Throwing wheel type indoor environment sensing device and indoor environment sensing method

Abstract

The invention discloses a throwing wheel type indoor environment sensing device and an indoor environment sensing method adopting the throwing wheel type indoor environment sensing device.The throwing wheel type indoor environment sensing device comprises a frame, wheels, an information collecting mechanism and a driving mechanism, and the driving mechanism comprises a first driving assembly and a second driving assembly; the first driving assembly and the second driving assembly are both arranged on the frame, the interior of the frame is a cavity, the first driving assembly is fixedly connected with the information acquisition mechanism and used for driving the information acquisition mechanism to stretch out of the frame or be stored in the cavity of the frame, the wheels are installed on the frame, the second driving assembly is connected with the wheels, and the information acquisition mechanism is used for driving the information acquisition mechanism to stretch out of the frame or be stored in the cavity of the frame. The information acquisition mechanism is used for driving the wheels to rotate so as to drive the frame to move, and the information acquisition mechanism is used for collecting indoor environment information. The throwing wheel type indoor environment sensing device is suitable for sensing the environment of a narrow and small indoor space, can move flexibly, and does not have a blind area for obtaining the indoor environment.

Description

Technical Field

[0001] The present invention specifically relates to a throwing wheel type indoor environment sensing device and an indoor environment sensing method using the throwing wheel type indoor environment sensing device. Background Art

[0002] When dangerous situations such as fire, gas leakage, and hijacking occur indoors, especially near low altitudes, it is necessary to obtain the indoor environment for easy disposal. Currently, the acquisition of the low-altitude dangerous indoor environment is mainly based on drone shooting technology and fixed indoor environment sensing equipment.

[0003] However, since there is no GPS signal indoors, drones are difficult to control accurately indoors and are prone to crashing, making it difficult to enter small indoor spaces for environmental perception. The disadvantage of fixed indoor environmental perception equipment is that it cannot move after entering the room, and there are certain blind spots in the acquisition of the indoor environment. The acquisition results may bring certain risks to the processing process. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies in the prior art and provide a throwing wheel type indoor environment sensing device and an indoor environment sensing method using the throwing wheel type indoor environment sensing device. The throwing wheel type indoor environment sensing device is suitable for environmental perception in a small indoor space and can be flexibly moved without blind spots in indoor environment acquisition.

[0005] In order to solve the above problems, the present invention adopts the following technical solutions:

[0006] A throwing wheel-type indoor environment sensing device includes a frame, wheels, an information collection mechanism, and a drive mechanism. The drive mechanism includes a first drive component and a second drive component. The first drive component and the second drive component are both arranged on the frame. The interior of the frame is a cavity. The first drive component is fixedly connected to the information collection mechanism and is used to drive the information collection mechanism to extend out of the frame or be stored in the cavity of the frame. The wheel is installed on the frame. The second drive component is connected to the wheel and is used to drive the wheel to rotate, thereby driving the frame to move. The information collection mechanism is used to collect indoor environmental information.

[0007] Preferably, the frame has a first plane and a second plane arranged in parallel, and the first plane and the second plane are respectively provided with a first opening and a second opening, and the first opening and the second opening are both connected to the cavity of the frame, and the first driving assembly is arranged in the cavity of the frame, driving the information collection mechanism located in the cavity to rotate from the first opening or the second opening to the outside of the frame, and driving the information collection mechanism located outside the frame to rotate from the first opening or the second opening to the inside of the cavity.

[0008] Preferably, the first opening and the second opening have exactly the same shape, and the position of the first opening on the first plane corresponds to the position of the second opening on the second plane.

[0009] Preferably, the frame further includes a third plane, which is disposed in the cavity and located exactly in the middle of the first plane and the second plane, and the first drive assembly is fixedly mounted on the third plane.

[0010] Preferably, the information collection mechanism includes a lifting rod and a camera module. The bottom end of the lifting rod is fixedly connected to the output end of the first driving component, and the camera module is fixedly installed on the top end of the lifting rod. The first driving component drives the lifting rod to rotate with its bottom end as the center, so that the camera module located at the top end of the lifting rod rotates from the first opening or the second opening to the outside of the frame.

[0011] Preferably, the throwing wheel type indoor environment sensing device also includes a control module, which includes a control main board, which is fixedly mounted on the frame and has a controller, an accelerometer, and a gyroscope. The accelerometer is electrically connected to the controller for monitoring the acceleration of the frame colliding with the ground. When the accelerometer detects the acceleration generated by the collision of the frame, it sends a first signal to the controller. The gyroscope is electrically connected to the controller for monitoring the posture of the frame after landing. When the gyroscope detects that the first opening is facing upward, it sends a second signal to the controller; when the gyroscope detects that the second opening is facing upward, it sends a third signal to the controller. The controller is also electrically connected to the first drive component. When the controller receives the first signal and the second signal at the same time, it controls the first drive component to rotate forward to drive the information collection mechanism to extend out of the frame from the first opening; when the controller receives the first signal and the third signal at the same time, it controls the first drive component to rotate reversely to drive the information collection mechanism to extend out of the frame from the second opening.

[0012] Preferably, the control module also includes a remote control, which is communicatively connected to the controller and is used to send a remote control signal to the controller. The controller is also electrically connected to the second drive component and is used to control the start-up of the second drive component according to the received remote control signal, thereby driving the wheel to move.

[0013] Preferably, the casting wheel type indoor environment perception device further includes an information processing module, which is communicatively connected to the camera module and is used to receive image data captured by the camera module and calculate and generate a three-dimensional scene map of the indoor environment based on the image data.

[0014] Preferably, the throwing wheel type indoor environment sensing device further includes a buffer component, and the buffer component is fixedly mounted on the frame to reduce the impact force when the frame falls to the ground.

[0015] The present invention also provides an indoor environment sensing method, using the above-mentioned throwing wheel type indoor environment sensing device, the method comprising:

[0016] Throwing the throwable wheel-type indoor environment sensing device from outdoors to indoors;

[0017] After the throwable wheel-type indoor environment sensing device lands, the first driving component drives the information collection mechanism to extend from the cavity of the frame;

[0018] The second driving assembly drives the wheels to rotate, thereby driving the frame to move indoors;

[0019] The information collection agency collects indoor environmental information.

[0020] The frame of the throwable wheeled indoor environment sensing device in this invention is a hollow structure. Before being thrown into a room, the information collection mechanism can be stored in the cavity to prevent damage from collision with the ground during throwing. When the frame lands, the information collection mechanism extends from the cavity to sense the indoor environment. Furthermore, the device is highly flexible and can be moved freely indoors, enabling environmental sensing in all directions without blind spots. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the storage state of the information collection mechanism of the throwing wheel type indoor environment sensing device in Example 1 of the present invention;

[0022] Figure 2 2. This is a schematic diagram of the information collection mechanism of the throwing wheel type indoor environment sensing device in the first embodiment of the present invention in the extended state;

[0023] Figure 3 This is a schematic diagram of the internal structure of the frame of the throwing wheel type indoor environment sensing device in Example 1 of the present invention;

[0024] Figure 4 2 is a schematic diagram of the control process of the control module of the throwing wheel type indoor environment sensing device in Example 1 of the present invention.

[0025] In the figure: 100 - frame, 110 - first plane, 111 - first opening, 120 - second plane, 121 - second opening, 130 - third plane, 200 - wheel, 310 - lifting rod, 320 - camera module, 400 - first drive assembly, 410 - second drive assembly, 500 - battery, 600 - buffer rubber ball, 700 - throwing sensor. DETAILED DESCRIPTION

[0026] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of the present invention.

[0027] In the description of the present invention, it should be noted that the term "upper" and the like to indicate an orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience and simplification of the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0028] In the description of the present invention, the terms “first” and “second” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0029] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "connect," "dispose," "install," "fix," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integral connection; they may refer to direct connection, indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0030] The present invention provides a throwing wheel type indoor environment sensing device, comprising a frame, wheels, an information collection mechanism, and a driving mechanism. The driving mechanism comprises a first driving assembly and a second driving assembly. The first driving assembly and the second driving assembly are both arranged on the frame. The interior of the frame is a cavity. The first driving assembly is fixedly connected to the information collection mechanism and is used to drive the information collection mechanism to extend out of the frame or be stored in the cavity of the frame. The wheels are installed on the frame. The second driving assembly is connected to the wheels and is used to drive the wheels to rotate, thereby driving the frame to move. The information collection mechanism is used to collect indoor environmental information.

[0031] The present invention also provides an indoor environment sensing method, using the above-mentioned throwing wheel type indoor environment sensing device, the method comprising:

[0032] Throwing the throwable wheel-type indoor environment sensing device from outdoors to indoors;

[0033] After the throwable wheel-type indoor environment sensing device lands, the first driving component drives the information collection mechanism to extend from the cavity of the frame;

[0034] The second driving assembly drives the wheels to rotate, thereby driving the frame to move indoors;

[0035] The information collection agency collects indoor environmental information.

[0036] Example 1

[0037] like Figure 1-3 As shown, this embodiment discloses a throwing wheel indoor environment sensing device, which includes a frame 100, a wheel 200, an information collection mechanism, and a drive mechanism. The drive mechanism includes a first drive assembly 400 and a second drive assembly 410, both of which are arranged on the frame 100. The interior of the frame 100 is a cavity, and the first drive assembly 400 is fixedly connected to the information collection mechanism and is used to drive the information collection mechanism to extend out of the frame 100 or be stored in the cavity of the frame 100. The wheel 200 is installed on the frame 100, and the second drive assembly 410 is connected to the wheel 200 to drive the wheel 200 to rotate, thereby driving the frame 100 to move. The information collection mechanism is used to collect indoor environmental information.

[0038] The throwable wheeled indoor environment sensing device in this embodiment is suitable for detecting dangerous low-altitude indoor environments. Before use, a person throws it from an outdoor location indoors. Before being thrown, the information collection mechanism is stored in the cavity of the frame 100. When the throwable wheeled indoor environment sensing device lands, the first drive assembly 400 drives the information collection mechanism to extend from the cavity of the frame 100 to sense the indoor environment. The second drive assembly 410 drives the wheels 200 to rotate, thereby driving the frame 100 to move, enabling the information collection mechanism to sense the indoor environment from all angles.

[0039] like Figure 1 、 2 As shown, the vehicle frame 100 is a rectangular parallelepiped frame structure with a cavity inside. Its upper and lower surfaces are respectively a first plane 110 and a second plane 120 that are parallel to each other. The first plane 110 and the second plane 120 are respectively defined by a first opening 111 and a second opening 121, both of which are in communication with the cavity of the vehicle frame 100. A first drive assembly 400 is disposed within the cavity of the vehicle frame 100 and is used to drive the information collection mechanism located within the cavity to rotate from the first opening 111 or the second opening 121 to the outside of the vehicle frame 100, and to drive the information collection mechanism located outside the vehicle frame 100 to rotate from the first opening 111 or the second opening 121 to the inside of the cavity.

[0040] like Figure 3As shown, the vehicle frame 100 further includes a third plane 130 , which is a mounting bracket disposed in the cavity and is located in the middle of the first plane 110 and the second plane 120 . The first drive assembly 400 is fixedly mounted on the third plane 130 .

[0041] Specifically, the first drive assembly 400 includes a servo, which is fixedly mounted on the third plane 130. The output shaft of the servo is fixedly connected to the information collection mechanism, and is used to drive the information collection mechanism to rotate, thereby extending the information collection mechanism from the cavity of the frame 100 to the outside of the frame 100 or retracting it from the outside of the frame 100 into the cavity of the frame 100.

[0042] In this embodiment, the information collection mechanism includes a lifting rod 310 and a camera module 320. The bottom end of the lifting rod 310 is fixedly connected to the output end of the first drive assembly 400 via a spline. The camera module 320 is fixedly mounted on the top end of the lifting rod 310. Two sets of camera modules 320 are provided, one on each side of the top end of the lifting rod 310. The servo drives the lifting rod 310 to rotate about its bottom end, so that the camera module 320 located at the top end of the lifting rod 310 rotates from the first opening 111 or the second opening 121 to the outside of the frame 100 and above the first plane 110 or the second plane 120 of the frame 100, or is retracted from the outside of the frame 100 into the cavity of the frame 100.

[0043] Specifically, the first opening 111 and the second opening 121 have the same shape, both being L-shaped, and the position of the first opening 111 on the first plane 110 corresponds to the position of the second opening 121 on the second plane 120. The shapes and sizes of the first opening 111 and the second opening 121 ensure that the lifting rod 310 and the camera module 320 can pass through smoothly.

[0044] In this embodiment, the throwing wheel indoor environment sensing device further includes a control module, which includes a control mainboard fixedly mounted on the frame 100 and comprising a controller, an accelerometer, and a gyroscope. The accelerometer is electrically connected to the controller and configured to monitor the acceleration of the frame 100 upon impact with the ground. When the accelerometer detects the acceleration generated by the impact of the frame 100, it sends a first signal to the controller. The gyroscope is electrically connected to the controller and configured to monitor the posture of the frame 100 after landing. When the gyroscope detects that the first opening 111 is facing upward, it sends a second signal to the controller; and when the gyroscope detects that the second opening 121 is facing upward, it sends a third signal to the controller. The controller is also electrically connected to the first drive assembly 400. When the controller receives both the first and second signals, it controls the first drive assembly 400 to rotate forward, thereby driving the information collection mechanism to extend out of the frame 100 through the first opening 111. When the controller receives both the first and third signals, it controls the first drive assembly 400 to rotate backward, thereby driving the information collection mechanism to extend out of the frame 100 through the second opening 121.

[0045] In order to ensure that the camera module 320 is not damaged due to collision during the throwing process, the information collection mechanism can be controlled to extend out of the frame 100 only after the frame 100 lands and it is determined which side of the first plane 110 and the second plane 120 of the frame 100 is facing upward.

[0046] like Figure 1 As shown, there are two wheels 200, which are symmetrically mounted on both sides of the frame 100. The second drive assembly 410 includes two drive motors, which are both mounted in the cavity of the frame 100, and whose output shafts are respectively connected to the wheels 200 on both sides by screws for driving the wheels 200 to rotate.

[0047] Optionally, the control module also includes a remote control, which is communicatively connected to the controller and is used to send a remote control signal to the controller. The controller is also electrically connected to the second drive component 410 and is used to control the start-up of the second drive component 410 according to the received remote control signal, thereby driving the wheels 200 to move, thereby obtaining all-round indoor environmental conditions. External personnel can use the remote control to change their position maneuverably to achieve the purpose of real-time movement and obtaining the indoor environment.

[0048] An outsider can remotely control the cast-wheel indoor environment sensing device's movement indoors via a remote control, and the two drive motors control the device's linear motion or steering. The remote control also controls the first drive assembly 400. By pressing the corresponding control button on the remote control, a control signal is sent to the controller, which in turn controls the information collection mechanism to extend outside the frame 100 or retract into the cavity of the frame 100. When the cast-wheel indoor environment sensing device encounters an obstacle or passes through a narrow space while moving indoors, the remote control can control the information collection mechanism to retract into the cavity of the frame 100. Once the obstacle has been overcome or the space is large enough for the information collection mechanism to unfold, the information collection mechanism can be controlled to extend outside the frame 100.

[0049] In this embodiment, the casting wheel type indoor environment perception device also includes an information processing module, which is in communication with the camera module 320 and is used to receive image data captured by the camera module 320 and calculate and generate a three-dimensional scene map of the indoor environment based on the image data.

[0050] Specifically, the camera module 320 uses a camera to capture the indoor environment. The information processing module includes a terminal. After receiving the environmental information captured by the two cameras, the terminal uses a stitching algorithm to stitch the image data from the two cameras into a panoramic image. It then uses an indoor space estimation algorithm to estimate the indoor three-dimensional scene. Texture mapping is used to fuse the image data onto the three-dimensional scene for a realistic three-dimensional display. From outside, an operator uses a remote control to launch the wheeled indoor environment perception device to explore the indoor space. This process is repeated to complete the perception of the indoor environment.

[0051] like Figure 4 As shown, the control mainboard in this embodiment is equipped with a spill sensor 700, which consists of a video acquisition section, a transmission section, and a motion control section. The video acquisition section acquires video via a Raspberry Pi CM4 connected to two CSI cameras, converts it into an RTSP stream via liv555, and can be accessed externally via a WiFi network card. The control section uses the PX4 flight controller as the main control, and receives commands sent by the remote control through the receiver to achieve the movement of the wheel 200 and the raising and lowering of the information collection mechanism. The PX4 flight controller integrates sensors such as accelerometers, gyroscopes, and magnetic compasses, and can send data to the Raspberry Pi, which then forwards it to the server.

[0052] Specifically, the camera in this embodiment uses a Raspberry Pi Camera, whose CMOS sensor is a Sony IMX477R with a 7.9mm diagonal and a resolution of up to 12.3 megapixels. The lens uses a 180° fisheye lens. Two cameras are placed back-to-back to capture image information of the entire indoor space. The camera transmits the captured image data to the Raspberry Pi CM4 via CSI. The Raspberry Pi's built-in video recording software then converts the original v412 video into h264 and caches it in a FIFO. The video data in the FIFO is then streamed via RTSP using liv555, making it accessible to external devices over the network.

[0053] The magnetic compass uses the RM3100 geomagnetic sensor, which features high resolution, high repeatability, and low noise. The RM3100 exhibits a wide measurement range, excellent noise immunity, zero hysteresis, and highly stable temperature characteristics across the entire operating temperature range. The geomagnetic sensor is connected to the PX4 flight controller via the CAN bus. Working with the controller's multiple accelerometers and gyroscopes, it calculates azimuth in various attitudes, thereby acquiring the attitude information of the throwable wheeled indoor environmental sensing device and determining which side of the vehicle frame 100 is facing upward. The azimuth obtained by the PX4 flight controller is transmitted to the Raspberry Pi via the MavLink protocol, which then transmits it to a device connected to a designated port via TCP.

[0054] The motion control portion (the movement of the vehicle frame 100 and the raising and lowering of the information collection mechanism) is controlled by an external remote control. The remote control transmits control signals to a receiver via 2.4 GHz wireless communication. The receiver then converts the signals into SBus protocol and transmits them to the flight controller to achieve motion control.

[0055] In this embodiment, the throwing wheel indoor environment sensing device further includes a buffer component, which is implemented as two buffer rubber balls 600. The two buffer rubber balls 600 are symmetrically mounted on both sides of the exterior of the frame 100. The two buffer rubber balls 600 and the two wheels 200 are located on the front and rear sides of the frame 100, respectively. The buffer rubber balls 600 are used to reduce the impact force when the frame 100 falls to the ground.

[0056] In this embodiment, the casting wheel type indoor environment sensing device further includes a battery 500 , which is fixedly mounted on the frame 100 and is used to supply power to various components on the frame 100 .

[0057] The throwable wheeled indoor environment sensing device in this embodiment is thrown from the outside into the room, thereby sensing and detecting the indoor environment and preventing people from coming into close contact with dangerous indoor environments. Before being thrown, the information collection mechanism can be stored in the cavity of the frame 100, effectively preventing damage from collision with the ground. It also has high flexibility and can move freely indoors, enabling environmental sensing from all corners of the room without blind spots. The control module automatically determines whether the frame 100 has landed and which side of the frame 100 is facing upward using an accelerometer and gyroscope, thereby controlling the information collection mechanism to extend from the opening on the upward side. The camera module 320 can capture a full range of the indoor environment. The information processing module uses an algorithm to reconstruct the three-dimensional spatial information of the room from the image data captured by the camera module 320 and displays the three-dimensional video projection information in real time, allowing people outside to understand the indoor environment.

[0058] Example 2

[0059] This embodiment discloses a method for sensing an indoor environment, using the throwing wheel indoor environment sensing device in Embodiment 1. The method includes:

[0060] Throwing the throwable wheel-type indoor environment sensing device from outdoors to indoors;

[0061] After the throwable wheel-type indoor environment sensing device lands, the first driving assembly 400 drives the information collection mechanism to extend from the cavity of the frame 100;

[0062] The second driving assembly 410 drives the wheels 200 to rotate, thereby driving the frame 100 to move indoors;

[0063] The information collection agency collects indoor environmental information.

[0064] In this embodiment, the throwable wheeled indoor environment sensing device is suitable for detecting low-altitude dangerous indoor environments. Before use, personnel throw it from the outdoors into the room.

[0065] The accelerometer and gyroscope in the control module jointly determine whether the throwable wheel indoor environment sensing device has landed and which side is facing upward. When the accelerometer detects that the throwable wheel indoor environment sensing device has landed, and the gyroscope determines that the first opening 111 of the frame 100 is facing upward, the controller controls the first drive assembly 400 to rotate forward, thereby driving the information collection mechanism to extend from the first opening of the frame 100. When the gyroscope determines that the second opening 121 of the frame 100 is facing upward, the controller controls the first drive assembly 400 to rotate reversely, thereby driving the information collection mechanism to extend from the second opening of the frame 100.

[0066] A person operates the remote control outdoors, and the remote control sends a control signal to the controller. The controller controls the first driving assembly 400 to move, thereby driving the wheels 200 to rotate, and then driving the frame 100 to move indoors, thereby achieving all-round shooting of the indoor environment;

[0067] The camera module 320 transmits the captured image data to an external terminal. The terminal receives the image data from the camera module 320 and stitches it into a panoramic image. It uses the indoor space estimation algorithm to estimate the indoor three-dimensional scene, and uses texture mapping to fuse the image data into the three-dimensional scene to display the real three-dimensional scene, thereby helping external personnel understand the actual situation indoors.

[0068] The indoor environment perception method in this embodiment adopts a throwing wheel indoor environment perception device. External personnel can remotely control the throwing wheel indoor environment perception device through a remote control to perform all-round and no-dead-angle detection of the indoor environment. Through the camera module 320 and the external information processing module, three-dimensional scene simulation of the indoor real-time environment can be realized, which is conducive to external personnel to clearly understand the actual situation indoors.

[0069] It will be understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present invention, and the present invention is not limited thereto. Those skilled in the art will appreciate that various modifications and improvements can be made without departing from the spirit and substance of the present invention, and such modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A throwing wheel type indoor environment sensing device, characterized in that: It comprises a vehicle frame (100), wheels (200), an information collection mechanism, and a driving mechanism. The driving mechanism comprises a first driving assembly (400) and a second driving assembly (410), wherein the first driving assembly (400) and the second driving assembly (410) are both arranged on a vehicle frame (100). The interior of the vehicle frame (100) is a cavity, and the first driving assembly (400) is fixedly connected to the information collection mechanism and is used to drive the information collection mechanism to extend out of the vehicle frame (100) or to be received in the cavity of the vehicle frame (100). The wheel (200) is mounted on the frame (100), and the second drive assembly (410) is connected to the wheel (200) and is used to drive the wheel (200) to rotate, thereby driving the frame (100) to move. The information collection mechanism is used to collect indoor environmental information.

2. The throwing wheel type indoor environment sensing device according to claim 1, characterized in that: The frame (100) has a first plane (110) and a second plane (120) arranged in parallel, the first plane (110) and the second plane (120) are respectively provided with a first opening (111) and a second opening (121), and the first opening (111) and the second opening (121) are both communicated with the cavity of the frame (100). The first drive assembly (400) is arranged in the cavity of the vehicle frame (100), driving the information acquisition mechanism located in the cavity to rotate from the first opening (111) or the second opening (121) to the outside of the vehicle frame (100), and driving the information acquisition mechanism located outside the vehicle frame (100) to rotate from the first opening (111) or the second opening (121) to the inside of the cavity.

3. The throwing wheel type indoor environment sensing device according to claim 2, characterized in that: The shapes of the first opening (111) and the second opening (121) are exactly the same, and the position of the first opening (111) on the first plane (110) corresponds to the position of the second opening (121) on the second plane (120).

4. The throwing wheel type indoor environment sensing device according to claim 3, characterized in that: The frame (100) further includes a third plane (130), which is disposed in the cavity and is located in the middle of the first plane (110) and the second plane (120). The first driving assembly (400) is fixedly mounted on the third plane (130).

5. The throwing wheel type indoor environment sensing device according to claim 4, characterized in that: The information collection mechanism includes a lifting rod (310) and a camera module (320). The bottom end of the lifting rod (310) is fixedly connected to the output end of the first driving assembly (400), and the camera module (320) is fixedly mounted on the top end of the lifting rod (310). The first driving assembly (400) drives the lifting rod (310) to rotate around its bottom end, so that the camera module (320) located at the top end of the lifting rod (310) rotates from the first opening (111) or the second opening (121) to the outside of the vehicle frame (100).

6. The throwing wheel type indoor environment sensing device according to claim 4, characterized in that: It also includes a control module, which includes a control mainboard, The control mainboard is fixedly mounted on the vehicle frame (100) and comprises a controller, an accelerometer, and a gyroscope. The accelerometer is electrically connected to the controller and is used to monitor the acceleration of the frame (100) colliding with the ground. When the accelerometer monitors the acceleration generated by the collision of the frame (100), it sends a first signal to the controller. The gyroscope is electrically connected to the controller and is used to monitor the posture of the vehicle frame (100) after landing. When the gyroscope detects that the first opening (111) is facing upward, a second signal is sent to the controller; when the gyroscope detects that the second opening (121) is facing upward, a third signal is sent to the controller. The controller is also electrically connected to the first drive assembly (400). When the controller receives the first signal and the second signal simultaneously, the controller controls the first drive assembly (400) to rotate in the forward direction, thereby driving the information collection mechanism to extend out of the vehicle frame (100) from the first opening (111); and when the controller receives the first signal and the third signal simultaneously, the controller controls the first drive assembly (400) to rotate in the reverse direction, thereby driving the information collection mechanism to extend out of the vehicle frame (100) from the second opening (121).

7. The throwing wheel type indoor environment sensing device according to claim 6, characterized in that: The control module further includes a remote controller, which is in communication with the controller and is used to send a remote control signal to the controller. The controller is also electrically connected to the second drive assembly (410) and is used to control the second drive assembly (410) to start according to a received remote control signal, thereby driving the wheel (200) to move.

8. The throwing wheel type indoor environment sensing device according to claim 7, characterized in that: It also includes an information processing module, which is in communication with the camera module (320) and is used to receive image data captured by the camera module (320) and calculate and generate a three-dimensional scene map of the indoor environment based on the image data.

9. The throwing wheel type indoor environment sensing device according to claim 1, characterized in that: It also includes a buffer component, which is fixedly mounted on the vehicle frame (100) to reduce the impact force when the vehicle frame (100) falls to the ground.

10. A method for indoor environment perception, characterized in that: Using the throwing wheel type indoor environment sensing device according to any one of claims 1 to 9, the method includes: Throwing the throwable wheel-type indoor environment sensing device from outdoors to indoors; After the throwable wheel-type indoor environment sensing device lands, the first drive component (400) drives the information collection mechanism to extend from the cavity of the vehicle frame (100); The second driving assembly (410) drives the wheels (200) to rotate, thereby driving the frame (100) to move indoors; The information collection agency collects indoor environmental information.

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