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I'd probably go with something like...
Add a label to a surface type. Use an impact sensor and set it to only look for that label. When it bumps into that type it will send a signal from the "bump" output.
Add a selector to control which camo is active. It will send a signal from only the single active channel, which you can use to power the camo type. There are many ways to set the active channel. For this use, wire the impact sensor's bump into one of the channels to set that channel as active when it detects a bump with that kind of surface.