installation. Automated image acquisition reduces the need for manual inspections and improves efficiency during the installation preparation phase. The camera's multi-angle configuration adapts to complex terrain and environmental conditions, ensuring comprehensive image information.

[0105] Step S102: Control the mobile device according to the regional image information so that each sensor module is pre-aligned with an installation area.

[0106] Specifically, this step analyzes regional image information and uses control equipment to coordinate the movement of a mobile device (such as a robotic arm or hydraulic jack) to align each sensor module with its corresponding installation area. This process involves image processing, feature recognition, and motion control technologies to ensure precise positioning of the sensor modules.

[0107] The control device processes the captured image information of the area to identify the location, shape, and other key features of the sensor mounting holes. This typically involves the use of image processing algorithms such as edge detection, feature extraction, and target recognition. Based on the image analysis results, the deviation between the sensor module's current position and the target mounting area is calculated. Deviations include positional offset and angular deviation, which require adjustment using a mobile device. The control device sends adjustment commands to the mobile device, driving it (such as the joints of a robotic arm or the push rod of a hydraulic jack) to adjust the position and angle to align the sensor module with the mounting area. During the adjustment process, the system may employ closed-loop control to provide real-time feedback on the adjustment results to ensure accurate alignment.

[0108] Through image analysis and precise adjustment of the control equipment, the sensor module is precisely aligned with the installation area, reducing installation errors. This automated alignment process reduces the need for manual operation and improves installation efficiency and safety. The alignment strategy can be flexibly adjusted to suit different installation areas and sensor module characteristics to meet diverse installation requirements.

[0109] Step S103: Control the mobile device to push each sensor module out of the surface matrix monitoring tube in a horizontal direction to complete the installation of the sensor module.

[0110] Specifically, after the sensor module is pre-aligned with the installation area, the control device drives the mobile device to push the sensor module laterally, ejecting it from the surface matrix monitoring tube, completing the installation. This process requires precise control of the pushing force and speed to ensure that the sensor module is stably installed in the target location.

[0111] The mobile device is equipped with multiple lateral pushing modules, each corresponding to a sensor module. The control device sends a pushing instruction to drive the pushing module to move horizontally and push the sensor module out of 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 to the sensor module or unstable installation due to excessive force. After the sensor module is pushed out of 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 can be completed quickly, improving overall work efficiency. The pushing force and speed are precisely controlled to ensure the stability of the sensor module installation and reduce monitoring errors caused by improper installation. The design of the pushing module can adapt to the characteristics of different sensor modules and monitoring tubes, ensuring reliable installation under various conditions.

[0112] Through the three steps described above, the surface matrix sensor installation method completes a complete process from image acquisition and alignment to sensor module installation. Each step incorporates advanced image processing, motion control, and automation technologies to ensure efficient, precise, and stable installation. These steps not only improve installation efficiency and data accuracy, but also enhance the system's adaptability and reliability, providing strong technical support for surface matrix monitoring.

[0113] It should be noted that technical personnel in the relevant field can clearly understand that for the convenience and conciseness of description, the surface matrix sensor installation method described above and the specific working process of each step can refer to the corresponding process in the surface matrix sensor installation tool embodiment described in the above embodiments, and will not be repeated here.

[0114] See also Figure 7 As shown, Figure 7 1 is a schematic diagram of the structure of a surface substrate sensor installation device 200 provided in an embodiment of the present application. The surface substrate sensor installation device 200 is used to perform the steps of the surface substrate sensor installation method described in each of the above embodiments. The surface substrate sensor installation device 200 can be a single server or a server cluster, or the surface substrate sensor installation device 200 can be a terminal, such as a handheld terminal, a laptop computer, a wearable device, or a robot.

[0115] like Figure 7 As shown, the surface substrate sensor installation device 200 includes:

[0116] The information acquisition unit 201 is configured to acquire regional image information corresponding to each of the installation areas acquired by an image acquisition device;

[0117] a mobile control unit 202, configured to control the mobile device according to the regional image information so that each of the sensor modules is pre-aligned with an installation area;

[0118] The installation completion unit 203 is used to control the mobile device to push each sensor module out of the surface matrix monitoring pipe in a horizontal direction to complete the installation of the sensor module.

[0119] It should be noted that technical personnel in the relevant field can clearly understand that for the convenience and conciseness of description, the specific working processes of the surface matrix sensor installation device and each module described above can refer to the corresponding processes in the surface matrix sensor installation tool embodiments described in the above embodiments, and will not be repeated here.

[0120] The above-mentioned surface matrix sensor installation method can be implemented in the form of a computer program. The computer program can be used in Figure 7 Run on the device shown.

[0121] See also Figure 8 , Figure 8 1 is a schematic block diagram of the structure of a control device provided in an embodiment of the present application. The control device includes a processor, a memory, and a network interface connected via a device bus, wherein the memory may include a storage medium and an internal memory.

[0122] The storage medium can store an operating device and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any one of the surface matrix sensor installation methods.

[0123] The processor is used to provide computing and control capabilities to support the operation of the entire control device.

[0124] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any one of the surface matrix sensor installation methods.

[0125] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure 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 shown in the figure, or combine certain components, or have a different component arrangement.

[0126] It should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0127] In one embodiment, the processor is configured to execute a computer program stored in the memory to implement the following steps:

[0128] Acquire regional image information corresponding to each of the installation areas acquired by an image acquisition device;

[0129] controlling the mobile device according to the regional image information so that each of the sensor modules is pre-aligned with an installation area;

[0130] The mobile device is controlled to push each sensor module out of the surface matrix monitoring pipe in a horizontal direction to complete the installation of the sensor module.

[0131] The present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of the surface matrix sensor installation method described in the first aspect above.

[0132] The computer-readable storage medium may be an internal storage unit of the control device described in the aforementioned embodiment, such as a 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, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the control device.

[0133] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A surface matrix sensor installation tool, characterized in that: A tool for installing a plurality of sensor modules in a surface matrix monitoring pipe to be monitored, wherein the surface matrix monitoring pipe includes a plurality of vertically arranged mounting areas; the tool comprises: A mobile device, the mobile device is arranged in the surface matrix monitoring tube, and the plurality of sensor modules are arranged on the mobile device; An image acquisition device, the image acquisition device being used to acquire regional image information corresponding to each of the installation areas; A control device, wherein the control device 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 push each sensor module out of the surface matrix monitoring tube laterally to complete the installation of the sensor module; the sensor module includes a plurality of sensor probes, and the installation area includes a plurality of sensor mounting holes, and the control device controls the mobile device to push each sensor probe out of the surface matrix monitoring tube laterally through the corresponding sensor mounting hole; 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; 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; if the control device determines that the sensor probe is not completely pushed out of the surface matrix monitoring tube according to the regional image information, the control device 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.

2. The installation tool according to claim 1, characterized in that The mobile device includes any one of a mechanical arm or a hydraulic jack.

3. The installation tool according to claim 1, characterized in that The surface matrix parameters corresponding to the sensor probe include at least any one of moisture content, conductivity, pH, redox potential, temperature, carbon dioxide value, methane value, oxygen value, groundwater level value, nitrogen, phosphorus and potassium value, and organic matter value.

4. The installation tool according to claim 1, 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.

5. The installation tool according to claim 1, wherein the image acquisition device comprises a camera, which is arranged in the installation area and faces the sensor installation hole, and is used to capture image information corresponding to the sensor installation hole.

6. A surface matrix sensor installation method, characterized in that: The installation tool according to any one of claims 1 to 5; the method comprising: Acquire regional image information corresponding to each of the installation areas acquired by an image acquisition device; controlling the mobile device according to the regional image information so that each of the sensor modules is pre-aligned with an installation area; The mobile device is controlled to push each sensor module out of the surface matrix monitoring pipe in a horizontal direction to complete the installation of the sensor module.

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