CN105180999B - Environment detector, environment detector recycling and control method and its system - Google Patents
Environment detector, environment detector recycling and control method and its system Download PDFInfo
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- CN105180999B CN105180999B CN201510516080.0A CN201510516080A CN105180999B CN 105180999 B CN105180999 B CN 105180999B CN 201510516080 A CN201510516080 A CN 201510516080A CN 105180999 B CN105180999 B CN 105180999B
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Abstract
A kind of environment detector, a kind of environment detector recycling and control method and its system, data acquisition device is provided in the spherical shell of the environment detector, therefore environment detecting can be carried out, in the motion process of the environment detector, the initial position of motion profile recording device records environment detector, current location and 3 D motion trace, motion control device is according to the initial position of the environment detector, current location and the 3 D motion trace, generate the motion control instruction of the environment detector, the environment detector is controlled to move from current location to initial position.To enable environment detector launching to complicated use environment, and motion profile is automatically recorded, automatic recycling is realized according to the motion profile of record, the practicability and durability of environment detector is increased, reduces the use cost of environment detector.
Description
Technical field
The present invention relates to information detection techniques field, in particular to a kind of environment detector, a kind of environment detector recycling
Control method and a kind of environment detector recovery control system.
Background technique
Currently, human society will face many unexpected incidents caused by natural calamity or human factor, such as
Fire condition rescue trapped person is faced, earthquake disaster progress field rescue is encountered, mine disaster progress downhole rescuing occurs, executes solution
The attack etc. that hostage's task meets with kidnapper is rescued, for suchlike special circumstances, there can be numerous rescues or anti-terrorism officer is difficult
With entrance, the danger zone comprising a large amount of X factors, such as small space, concealed space, ruins and other rescues or anti-
The probably relevant range that personnel are difficult to enter.This is because on the one hand being limited by space, on the other hand by the prestige of potential danger
The side of body, it is difficult to observation in time or capture target.
For this kind of special screne, the environment arrangement for detecting applied in these emergency scenes, ring are had already appeared at present
Border detector is exactly one of which, which can be devoted to these applications by certain means (such as throwing)
Scene, and the information such as the image to launched region, audio, video are acquired, and are transmitted to external monitoring center.
Detecting system based on environment detector is used in the fields such as emergency management and rescue, detects to unknown complex environment
With very big advantage.Environment detector can enter directly into complicated and diversified environment, such as the dilapidated walls after earthquake
Medium small space, with enough flexibilities and to the adaptability of complex environment.
However, the use environment of environment detector is complicated, it is difficult to enter, the use site for often leading to environment detector is returned
Harvest is a very big problem.Since environment detector cost is high, higher cost, environment detector completes data acquisition
Task irretrievable words, the waste of resource will be caused, substantially increases cost.
Summary of the invention
Based on this, the embodiment of the present invention is designed to provide a kind of environment detector, a kind of recycling of environment detector
Control method and its system can be recycled automatically after launching to complicated use environment, increase environment detector
Practicability and durability reduce the use cost of environment detector.
In order to achieve the above objectives, the embodiment of the present invention uses following technical scheme:
A kind of environment detector, comprising: spherical shell, the data acquisition device being arranged in the spherical shell move
Track record device and motion control device for driving the spherical shell movement；
The environmental information data of environment where the data acquisition device acquires the environment detector；
Initial position, current location and the environment of the motion profile recording device records environment detector are detectd
Survey the 3 D motion trace that device moves to current location from the initial position；The motion profile recording device includes: rotation
Angle sensing device, acceleration transducer and magnetometer；The rotation angle sensing device obtains and records the environment detecting
The three-dimensional space of device rotates angle, and the acceleration transducer obtains and records the three-dimensional space acceleration of the environment detector
Degree, the magnetometer obtain and record the direction of motion of the environment detector；
The motion control device is according to the initial position of the environment detector, current location and the three-dimensional motion
Track generates the motion control instruction of the environment detector, controls the environment detector from current location to initial position
Movement.
In the environment detector of the embodiment of the present invention, data acquisition device is provided in spherical shell, therefore can acquire
The environmental information data of environment where the environment detector, carry out environment detecting.In the motion process of the environment detector
In, initial position, current location and the 3 D motion trace of the motion profile recording device records environment detector, so that institute
State motion control device can according to the initial position of the environment detector, current location and the 3 D motion trace,
The motion control instruction for generating the environment detector controls the environment detector and moves from current location to initial position.
To enable environment detector launching to complicated use environment, work of detection and examination is carried out to environment, and automatically record movement
Track realizes automatic recycling according to the motion profile of record, increases the practicability and durability of environment detector, reduce ring
The use cost of border detector.
In order to achieve the above objectives, the embodiment of the present invention also uses following technical scheme:
A kind of environment detector recycling and control method, comprising the following steps:
Initial position, current location and the environment detector of record environment detector are transported from the initial position
Move the 3 D motion trace to current location；
According to the initial position of the environment detector, current location and the 3 D motion trace, the ring is generated
The motion control instruction of border detector controls the environment detector and moves from current location to initial position；
Initial position, current location and the environment detector of the record environment detector are from the initial bit
The step of setting the 3 D motion trace for moving to current location include:
The three-dimensional space rotation angle for obtaining and recording the environment detector by rotating angle sensing device, by adding
Velocity sensor obtains and records the three-dimensional space acceleration of the environment detector, is obtained by magnetometer and records the ring
The direction of motion of border detector.
A kind of environment detector recovery control system, comprising:
Motion profile logging modle, initial position, current location and the environment for recording environment detector are detectd
Survey the 3 D motion trace that device moves to current location from the initial position；
Motion-control module, for according to the initial position of the environment detector, current location and three maintenance and operation
Dynamic rail mark generates the motion control instruction of the environment detector, controls the environment detector from current location to initial bit
Set movement；
Initial position, current location and the environment detector of the record environment detector are from the initial bit
The step of setting the 3 D motion trace for moving to current location include:
The three-dimensional space rotation angle for obtaining and recording the environment detector by rotating angle sensing device, by adding
Velocity sensor obtains and records the three-dimensional space acceleration of the environment detector, is obtained by magnetometer and records the ring
The direction of motion of border detector.
The environment detector recycling and control method and its system of the embodiment of the present invention, in being moved through for the environment detector
Cheng Zhong can be detected by recording initial position, current location and the 3 D motion trace of environment detector according to the environment
Initial position, current location and the 3 D motion trace of device, generate the motion control instruction of the environment detector, control
The environment detector is made to move from current location to initial position.To enable environment detector to make in dispensing to complicated
With environment, work of detection and examination is carried out to environment, and automatically records motion profile, automatic recycling is realized according to the motion profile of record,
The practicability and durability for increasing environment detector, reduce the use cost of environment detector.
Detailed description of the invention
Fig. 1 is the schematic diagram of the application environment of the present invention program in one embodiment；
Fig. 2 is the structural schematic diagram of the environment detector in one embodiment；
Fig. 3 is distribution schematic diagram of the motion profile recording device in a specific example in spherical interior of shell；
Fig. 4 is the motion state schematic diagram of the environment detector in a specific example；
Fig. 5 is motion state schematic diagram of the environment detector from another side in a specific example；
Fig. 6 is the flow diagram of the environment detector recycling and control method in one embodiment；
Fig. 7 is the structural schematic diagram of the environment detector recovery control system in one embodiment；
Fig. 8 is the structural schematic diagram of the controlling terminal of the environment detector in one embodiment；
Fig. 9 is the principle signal of the installation site of each module by taking the controlling terminal of environment detector is intelligent glasses as an example
Figure.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, with reference to the accompanying drawings and embodiments, to this
Invention is described in further detail.It should be appreciated that the specific embodiments described herein are only used to explain the present invention,
And the scope of protection of the present invention is not limited.
The schematic diagram of the application environment of the present invention program in one embodiment is shown in Fig. 1.As shown in Figure 1, this reality
The controlling terminal 12 that the scheme in example includes environment detector 11 and environment detector is applied, environment detector 11 and environment are detected
It is communicated between the controlling terminal 12 of device by wireless transmission method.The environmental information of the acquisition local environment of environment detector 11
Data, and by the controlling terminal 12 of environmental information data transmission collected to environment detector, the control of the environment detector
Terminal 12 can show the environmental information data, and control instruction can be sent to environment detector 11, environment detecting
Device 11 can obtain control instruction, and the control campaign based on the control instruction.Wherein, the control of the environment detector is whole
End 12 can use any possible mode realize, as long as the environmental information data that can be transmitted with display environment detector 11,
Acquisition audio-frequency information, determination is corresponding with the audio-frequency information is instructed and the phonetic order is sent to environment detector 11
?.It in the example depicted in fig. 1, is said so that the controlling terminal 12 of sports type detecting environment is intelligent glasses as an example
It is bright, it will be understood by those skilled in the art that the controlling terminal 12 of the environment detector is also on the basis of principle as described above
It can be other wearable devices, such as the wearable device with microphone etc. or other types electronic equipment.
The structural schematic diagram of the environment detector in one embodiment is shown in Fig. 2.Environment detecting in the present embodiment
Device 11 includes: spherical shell 1101, and data acquisition device 1102, motion profile record in the spherical shell 1101 is arranged in
Device 1103 and motion control device 1105 for driving the spherical shell 1101 to move；
The environmental information data of environment where the data acquisition device 1102 acquires the environment detector；
The motion profile recording device 1103 records initial position, current location and the ring of environment detector
Border detector moves to the 3 D motion trace of current location from the initial position；
The motion control device 1105 is according to the initial position of the environment detector, current location and the three-dimensional
Motion profile generates the motion control instruction of the environment detector, controls the environment detector from current location to initial
Position movement.
In the environment detector of the present embodiment, it is provided with data acquisition device in spherical shell, therefore can acquire described
The environmental information data of environment where environment detector, carry out environment detecting.In the motion process of the environment detector, institute
Initial position, current location and the 3 D motion trace of motion profile recording device records environment detector are stated, so that the fortune
Dynamic control device can be generated according to the initial position of the environment detector, current location and the 3 D motion trace
The motion control instruction of the environment detector controls the environment detector and moves from current location to initial position.To
So that environment detector is being launched to complicated use environment, work of detection and examination carried out to environment, and automatically record motion profile,
Automatic recycling is realized according to the motion profile of record, is increased the practicability and durability of environment detector, is reduced environment and detect
Survey the use cost of device.
Wherein, above-mentioned spherical shell 1101 can be anti shock and vibration guard shield, in order to be able to be applied to various rings
Border, especially extreme environment, such as seismic ruins etc..
Above-mentioned data acquisition device 1102 can be realized using various possible modes, wherein may include video acquisition dress
It sets, such as camera, at this point, above-mentioned environmental information data may include video image data.The data acquisition device 1102
The concentration collector etc. that may also comprise temperature sampler, humidity collector or specific gas, is detectd to acquire the environment comprehensively
The environmental information data of environment where surveying device.
In one embodiment, the data acquisition device 1102 further includes air pressure detection module, for detecting the ring
The atmospheric value of border detector local environment, and the height of the environment detector present position can be calculated according to the atmospheric value
Degree.
As shown in Fig. 2, the environment detector 11 in the present embodiment can also include data memory module 1106, the data
Memory module 1106 is arranged in spherical shell 1101, can be used for the environmental information that storing data acquisition device 1102 collects
Data.
In addition, passing through power module as shown in Fig. 2, be also provided with power module 1107 in the environment detector 11
1107 be data acquisition device 1102, motion profile recording device 1103, motion control device 1105, data memory module 1106
Etc. each module for power supply.
The motion profile recording device 1103, motion control device 1105, data memory module 1106, power module
1107 are arranged at the inside of spherical shell 1101, and the inner surface in spherical shell 1101 can be set in data acquisition device 1102
Or outer surface, to be contacted with external environment, realize environmental information data acquisition, especially video image information etc. need with
The acquisition of the environmental information data of external environment contact.
In addition, the guide hole 1108 can have one as shown in Fig. 2, being also provided with guide hole 1108 on spherical shell 1101
More than a, data acquisition device 1102 can be contacted by guide hole 1108 with external environment to acquire environmental information data.
In a specific example, in order to enable can believe from environment of each orientation to 11 local environment of environment detector
Breath data are acquired, for example, carrying out video capture from different angles, captured environment scene image can be different, on
Stating guide hole 1108 may be provided with two or more, and can be evenly distributed on spherical shell, above-mentioned data acquisition device 1102
It can be set there are two more than, and be arranged in a one-to-one correspondence with guide hole 1108.
The motion profile recording device 1103 may include various positioning devices to obtain the environment detector 11
Motion profile.Wherein, the position recorded when the initial position can be switched on for environment detector 11 is also possible to user's setting
Position；The current location is the last positioning environment detector 11 position data obtained.
In one embodiment, the motion profile recording device 1103 includes: rotation angle sensing device, acceleration biography
Sensor, magnetometer, position computation module and storage module；
The rotation angle sensing device obtains and records the three-dimensional space rotation angle of the environment detector, described to add
Velocity sensor obtains and records the three-dimensional space acceleration of the environment detector, and the magnetometer obtains and records the ring
The direction of motion of border detector；
The position computation module according to the three-dimensional space of the environment detector rotate angle, three-dimensional space acceleration with
And the direction of motion, calculate environment detector spatial positional information locating for the scheduled sampling time, and by the space
Cached location information is in the storage module.
By rotation angle sensing device, the location data of acceleration transducer and magnetometer sensing, the position is calculated
Module can calculate the position data of the environment detector 11 with predetermined period, and each position data is connected, is accurately generated
The 3 D motion trace of the environment detector 11.
Attached drawing 3 is distribution map of the above-mentioned modules in spherical interior of shell of motion profile recording device 1103, rotation
The working principle of angle sensing device (such as gyroscope) is the vertical axis and equipment by gyrorotor in measurement three-dimensional system of coordinate
Between angle, and calculate angular speed, differentiate object in the motion state of three-dimensional space by angle and angular speed.Three axis tops
Spiral shell instrument can measure 6 directions (compound direction equally can be analyzed to triaxial coordinate) such as up, down, left, right, before and after simultaneously, finally
It can determine whether out the motion track and acceleration of environment detector 11.Acceleration transducer can perceive the acceleration on any direction
Degree.Magnetometer can be used for testing magnetic field strength and direction, and the orientation of localizing environment detector 11, the principle of magnetometer is with compass
Principle is similar, can measure the angle on current device and all directions four direction.It is detected so gyroscope is equivalent to
Environment detector 11 rotates or detects the gradient of spherical shell relative level, and accelerometer detects environment detector 11
Move how far, and magnetometer then detects environment detector 11 is which direction is moved to the four corners of the world.
Above-mentioned motion control device 1105 can according to current location on the 3 D motion trace and with current location phase
An adjacent upper spatial positional information, calculates the environment detector from current location to the movement of a upper spatial positional information
Path generates the motion control instruction of the environment detector according to the motion path, controls the environment detector movement.
Above-mentioned motion control device 1105 can be realized using various possible motion control apparatus, specifically be shown at one
Example in, the motion control device 1105 may include the movement arm 11053 being arranged in spherical shell 1101, motor 11052 with
And bearing 11051, the movement arm 11053 are connected with the spherical shell 1101, the motor 11052 is according to the movement of generation
Control instruction movement, and drive the movement arm 11053 to rotate by the bearing 11051, make the environment detector 11
Movement.
Fig. 4 shows the motion state schematic diagram based on the exemplary environment detector, and Fig. 5 shows exemplary based on this
Motion state schematic diagram of the environment detector from another side.The motor 11052 is moved according to motion control instruction, electricity
Movement arm 11053 is driven to rotate by bearing 11051 after the movement of machine 11052, the combination of bearing 11051 and movement arm 11053,
The rolling of the sphere shell 1101 of the environment detector all around can be driven, so that the environment detector 11 moves,
As the arrow in Fig. 4, Fig. 5 indicates the direction of motion.
Further, the environment detector 11 may also include communication device 1104, and the communication device 1104 will be described
The environmental information data of data acquisition device acquisition are sent to the controlling terminal 12 with the environment detector.
Above-mentioned communication device 1104 includes wireless communication device, can use any possible communication, example
Such as Wi-Fi, bluetooth, 3G or 4G, as long as transmission can be carried out wireless communication with the controlling terminal 12 of environment detector.
The communication device 1104 can be set in the inside of sphere shell 1101, also can be set in spherical shell 1101
Inner surface or outer surface, to realize communication function.
The present invention also provides a kind of control method of above-mentioned environment detector 11, the flow chart of the control method such as Fig. 6
It is shown.
Step S102, record initial position, current location and the environment detector of environment detector from it is described just
Beginning position moves to the 3 D motion trace of current location；
Step S104 is raw according to the initial position of the environment detector, current location and the 3 D motion trace
At the motion control instruction of the environment detector, controls the environment detector and moved from current location to initial position.
Wherein, it is described record environment detector initial position, current location and the environment detector from it is described just
Beginning position moves to the step of 3 D motion trace of current location and includes:
The three-dimensional space rotation angle for obtaining and recording the environment detector by rotating angle sensing device, by adding
Velocity sensor obtains and records the three-dimensional space acceleration of the environment detector, is obtained by magnetometer and records the ring
The direction of motion of border detector；
Angle, three-dimensional space acceleration and the direction of motion are rotated according to the three-dimensional space of the environment detector, is calculated
Environment detector spatial positional information locating for the scheduled sampling time, and the spatial positional information is stored in institute
It states in the storage module of environment detector.
It is described according to the initial position of the environment detector, current location and the 3 D motion trace, generate institute
The motion control instruction for stating environment detector controls the step of environment detector is moved from current location to initial position packet
It includes:
According to current location on the 3 D motion trace and a upper spatial positional information adjacent with current location,
The environment detector is calculated from current location to the motion path of a upper spatial positional information, according to motion path life
At the motion control instruction of the environment detector, the environment detector movement is controlled.
After environment detector starting, motion control device controls environment detector movement, and motion profile recording device starts
The 3 D motion trace of environment detector is recorded, angle sensing device, acceleration transducer, magnetometer is rotated at this time and detects ring
The location data of border detector, position computation module calculate the 3 D motion trace for obtaining environment detector according to location data,
And the 3 D motion trace is saved in storage module.Other detection works can be carried out by arriving at the destination rear environment detector
Make.After the completion of detecting task, when needing to recycle, motion control device reads the three-dimensional motion rail from storage module
Mark generates the environment detecting according to the initial position of the environment detector, current location and the 3 D motion trace
The motion control instruction of device controls the environment detector motion module by backtracking departure place, therefore can be realized described
The automatic recycling of environment detector, it is very convenient.
The present invention also provides a kind of environment detector recycling controls corresponding with above-mentioned environment detector recycling and control method
System, the environment detector recovery control system are as shown in Figure 7.
The environment detector recovery control system, comprising:
Motion profile logging modle 102, for recording initial position, current location and the ring of environment detector
Border detector moves to the 3 D motion trace of current location from the initial position；
Motion-control module 104, for according to the initial position of the environment detector, current location and the three-dimensional
Motion profile generates the motion control instruction of the environment detector, controls the environment detector from current location to initial
Position movement.
The environment detector recycling and control method and its system of the embodiment of the present invention, in being moved through for the environment detector
Cheng Zhong can be detected by recording initial position, current location and the 3 D motion trace of environment detector according to the environment
Initial position, current location and the 3 D motion trace of device, generate the motion control instruction of the environment detector, control
The environment detector is made to move from current location to initial position.To enable environment detector to make in dispensing to complicated
With environment, work of detection and examination is carried out to environment, and automatically records motion profile, automatic recycling is realized according to the motion profile of record,
The practicability and durability for increasing environment detector, reduce the use cost of environment detector.
Shown in Fig. 8 in one embodiment sports type detecting environment controlling terminal 12 structural schematic diagram, Fig. 9 with
The controlling terminal that the sports type detects environment be intelligent glasses for, the schematic illustration of the installation site of each module.Such as Fig. 8 institute
Show, the controlling terminal 12 of sports type in the present embodiment detecting environment include: wireless transport module 1201, display module 1202,
Control module 1203, wireless transport module 1201 receive the environmental information data that environment detector 11 is sent, display module 1202
The environmental information data are shown, control module 1203 generates motion control instruction, and motion control instruction is passed through nothing
Line transmission module 1201 is sent to environment detector 11.
In addition, it is also provided with power module (not shown) in the controlling terminal 12 of sports type detecting environment,
It is each module for power supply such as wireless transport module 1201, display module 1202, control module 1203 by power module.
As shown in connection with fig. 9, by taking the controlling terminal 12 of sports type detecting environment is intelligent glasses as an example, for intelligent glasses
Special construction, the wireless transport module 1201, control module 1203 may be provided on the mirror holder of intelligent glasses, display module
1202 can show the environmental information data that wireless transport module 1201 receives on the eyeglass of intelligent glasses.Wherein,
In display, can only be shown on an eyeglass wherein, can also with when all shown on two eyeglasses, at two
When all showing on eyeglass, display module 1202 can also carry out picture segmentation and the respectively place that transmit to the environmental information data
Reason, specific treatment process can be identical as current existing processing mode.
In addition, being directed to the special construction of intelligent glasses, above-mentioned control module 1203 can be audio collection module, acquire sound
Audio data is simultaneously converted to corresponding motion control instruction by frequency evidence, and the audio collection module may be provided at intelligent glasses
On mirror holder, as close to the position of user's mouth structure, in order to collect audio-frequency information when user issues voice as far as possible.
In a specific example, which can be realized by equipment such as microphones.
Based on each embodiment as described above, the present invention also provides a kind of system of sports type detecting environment, the system packets
Include the controlling terminal of environment detector as described above and sports type detecting environment as described above.
Environment detector can be thrown by the scheme based on the embodiment of the present invention when there is emergency event by professional
Monitoring area is needed, thus deeply emergency scene.Data acquisition device 1102 can as needed collection site environmental information data,
Such as video image data, site environment photo etc., then pass through the controlling terminal of communication device transfers to environment detector.
After the wireless transport module 1201 of the controlling terminal 12 of environment detector receives the environmental information data, it is transferred to
The environmental information data are shown on the eyeglass of intelligent glasses by display module 1202, display module 1202.The use of intelligent glasses
Family can determine whether out the direction that the environment detector 12 needs to move based on the environmental information data observed from intelligent glasses, and
Relevant phonetic order information is issued by way of voice.Audio collection module acquisition user in control module 1203 issues
Audio-frequency information, audio processing analysis is carried out to the audio-frequency information and determines corresponding with audio-frequency information motion control instruction, and
The motion control instruction is sent to environment detector 11 by wireless transport module 1201.
After the communication device of environment detector 11 receives the motion control instruction, being based on by motion-control module 1105 should
Motion control instruction, which controls motor rotation, moves spherical environment detector 11 so that spherical shell be driven to roll, suitable
The destination that benefit reaches required for arriving at carries out effective data acquisition.Such as it near the life entity in arrival seismic ruins, supplies
The concrete condition of the command and control center understanding scene of the accident.
After the completion of data acquisition, according to the 3 D motion trace of the motion profile recording device records, return is generated
Motion control instruction controls the environment detector and moves from current location to initial position, realizes the environment detector 11
Automatic recycling, repeatedly use the environment detector 11, reduce the use cost of the environment detector 11.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (7)
1. a kind of environment detector characterized by comprising the data acquisition in the spherical shell is arranged in spherical shell
Device, motion profile recording device and the motion control device for driving the spherical shell movement；
The environmental information data of environment where the data acquisition device acquires the environment detector；
Initial position, current location and the environment detector of the motion profile recording device records environment detector
The 3 D motion trace of current location is moved to from the initial position；The motion profile recording device includes: rotation angle
Sensing device, acceleration transducer and magnetometer；The rotation angle sensing device obtains and records the environment detector
Three-dimensional space rotates angle, and the acceleration transducer obtains and records the three-dimensional space acceleration of the environment detector, institute
State the direction of motion that magnetometer obtains and records the environment detector；
The motion profile recording device further include: position computation module and storage module；
The position computation module rotates angle, three-dimensional space acceleration and fortune according to the three-dimensional space of the environment detector
Dynamic direction, calculates environment detector spatial positional information locating for the scheduled sampling time, and by the spatial position
Information is stored in the storage module；
The motion control device is according to the initial position of the environment detector, current location and the three-dimensional motion rail
Mark generates the motion control instruction of the environment detector, controls the environment detector and transports from current location to initial position
It is dynamic；
The motion control device is for driving the spherical shell all around to roll；
The motion control device is according to current location on the 3 D motion trace and upper one adjacent with current location
Spatial positional information, calculates the environment detector from current location to the motion path of a upper spatial positional information, according to
The motion path generates the motion control instruction of the environment detector, controls the environment detector movement.
2. environment detector according to claim 1, which is characterized in that the motion control device includes setting spherical outer
Movement arm, motor and bearing in shell, the movement arm are connected with the spherical shell, and the motor is according to the movement of generation
Control instruction movement, and the movement arm rotation is driven by the bearing, make the environment detector movement.
3. environment detector according to claim 1, which is characterized in that further include communication device, the communication device will
The environmental information data of the data acquisition device acquisition are sent to the controlling terminal with the environment detector.
4. environment detector according to claim 1, which is characterized in that the data acquisition device includes video acquisition dress
It sets, the environmental information data include video image data.
5. environment detector according to claim 4, which is characterized in that be provided on the spherical shell more than one
Guide hole, the video acquisition device are correspondingly arranged with the guide hole, and the video acquisition device acquires the ring by the guide hole
The video image data of environment where the detector of border.
6. a kind of environment detector recycling and control method, which comprises the following steps:
Initial position, current location and the environment detector of record environment detector are moved to from the initial position
The 3 D motion trace of current location；
According to the initial position of the environment detector, current location and the 3 D motion trace, generates the environment and detect
The motion control instruction for surveying device, controls the environment detector and moves from current location to initial position；Wherein, the environment is detectd
The movement for surveying device is all around to roll；
Initial position, current location and the environment detector of the record environment detector are transported from the initial position
It moves to the step of 3 D motion trace of current location and includes:
The three-dimensional space rotation angle for obtaining and recording the environment detector by rotating angle sensing device, passes through acceleration
Sensor obtains and records the three-dimensional space acceleration of the environment detector, is obtained by magnetometer and records the environment and detectd
Survey the direction of motion of device；
Initial position, current location and the environment detector of the record environment detector are transported from the initial position
The step of moving to the 3 D motion trace of current location further include: according to the three-dimensional space of the environment detector rotate angle,
Three-dimensional space acceleration and the direction of motion calculate environment detector space bit confidence locating for the scheduled sampling time
Breath, and the spatial positional information is stored；
It is described according to the initial position of the environment detector, current location and the 3 D motion trace, generate the ring
The motion control instruction of border detector, controlling the step of environment detector is moved from current location to initial position includes:
According to current location on the 3 D motion trace and a upper spatial positional information adjacent with current location, calculate
The environment detector generates institute according to the motion path from current location to the motion path of a upper spatial positional information
The motion control instruction for stating environment detector controls the environment detector movement.
7. a kind of environment detector recovery control system characterized by comprising
Motion profile logging modle, for recording initial position, current location and the environment detector of environment detector
The 3 D motion trace of current location is moved to from the initial position；
Motion-control module, for according to the initial position of the environment detector, current location and the three-dimensional motion rail
Mark generates the motion control instruction of the environment detector, controls the environment detector and transports from current location to initial position
It is dynamic；Wherein, the movement of the environment detector is all around to roll；
Initial position, current location and the environment detector of the record environment detector are transported from the initial position
It moves to the step of 3 D motion trace of current location and includes:
The three-dimensional space rotation angle for obtaining and recording the environment detector by rotating angle sensing device, passes through acceleration
Sensor obtains and records the three-dimensional space acceleration of the environment detector, is obtained by magnetometer and records the environment and detectd
Survey the direction of motion of device；
Initial position, current location and the environment detector of the record environment detector are transported from the initial position
The step of moving to the 3 D motion trace of current location further include: according to the three-dimensional space of the environment detector rotate angle,
Three-dimensional space acceleration and the direction of motion calculate environment detector space bit confidence locating for the scheduled sampling time
Breath, and the spatial positional information is stored；
It is described according to the initial position of the environment detector, current location and the 3 D motion trace, generate the ring
The motion control instruction of border detector, controlling the step of environment detector is moved from current location to initial position includes:
According to current location on the 3 D motion trace and a upper spatial positional information adjacent with current location, calculate
The environment detector generates institute according to the motion path from current location to the motion path of a upper spatial positional information
The motion control instruction for stating environment detector controls the environment detector movement.
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