CN223816814U

CN223816814U - Movable automatic mosquito capturing system and device

Info

Publication number: CN223816814U
Application number: CN202520422444.8U
Authority: CN
Inventors: 童巨红; 钱隆; 杨佳妮; 胡佳男; 肖永军
Original assignee: Hubei Engineering University
Current assignee: Hubei Engineering University
Filing date: 2025-03-11
Publication date: 2026-01-23
Anticipated expiration: 2035-03-11

Abstract

The utility model discloses a movable automatic mosquito capturing system and device, wherein the system comprises a chassis driving module, a tracking navigation module, a host computer module and a capturing module, the chassis driving module adopts a motor driving structure and is used for realizing speed and direction control so that a mosquito capturing system reaches a mosquito area, the tracking navigation module is arranged at the bottom of the chassis and is used for recognizing a preset route so that the mosquito capturing system can realize automatic obstacle avoidance and navigation, the host computer module is used for processing data signals collected by the tracking navigation module and executing automatic obstacle avoidance and navigation instructions, and the capturing module adopts a bionic acousto-optic induction device and is used for attracting and capturing mosquitoes. The movable automatic mosquito capturing device aims at solving the defects of the existing mosquito capturing device in the aspects of intellectualization and automation, can not be flexibly deployed and moved, and is difficult to adapt to complex and changeable environmental requirements.

Description

Movable automatic mosquito capturing system and device

Technical Field

The application relates to the technical field of biomedical detection, in particular to a movable automatic mosquito capturing system and device.

Background

Mosquito is a major transmission medium for many infectious diseases (such as malaria, dengue fever, zika virus disease, etc.), and constitutes a significant challenge to global public health. Traditional mosquito capturing methods, such as using mosquito nets, electric mosquito beats, mosquito lamps, and fixed mosquito traps, while helping to reduce mosquito numbers and disease transmission risks to some extent, have many limitations in practical applications, particularly in terms of flexibility, intelligence, and automation. Most of the conventional mosquito capturing devices are static, i.e. they are fixedly mounted at a certain position and cannot be dynamically adjusted according to the actual moving range of the mosquitoes. The activities of mosquitoes are often affected by various factors such as light, temperature, humidity, wind direction, human activities and the like, so that the fixed device may not effectively cover the most active areas of the mosquitoes, resulting in low capturing efficiency.

The traditional mosquito catching method lacks advanced intelligent control and automation functions. For example, they cannot automatically adjust the mode of operation (e.g., light intensity, air flow rate, etc.) based on real-time changes in environmental conditions, nor can they predict trends in mosquito activity through data analysis, thereby optimizing capture strategies. In complex and changeable environments, such as urban green lands, rural fields or tropical rain forests, the variety, density and activity habit of mosquitoes are remarkably different. Conventional methods often lack sufficient flexibility to accommodate these different ecological conditions, limiting their effectiveness for wide-ranging applications.

Disclosure of utility model

The application mainly aims to solve the defects of the existing mosquito catching device in the aspects of intellectualization and automation, can not be flexibly deployed and moved according to the mosquito moving range, and is difficult to adapt to complex and changeable environment requirements.

In order to achieve the above objective, an embodiment of the present application provides a mobile automatic mosquito capturing system, where the tracking navigation module is installed at the bottom of the chassis, and is configured to identify an obstacle and output a corresponding obstacle signal to the host module;

The host module is connected with the tracking navigation module and the chassis driving module and is used for outputting automatic obstacle avoidance and navigation instructions to the chassis driving module according to the obstacle signals;

the chassis driving module adopts a motor driving structure and is used for driving the mosquito capturing system to run towards a mosquito area based on the automatic obstacle avoidance and navigation instructions;

The capturing module is used for starting the bionic acousto-optic induction device to attract and capture mosquitoes when the mosquito capturing system reaches the mosquito area.

In one embodiment, the chassis driving module comprises a chassis control circuit and a motor driving circuit, wherein:

The chassis control circuit is connected with the input end of the motor drive circuit and is used for outputting a chassis control signal to control the motor drive circuit;

The motor driving circuit is connected with the output end of the chassis control circuit and is used for receiving the chassis control signal and driving the motor so that the device reaches the mosquito area according to a preset route.

In one embodiment, the chassis control circuit comprises a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor, a second capacitor and a first operational amplifier;

The positive input end of the first operational amplifier is respectively connected with the first end of the second resistor, the first end of the third resistor, the first end of the fourth resistor and the first end of the first capacitor, the negative input end of the first operational amplifier is respectively connected with the first end of the first resistor, the first end of the fifth resistor and the first end of the second capacitor, the output end of the first operational amplifier is respectively connected with the second end of the fifth resistor, the second end of the second capacitor and the input end of the motor driving circuit, the second end of the fourth resistor is connected with a first power supply, the second end of the third resistor and the second end of the first capacitor are grounded, the second end of the first resistor is connected with the first input end of the motor driving circuit, and the second end of the second resistor is connected with the second input end of the motor driving circuit.

In one embodiment, the motor driving circuit includes a first transistor, a second transistor, a third transistor, a fourth transistor, a first diode, a second diode, a third diode, a fourth diode, a fifth diode, and a sixth diode;

The gates of the first transistor and the second transistor are connected with the second end of the first resistor, and the gates of the third transistor and the fourth transistor are connected with the second end of the second resistor;

The drains of the first transistor and the second transistor are connected with a power supply, the sources of the first transistor and the second transistor are grounded, the sources of the first transistor and the second transistor are respectively connected with a first end and a second end of the motor, the drains of the third transistor and the fourth transistor are respectively connected with the first end and the second end of the motor, the anode of the first diode is connected with the source of the first transistor, the cathode of the first diode is connected with the drain of the first transistor, the anode of the second diode is connected with the source of the second transistor, the cathode of the second diode is connected with the drain of the second transistor, the anode of the third diode is connected with the source of the third transistor, the cathode of the third diode is connected with the drain of the third transistor, the anode of the fourth diode is connected with the source of the fourth transistor, the anode of the fourth diode is connected with the drain of the fourth transistor, and the anode of the fifth diode is connected with the drain of the fifth transistor.

In one embodiment, the tracking navigation module comprises an infrared pair tube sensor and an ultrasonic sensor, wherein:

The infrared pair-pipe sensor is connected with the host module and is used for identifying a preset route;

The ultrasonic sensor is connected with the host module, and is used for detecting obstacles in the preset route and outputting obstacle signals to the host module.

In one embodiment, the movable automatic mosquito capturing system further comprises a photosensitive circuit and a temperature and humidity sensor, wherein:

The photosensitive circuit is connected with the host module and is used for collecting an ambient illumination intensity signal and outputting the illumination intensity signal to the host module;

The temperature and humidity sensor is connected with the host module and is used for collecting temperature and humidity signals of the environment and outputting the temperature and humidity signals to the host module;

The host module is further configured to control the capture module to stop starting the bionic acousto-optic induction device when the amplitude of the illumination intensity signal is greater than a first set amplitude and/or the amplitude of the temperature and humidity signal is less than a second set amplitude.

In one embodiment, the system further comprises a positioning module, wherein:

The positioning module is connected with the host module and is used for providing the position information of the mosquito capturing system.

In one embodiment, the system further comprises a power module and a power detection module, wherein:

The power module is connected with the host module and is used for supplying power to the host module;

The electric quantity detection module is connected with the power supply module and is used for detecting the battery electric quantity of the power supply module, and when the battery electric quantity of the power supply module is lower than the protection electric quantity, the power supply module is controlled to stop supplying power to the host module.

In an embodiment, the system is further connected to an external intelligent terminal through the host module.

In order to achieve the above object, the present application further provides a mobile automatic mosquito capturing device, which includes the mobile automatic mosquito capturing system.

The one or more technical schemes provided by the application can have the following advantages or at least realize the following technical effects:

The application discloses a movable automatic mosquito capturing system which comprises a chassis driving module, a tracking navigation module, a host computer module and a capturing module, wherein the chassis driving module adopts a motor driving structure and is used for controlling the speed and the direction of the mosquito capturing system so as to enable the mosquito capturing system to reach a mosquito area, the tracking navigation module is arranged at the bottom of the chassis and is used for identifying a preset route so as to enable the mosquito capturing system to achieve automatic obstacle avoidance and navigation in the mosquito area, the host computer module is used for processing data signals collected by the tracking navigation module and executing instructions of automatic obstacle avoidance and navigation, and the capturing module adopts a bionic acousto-optic induction device and is used for attracting and capturing mosquitoes. The intelligent mosquito trapping device aims at solving the problems that the existing mosquito trapping device is intelligent and has a defect in automation degree, can not be flexibly deployed and moved according to the mosquito moving range, is difficult to adapt to complex and changeable environment requirements, and is high-efficiency and intelligent mosquito trapping and reducing mosquito vector disease spreading risks by providing a movable automatic mosquito trapping device and integrating technologies such as automatic navigation, intelligent sensing and bionics trapping. In addition, the system has the characteristic of strong portability, and is convenient for personnel to flexibly deploy and operate in a field environment. The intelligent visual field detection device has remarkable advantages.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a mobile automatic mosquito capturing system according to an embodiment of the present application;

fig. 2 is a schematic circuit diagram of a first embodiment of a mobile automatic mosquito capturing system according to an embodiment of the present application;

Fig. 3 is a schematic diagram of a second embodiment of a mobile automatic mosquito capturing system according to the present application.

The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear are referred to in the embodiments of the present application), the directional indications are merely used to explain the relative positional relationship, movement conditions, and the like between the components in a specific posture, and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, if "and/or" and/or "are used throughout, the meaning includes three parallel schemes, for example," a and/or B "including a scheme, or B scheme, or a scheme where a and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.

The traditional mosquito killing method, such as mosquito-repellent incense, mosquito-killing lamp, etc., can reduce the mosquito quantity to a certain extent, but often has the problems of low efficiency, limited coverage range, etc. Therefore, it is important to develop an efficient and intelligent mosquito capturing system. The application discloses a design and implementation of a movable automatic mosquito capturing system, which integrates a plurality of modules such as chassis driving, tracking navigation, data processing, bionic acousto-optic induction and the like, and aims to realize efficient automatic capturing of mosquitoes.

The system integrates the technologies of automatic navigation, intelligent sensing and control, bionics trapping and the like, and aims to realize efficient and intelligent mosquito trapping and reduce the spreading risk of mosquito-borne diseases. The system comprises a mobile chassis, a capturing module, a sensor module, a control module and a power module. The mobile chassis adopts four-wheel independent drive, is provided with an infrared geminate transistor sensor and an ultrasonic sensor, and realizes automatic navigation and obstacle avoidance. The capturing module attracts and captures mosquitoes through bionic sound induction, a UV LED light source and a capturing fan. The sensor module comprises an infrared pair tube sensor, an ultrasonic sensor, a photoresistor and a temperature and humidity sensor and is used for environmental perception and data acquisition. The control module takes an STM32 singlechip as a core, processes data and executes instructions. The power module provides stable power support. The mosquito trapping device has the technical characteristics of automatic movement, intelligent sensing and control, bionics trapping and the like, is suitable for trapping and controlling mosquitoes in indoor and outdoor environments, remarkably improves trapping efficiency, and reduces mosquito vector disease transmission risks. After a user starts the system, the system performs initialization operation including self-checking of each module, sensor calibration and the like. Ensuring that the system is in a normal working state. The tracking navigation module is carefully mounted to the bottom of the chassis and this position is chosen to ensure that the module is able to directly contact the ground or potential obstacle to more accurately identify the surrounding environment. The core function of the tracking navigation module is to identify obstructions, typically by emitting infrared light and receiving reflected signals. When the color, material or presence of obstacles on the ground result in changes in the infrared reflection characteristics, the system can quickly capture these changes and convert them into corresponding obstacle signals. In the moving process, the system dynamically adjusts through detecting the marking line and the obstacle in front in real time, so that the system can safely reach the mosquito area. When the system reaches the mosquito area, the capturing module starts to work. By emitting specific sound and light signals, mosquitoes are attracted to approach. Once the mosquitoes enter the capture area, the system captures and stores the mosquitoes by means of mechanical structures or air currents, etc. During the capturing process, the system records the information of the number, the kind and the like of the captured mosquitoes in real time, and stores the data in an internal memory. The user may view this data via a display device or remote terminal connected to the host module for subsequent analysis and processing. After the capture task is completed, the system automatically returns to the starting point or the charging station for charging and standby according to a preset return route. Ensuring that the system is able to continue to operate.

Referring to fig. 1, fig. 1 is a system schematic diagram of a first embodiment of a mobile automatic mosquito capturing system according to an embodiment of the present application.

In this embodiment, a mobile automatic mosquito capturing system includes a chassis driving module, a tracking navigation module, a host module, and a capturing module, wherein:

The tracking navigation module is arranged at the bottom of the chassis and used for identifying an obstacle and outputting a corresponding obstacle signal to the host module;

Specifically, in this embodiment, the mobile automatic mosquito capturing system mainly includes a chassis driving module, a tracking navigation module, a host module, and a capturing module. All modules work cooperatively to jointly realize the automatic capturing task of mosquitoes.

The chassis driving module is a moving basis of the whole system and is responsible for realizing speed and direction control of the system. The module adopts a motor driving structure, and realizes the actions of forward, backward, left turn, right turn and the like of the system by controlling the rotating speed and the steering of the motor. The motor driving structure has the advantages of simple structure, convenient control, high response speed and the like, and can meet the requirement of the system on the moving performance. In order to realize more accurate control, the chassis driving module is also integrated with sensors such as encoders, gyroscopes and the like, and is used for monitoring the speed and the gesture of the system in real time. Through the sensor data, the system can adjust the control parameters of the motor in real time, and ensures that the system stably moves according to a preset track and speed.

The track-seeking navigation module is arranged at the bottom of the chassis and is responsible for identifying a preset route and guiding the system to realize automatic obstacle avoidance and navigation. The module adopts advanced sensor technology and image processing algorithm, can accurately identify the mark line or obstacle on the ground, and generates corresponding navigation instruction according to the information. Specifically, the tracking navigation module may include a variety of sensors such as infrared sensors, ultrasonic sensors, cameras, and the like. The infrared sensor is used for detecting the position of the marking line, the ultrasonic sensor is used for detecting the obstacle in front, and the camera is used for more complex scene recognition and obstacle avoidance decision. The data collected by these sensors will be transmitted to the host module for processing and analysis.

The host module is a control center of the whole system and is responsible for processing the data signals collected by the tracking navigation module and executing automatic obstacle avoidance and navigation. An obstacle refers to a physical entity that exists in the path of system travel and may impede its normal travel. The obstacle signal is digital information which is acquired and processed by the sensor and is used for describing the existence, the position and the attribute of the obstacle. The automatic obstacle avoidance is a decision process in which the system adjusts the motion path in real time based on the obstacle signal to avoid collision. For example, after the system is powered on, the host module self-checks the states of the sensors and the driving components, loads a preset path (such as grid coordinates of an indoor area), detects path marks by infrared pair tube arrays, and outputs obstacle signals to the host module. At the moment, the host computer calculates the difference between the left wheel speed and the right wheel speed (for example, the left wheel has a duty ratio of 70% and the right wheel has a duty ratio of 30%) to realize path deviation correction. The ultrasonic sensor scans the front obstacle (frequency 40 Hz) in real time, and when the distance between the obstacle and the obstacle is detected to be less than 30cm, an interrupt signal is triggered. Emergency braking was performed (motor full stop, time <0.2 seconds), 45 ° turn right, 50cm forward. The host module re-detects the path. After the system reaches the target mosquito area, the host computer module starts the acousto-optic induction device, the buzzer sounds intermittently at the frequency of 500Hz (period: 2 seconds for sound and 1 second for silence), and the UV LED array is lightened at full power to attract mosquitoes to gather.

The capturing module is a core functional part of the system and adopts a bionic acousto-optic induction device for attracting and capturing mosquitoes. The module simulates certain characteristics in the natural ecological environment of mosquitoes, such as specific sound, light and the like, so as to attract the mosquitoes to approach. In particular, the capture module may include one or more light emitting diode (UV LED) lights and one speaker. UV LED lamps emit light of a specific wavelength and frequency that is attractive to mosquitoes. The loudspeaker sends out the sound signal of simulating the natural enemy or the puppet sound of the mosquito, and further attracts the mosquito. When the mosquito approaches the capturing module, the system captures and stores the mosquito by means of a mechanical structure or air flow.

Further, in the present embodiment, the chassis driving module includes a chassis control circuit and a motor driving circuit, wherein:

In particular, in the present embodiment, the chassis drive module serves as the power source spring and the mobile foundation of the system, the importance of which is self-evident. The module is not only responsible for driving the whole system to move, but also needs to ensure that the system can accurately and stably travel according to a preset route so as to effectively capture mosquitoes in the environment.

The chassis driving module is a key component of the movable automatic mosquito capturing system, and integrates two main core parts of a chassis control circuit and a motor driving circuit. The chassis control circuit is used as a brain and is responsible for receiving and processing instructions from a superior system such as a tracking navigation module and the like to generate corresponding chassis control signals. The motor driving circuit acts as a 'muscle', receives the control signals and drives the motor to operate, so that the whole device is driven to move. The two are tightly matched to form a high-efficiency and stable mobile foundation of the system. The chassis control circuit mainly comprises a Microcontroller (MCU), a power management circuit, a signal input/output circuit, a communication interface and the like. The microcontroller is used as a core of the circuit and is responsible for receiving instruction data transmitted by a superior system (such as a tracking navigation module) and processing and analyzing the data according to a preset algorithm. The processing result is output in the form of chassis control signals and is transmitted to the motor driving circuit through the signal output circuit.

The chassis control circuit ensures that the device can accurately move according to a preset route, dynamically adjusts the speed according to the curvature of a path (for example, the speed is reduced to 0.3m/s when the vehicle turns), calculates the target direction deviation, and outputs PWM duty ratio to adjust the steering engine angle. By monitoring obstacle information in real time and adjusting the traveling direction, collision is avoided. To achieve more accurate control, the chassis control circuit may also integrate a sensor interface for receiving real-time data from sensors such as gyroscopes, accelerometers, odometers, etc. After the data is processed, the data can be used for correcting the control strategy, and the positioning accuracy and stability of the system are improved. The motor driving circuit mainly comprises a power amplifying circuit, a motor interface circuit, a protection circuit and the like. The power amplification circuit is responsible for amplifying the weak control signal output by the chassis control circuit to a level sufficient for driving the motor. The motor interface circuit provides an interface connected with the motor, and ensures stable transmission of current and voltage. The protection circuit is used for monitoring the working state of the motor, and once abnormal conditions such as overcurrent, overvoltage, overheat and the like occur, the power supply is immediately cut off to protect the motor and the whole system from being damaged. According to different application scenes and performance requirements, the chassis driving module may adopt different types of motors and driving modes thereof. Common motor types include dc motors, stepper motors, servo motors, etc. The direct current motor has the advantages of simple structure and low cost, is suitable for scenes with low requirements on speed control precision, the stepping motor has the advantages of accurate positioning and easiness in control, is suitable for scenes needing accurate stepping control, and the servo motor combines the advantages of speed and position control and is suitable for scenes with high requirements on performance.

The motor driving modes are also various, including PWM (pulse width modulation) control, H-bridge circuit control, D/a conversion control, and the like. The PWM control changes the average voltage of the motor by adjusting the pulse width so as to realize speed control, the H-bridge circuit control changes the steering and rotating speed of the motor by changing the on-off states of the four switching tubes, and the D/A conversion control converts the digital signal into an analog signal so as to drive the motor. The selection of a proper motor type and a proper driving mode according to actual requirements is important to the improvement of the system performance. When the system is started and receives instructions from a superior system, the chassis control circuit firstly analyzes and processes the instructions. And generating a corresponding chassis control signal according to the processing result, and transmitting the corresponding chassis control signal to the motor driving circuit through the signal output circuit. After receiving the signals, the motor driving circuit drives the motor to operate after power amplification and interface conversion. The power generated by the operation of the motor is transmitted to the chassis and the whole device through the transmission mechanism, so that the device is driven to move according to a preset route. In the moving process, the chassis control circuit monitors information such as the position, the speed, the gesture and the like of the device in real time through the integrated sensor, and dynamically adjusts the control strategy according to the information. Meanwhile, the motor driving circuit also monitors the working state of the motor in real time through the protection circuit, so that the system can safely and stably run.

Further, in the embodiment, the chassis control circuit comprises a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor, a second capacitor and a first operational amplifier;

Specifically, in this embodiment, the chassis control circuit serves as a bridge connecting the upper computer instruction and the motor drive circuit, and its design directly relates to the accuracy, stability, and response speed of motor control. Fig. 2 is a schematic diagram of a chassis control circuit applied to a first embodiment of a mobile automatic mosquito capturing system according to an embodiment of the present application. The implementation will further discuss a chassis control circuit based on an operational amplifier, which realizes accurate control of input signals of a motor driving circuit through combination of a resistor, a capacitor and the operational amplifier which are well designed.

The chassis control circuit mainly comprises a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first capacitor C1, a second capacitor C2 and a first operational amplifier OA1, and forms a precise feedback control system for adjusting and stabilizing an input signal of the motor drive circuit through a specific connection mode. The positive input end of the OA1 of the first operational amplifier is connected with the first end of the second resistor R2, the first end of the third resistor R3, the first end of the fourth resistor R4 and the first end of the first capacitor C1. These connections form the noninverting input network of the op-amp for receiving and integrating signals from the different paths. The inverting input terminal is connected to the first terminal of the first resistor R1, the first terminal of the fifth resistor R5, and the first terminal of the second capacitor C2. These connections form the inverting input network of the op amp for comparison with the forward input signal to form the feedback control.

The output end of the chassis control circuit is connected with the second end of the fifth resistor R5, the second end of the second capacitor C2 and the input end of the motor driving circuit. The output signal of the operational amplifier is transmitted to the motor driving circuit through the connection for controlling the operation of the motor. The second end of the fourth resistor R4 is connected with the first power supply to provide stable direct current voltage for the circuit. The second terminal of the third resistor R3 and the second terminal of the first capacitor C1 are grounded, forming a common reference point for the circuit. And the second end of the first resistor R1 is connected with the input end of the first bridge arm of the motor driving circuit and is used for transmitting a part of control signals. The second end of the second resistor R2 is connected to the input end of the second bridge arm of the motor driving circuit, and is also used for transmitting a part of the control signal.

The operating principle of the chassis control circuit is based on the differential amplification characteristics and the feedback control principle of the operational amplifier. When the upper computer sends out a control command, the command is converted into a corresponding voltage or current signal and is input to the positive input end of the operational amplifier through a specific path. Meanwhile, the inverting input terminal of the operational amplifier receives a feedback signal from the motor driving circuit (through the first resistor R1 and the second resistor R2). The operational amplifier compares the two input signals and adjusts the output signal according to the difference value to drive the motor driving circuit, so that the motor operates in a preset mode. The first capacitor C1 and the second capacitor C2 function as filtering and stabilizing the output in the circuit. They can smooth high frequency noise in the input signal and improve the anti-interference capability of the circuit. The selection of the resistance value needs to be made according to the specific requirements of the circuit. For example, the resistances of the first resistor R1 and the second resistor R2 determine the strength of the feedback signal, thereby affecting the gain and stability of the circuit. The resistance of the fourth resistor R4 determines the supply voltage of the circuit. The choice of capacitance value depends mainly on the filtering requirements and the response time of the circuit. A larger capacitance provides better filtering but increases the response time of the circuit, while a smaller capacitance is the opposite. The operational amplifier is selected by considering the factors such as gain bandwidth product, input impedance, output impedance, noise performance and stability.

The chassis control circuit realizes accurate control of the input signal of the motor drive circuit through the differential amplification characteristic of the operational amplifier and the feedback control principle. This helps to ensure that the motor is operated in a preset manner, improving the accuracy and reliability of the inspection task. The capacitive element in the circuit plays roles of filtering and stable output, and can smooth high-frequency noise in an input signal and improve the anti-interference capability of the circuit. This helps ensure that the circuit is still operating stably in harsh environments. The chassis control circuit has certain flexibility in design, and can adjust the resistance values of the resistor and the capacitor according to actual requirements so as to adapt to different control requirements and motor types. In addition, additional components or functional modules may be added as needed to extend the functionality and performance of the circuit.

Further, in the present embodiment, the motor driving circuit includes a first transistor, a second transistor, a third transistor, a fourth transistor, a first diode, a second diode, a third diode, a fourth diode, a fifth diode, and a sixth diode;

Specifically, in the present embodiment, the motor driving circuit is a key element for realizing conversion of electric energy into mechanical energy. The embodiment deeply analyzes an H-bridge motor driving circuit based on the transistor, and the circuit realizes the accurate control of the direct current motor through the clever design of the transistor, the diode and other element combinations. The motor driving circuit mainly comprises a first transistor T1, a second transistor T2, a third transistor T3, a fourth transistor T4, a first diode D1, a second diode D2, a third diode D3, a fourth diode D4, a fifth diode D5 and a sixth diode D6. The components form an H-bridge circuit with bidirectional driving capability through a specific connection mode, and the H-bridge circuit is used for controlling the forward rotation and the reverse rotation and the braking of the direct current motor. The gates of the first transistor T1 and the second transistor T2 are commonly connected to the second end of the first resistor R1, and receive a control signal from the switch control circuit. When the control signal is at a high level, T1 is turned on, T2 is turned off, and when the control signal is at a low level, T1 is turned off, and T2 is turned on. This complementary conductive state enables switching of the motor current direction. The gates of the third transistor T3 and the fourth transistor T4 are commonly connected to the second terminal of the second resistor R2, and also receive the control signal from the switch control circuit. But their on-state is opposite to T1 and T2 to achieve another steering control of the motor.

The operating principle of the motor driving circuit is based on the bidirectional driving characteristic of the H-bridge circuit. When T1 and T4 are conducted simultaneously, the first end of the motor is positive, the second end of the motor is negative, the motor rotates positively, and when T2 and T3 are conducted simultaneously, the first end of the motor is negative, the second end of the motor is positive, and the motor rotates reversely. By controlling the on-state of T1 to T4, accurate control of the motor steering can be achieved. During motor braking, by simultaneously turning off T1 to T4 and using D5 and D6 to release energy stored in the motor back to the power source, rapid braking of the motor can be achieved. In addition, D1 to D4 can prevent damage to the transistor by the motor back electromotive force when the transistor is turned off, improving the reliability of the circuit. The selection of the transistor needs to consider the voltage withstand value, the maximum current, the on-resistance, the switching speed and other factors. In practical applications, MOSFETs having low on-resistance, high switching speed, and high withstand voltage are generally selected as driving transistors to improve the efficiency and reliability of the circuit. The choice of diode is primarily focused on its reverse breakdown voltage and forward conduction current. To ensure that the circuit operates stably in a harsh environment, diodes with sufficiently high reverse breakdown voltages and forward conduction currents are typically selected. The selection of the power supply needs to be made according to the rated voltage and current requirements of the motor. In order to ensure that the motor can work normally, the output voltage of the power supply should be slightly higher than the rated voltage of the motor, and the output current should meet the maximum current requirement of the motor. The motor driving circuit realizes the accurate control of the steering and the speed of the direct current motor through the design of the H-bridge circuit. The control mode has the advantages of high response speed and high control precision. The diode element in the motor drive circuit plays a role in reverse cut-off protection, so that damage of counter electromotive force of the motor to the transistor can be prevented, and the reliability of the circuit is improved. In addition, by reasonably selecting the component parameters and the layout and wiring, the failure rate of the circuit can be further reduced. The design of the motor driving circuit has certain flexibility, and additional protection circuits or functional modules, such as overcurrent protection, overheat protection and the like, can be added according to actual requirements. In addition, independent control over multiple motors can be achieved by adding additional H-bridge circuits.

In the second embodiment of the present application, the same or similar content as in the first embodiment of the present application may be referred to the description above, and will not be repeated. On the basis, in the embodiment, the tracking navigation module comprises an infrared pair tube sensor and an ultrasonic sensor, wherein:

Specifically, in the present embodiment, the trace navigation module plays a vital role. It is not only responsible for guiding the system to move according to a preset route, but also needs to detect the front obstacle in real time to avoid collision. In order to achieve the object, the tracking navigation module in this embodiment adopts a combination scheme of an infrared pair tube sensor and an ultrasonic sensor.

The trace searching navigation module mainly comprises an infrared geminate transistor sensor, an ultrasonic sensor, a host module and the like. The infrared pair tube sensor is used for identifying a preset route, and the ultrasonic sensor is used for detecting the distance of the obstacle in front. The sensors communicate with the host module through a specific connection mode, so that the function of tracking navigation is realized together. The infrared pair tube sensor is a common photoelectric detection element and consists of a transmitting tube and a receiving tube. The transmitting tube emits infrared light, and the receiving tube is used for receiving the reflected infrared light. When infrared light irradiates a specific mark (such as a black line) on a preset route, the light intensity received by the receiver is also changed due to the difference of the absorption and reflection characteristics of the infrared light by the material and the color of the mark. By detecting the change of the light intensity, the identification of the preset route can be realized. In this embodiment, the infrared pair of tube sensors are connected to the host module through a specific interface. The transmitting tube and the receiving tube are respectively connected to corresponding pins on the host module, and meanwhile, stable power supply voltage is required to be provided to ensure the normal operation of the sensor. To enhance the anti-interference capability of the sensor, a suitable filter circuit may be added to the connection. In addition, to achieve uniform management of multiple infrared pair tube sensors, they may be connected through a multiplexer (e.g., analog switch). In this way, the host module can sequentially read the data of each sensor by controlling the gating signal of the multiplexer, thereby realizing the comprehensive detection of the whole track-seeking route.

An ultrasonic sensor is an element for measuring distance by ultrasonic waves. It generally consists of a transmitter and a receiver. The transmitter emits pulses of ultrasonic waves which are reflected back and received by the receiver after encountering an obstacle. The distance of the obstacle in front can be calculated by measuring the time difference between the transmitted pulse and the received pulse and combining the propagation speed of the ultrasonic wave in the air. The ultrasonic sensor is also connected to the host module via a specific interface. The transmitter and receiver are connected to corresponding pins on the host module, respectively, while still providing a stable supply voltage. In order to enhance the measurement accuracy and anti-interference capability of the sensor, a proper signal processing circuit such as an amplifying circuit, a filtering circuit and the like can be added on the connecting line. Because the ultrasonic sensor needs a certain time interval to transmit and receive ultrasonic pulses during ranging, the host module needs to reasonably control the transmitting and receiving time sequence of the sensor so as to ensure the accuracy of the measurement result.

After receiving the data of the infrared pair tube sensor and the ultrasonic sensor, the host module needs to perform corresponding data processing and fusion work. The method comprises the following steps of preprocessing the received sensor data, including filtering, denoising and the like, so as to improve the accuracy and reliability of the data. And identifying the position and the direction of the preset route according to the data change of the infrared pair tube sensor. This typically involves threshold determination and pattern matching operations on the sensor data. According to the data of the ultrasonic sensor, the distance of the front obstacle is calculated, and whether the moving direction needs to be adjusted or not is judged so as to avoid collision. And fusing the route identification and the obstacle detection result to generate a final movement instruction. This involves comprehensive analysis and judgment of various sensor data to ensure that the system can move safely and stably along a preset route.

In practical application, the tracking navigation module shows good performance and effect. The infrared pair tube sensor can accurately identify the specific mark on the preset route, and can keep high identification rate even if the light is weak or the mark color is light. The ultrasonic sensor can detect the distance of the front obstacle in real time and give an alarm or adjust the moving direction in time when necessary, thereby effectively avoiding collision accidents. In addition, the tracking navigation module has higher flexibility and expandability. By adjusting the layout and parameter setting of the sensor, the sensor can adapt to different application scenes and performance requirements. For example, the number of infrared pair tube sensors may be increased or the layout may be optimized when more accurate route identification is required, and ultrasonic sensors having higher transmit power and receive sensitivity may be selected when a more distant range is required.

Further, in the embodiment, the movable automatic mosquito capturing system further comprises a photosensitive circuit and a temperature and humidity sensor, wherein:

Specifically, in this embodiment, a photosensitive circuit and a temperature and humidity sensor are newly added on the basis of the original tracking navigation module. The photosensitive circuit can collect environmental illumination intensity signals, automatically adjust the working state of equipment according to illumination change, and realize dual promotion of energy conservation and comfort. The temperature and humidity sensor can acquire temperature and humidity signals of the environment in real time, provides more comprehensive environment monitoring data for the system, and is beneficial to the system to make more accurate decisions and control.

The photosensitive circuit mainly comprises photosensitive elements (such as a photosensitive resistor, a photosensitive diode and the like), a signal processing circuit and an interface circuit. The photosensitive element can convert the ambient illumination intensity into an electric signal, the signal processing circuit amplifies and filters the electric signal, and finally the processed signal is transmitted to the host module through the interface circuit. In this embodiment we have chosen a photoresistor as the photosensitive element. The resistance of the photoresistor changes along with the change of illumination intensity, and decreases when illumination is enhanced, and increases when illumination is weakened. The information of the ambient illumination intensity can be indirectly obtained by measuring the resistance change of the photoresistor. The photosensitive circuit is connected with the host module through a specific interface circuit. The interface circuit includes an analog signal input interface and a digital signal output interface. The analog signal input interface is used for receiving the analog electric signal output by the photoresistor, and the digital signal output interface is used for transmitting the processed illumination intensity signal to the host module in a digital form. In order to ensure the stability and accuracy of a photosensitive circuit, a high-precision operational amplifier is adopted to amplify an electric signal output by a photosensitive resistor, and a low-pass filter is designed to filter high-frequency noise interference. In addition, a protection circuit is provided to prevent damage caused by overload or short circuit of the circuit. After receiving the illumination intensity signal transmitted by the photosensitive circuit, the host module performs further data processing. First, the received analog signal is analog-to-digital converted (ADC) to a digital signal for subsequent processing. And then, according to a preset illumination intensity threshold value, carrying out threshold value judgment on the digital signal. When the illumination intensity is below a certain threshold, the system may automatically turn on the lighting device or adjust the screen brightness, etc., and when the illumination intensity is above a certain threshold, the system may turn off the unnecessary lighting device or reduce the screen brightness to save energy. In addition, in order to control the working state of the device more finely, more complex algorithms can be used for processing the illumination intensity signals, such as a fuzzy control algorithm, a neural network algorithm and the like. The algorithms can automatically adjust the working parameters of the equipment according to the real-time change of the illumination intensity so as to realize more intelligent control.

The temperature and humidity sensor is a sensor capable of measuring the ambient temperature and humidity at the same time. It is generally composed of a humidity sensing element, a temperature measuring element and a signal processing circuit. The humidity sensing element can sense the change of the ambient humidity and convert the change into an electric signal, and the temperature measuring element is used for measuring the ambient temperature. The signal processing circuit performs amplification, filtering, analog-to-digital conversion and other processes on the two electric signals, and finally transmits the processed temperature and humidity signals to the host module in a digital form. In this embodiment, we select a temperature and humidity sensor chip with high integration level and stable performance. The humidity sensing element, the temperature measuring element and the signal processing circuit are integrated in the chip, so that digital temperature and humidity signals can be directly output, and the circuit design and the signal processing flow are simplified. The temperature and humidity sensor is connected with the host module through communication interfaces such as I2C or SPI. The communication interfaces have the advantages of high transmission speed, high anti-interference capability and the like, and can ensure stable communication between the temperature and humidity sensor and the host module. In connection, care needs to be taken with respect to the supply voltage and current requirements of the sensor, as well as the pin definition and signal level of the communication interface. At the same time, proper decoupling capacitors and filter circuits are required to be arranged in the circuit to reduce the influence of power supply noise and signal interference on the performance of the sensor. And after receiving the temperature and humidity signals transmitted by the temperature and humidity sensor, the host module performs further data processing. First, the received digital signal is checked and error detected to ensure the accuracy and integrity of the data. And then, according to a preset temperature and humidity threshold value, judging the threshold value of the digital signal. When the ambient temperature or humidity exceeds or falls below a certain threshold, the system may trigger a corresponding alarm or control logic, such as turning on an air conditioner, humidifier, etc., to regulate the indoor environment. In addition, in order to reflect the change trend and rule of the environmental temperature and humidity more accurately, algorithms such as data smoothing and trend prediction can be adopted to process temperature and humidity signals. The algorithms can predict future temperature and humidity change trend according to historical data, and provide more accurate control basis for the system.

Further, in the present embodiment, the system further comprises a positioning module, wherein:

Specifically, in this embodiment, in order to further optimize the performance of the mosquito capturing system, a positioning module is newly added on the basis of the original system. The module can combine various positioning technologies to provide accurate and reliable position information for the mosquito capturing system, so that the real-time monitoring and accurate capturing of mosquito activities are realized.

The positioning module is a device integrating multiple positioning technologies and aims to provide high-precision, all-weather and wide-coverage positioning service. Fig. 3 is a schematic diagram of a second embodiment of a mobile automatic mosquito capturing system according to the present application. In this embodiment, the positioning module mainly adopts two technologies, namely satellite positioning (such as GPS, beidou, etc.) and base station positioning (such as LBS, AGPS, etc.). The satellite positioning technology utilizes signals emitted by a plurality of satellites to perform three-dimensional positioning, has the advantages of high positioning precision and wide application range, and the base station positioning technology calculates the position by measuring the signal transmission time difference or the angle difference between the mobile equipment and the base station, and has the characteristics of high positioning speed and strong indoor positioning capability.

The positioning module can combine the advantages of satellite positioning and base station positioning, provide high-precision position information, and the error range is usually between a few meters and tens of meters. The positioning module can keep stable positioning performance no matter how weather conditions change, and can accurately acquire position information in severe environments.

Satellite positioning technology has global coverage capability, while base station positioning technology can provide more accurate positioning services in urban dense areas. The positioning module and the positioning module are combined, so that the positioning module can realize effective positioning under various environments. In order to meet the requirement of long-time operation, the positioning module adopts a low-power-consumption design, reduces energy consumption through an optimization algorithm and a hardware structure, and prolongs the service life of a battery.

The positioning module is connected with the host module through a specific communication interface to realize data transmission and interaction. In this embodiment, a UART (universal asynchronous receiver transmitter) interface is used as a main communication method. The UART interface has the advantages of simplicity, reliability, easiness in implementation and the like, and can meet the data transmission requirement between the positioning module and the host module. UART interfaces include data Transmission (TX), data Reception (RX), ground (GND), and optionally signal lines (e.g., RTS, CTS, etc.). In the connection of the positioning module and the host module, three wires of TX, RX and GND are mainly used. The TX line is used for transmitting data to the host module by the positioning module, and the RX line is used for receiving the data transmitted by the positioning module by the host module. The GND line serves as a common ground line for ensuring electrical connection between the two modules. To ensure proper transmission and parsing of data, we have formulated a specific data transmission protocol. The protocol comprises parameters such as data frame format, verification mode, baud rate and the like. The data frame format typically includes portions of a start bit, a data bit, a check bit, and a stop bit. The checking mode is used for detecting errors in the data transmission process, and common checking modes include odd checking, even checking, no checking and the like. The baud rate determines the data transmission rate and needs to be selected according to the actual situation. After receiving the position information transmitted by the positioning module, the host module performs further data processing and analysis. The data processing flow mainly comprises the steps of data analysis, coordinate conversion, position correction and the like.

Further, in this embodiment, the system further includes a power module and an electric quantity detection module, wherein:

Specifically, in this embodiment, in order to further improve stability and durability of the system, a power module is newly added on the basis of the original system, and an electric quantity detection module is provided. The power module not only can provide stable and continuous electric energy for the host module, but also can ensure the safe use of the battery through the electric quantity detection module, and simultaneously provides a battery capacity prompt function, so that a user can know the residual electric quantity and the use time conveniently.

The power module is a key component in the mosquito capturing system and is responsible for converting electric energy in an external power supply or a battery into voltage and current suitable for the host module to use. In this embodiment, the power module employs a high-efficiency DC-DC conversion circuit, which can convert a wide range of input voltage into a stable output voltage, so as to meet the working requirements of the host module. Meanwhile, the power supply module also has safety functions such as overcurrent protection, overvoltage protection, short-circuit protection and the like, and can protect the host module and the battery from being damaged under abnormal conditions. The power module is connected with the host module through a specific interface to realize the transmission of electric energy. In this embodiment, a standard power interface and a standard connection line are used to ensure stable and reliable connection between the power module and the host module. The design of the power interface accords with industry standards and safety specifications, including anode and cathode identification, fool-proof design and the like, and ensures that a user does not take wrong wires or damage the interface when in connection. Meanwhile, the power interface also has the functions of water resistance, dust resistance and the like, and can adapt to outdoor complex use environments. The connection between the power module and the host module adopts the modes of plug-in type or screw fixing type, and the like, so that the connection is ensured to be stable and reliable. In a plug-in connection, a user only needs to align the power interface with a socket on the host module and insert the power interface lightly, and in a screw-fixed connection, the user needs to fix the power interface on the host module by using a screw driver. Whichever connection mode is adopted, tight connection and good contact are required to be ensured, so that loss and potential safety hazard in the electric energy transmission process are avoided. The electric quantity detection module is responsible for monitoring the state of the battery and controlling the charge and discharge processes of the battery so as to ensure the safe use of the battery and prolong the service life of the battery. When the charging voltage of the battery exceeds a preset value, the electric quantity detection module can automatically cut off the charging circuit, so that damage or explosion caused by overcharging of the battery is prevented. Meanwhile, the electric quantity detection module can monitor the charging current, and the charging process is ensured to be carried out in a safe range. When the discharge voltage of the battery is lower than a preset value, the electric quantity detection module can automatically cut off the discharge circuit, so that performance degradation or damage caused by overdischarge of the battery is prevented. Over-discharge protection is one of the key measures to prolong the service life of the battery. When the battery is in short circuit between the anode and the cathode, the electric quantity detection module can rapidly cut off the circuit, so that the battery and the circuit are prevented from being damaged by short circuit current. Short circuit protection is one of the important functions to ensure safe use of the battery.

The electric quantity detection module also has a temperature monitoring function, and can monitor the temperature change of the battery in real time. When the temperature of the battery is too high, the electric quantity detection module can automatically cut off the charge-discharge circuit or adjust the charge-discharge rate so as to prevent damage or potential safety hazard caused by overheat of the battery. The electric quantity detection module can also monitor the residual capacity and the service time of the battery and prompt the user in a mode of an LED indicator lamp or a digital display screen and the like. The method is beneficial to users to know the electric quantity condition of the battery in time, and reasonably arrange the use time, so that the influence on the normal operation of the system due to insufficient electric quantity is avoided. The power module can provide stable and continuous electric energy for the mosquito capturing system, and normal operation of components such as the host module, the sensor and the actuator is ensured. In an outdoor complex use environment, the power supply module can adapt to different voltage fluctuation and temperature variation, and stability and reliability of output voltage are maintained.

The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the application, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein, or any application, directly or indirectly, within the scope of the application.

Claims

1. The movable automatic mosquito capturing system is characterized by comprising a chassis driving module, a tracking navigation module, a host computer module and a capturing module, wherein:

2. The mobile automatic mosquito trapping system of claim 1, wherein the chassis driving module comprises a chassis control circuit and a motor driving circuit, wherein:

3. The mobile automatic mosquito capturing system according to claim 2, wherein the chassis control circuit comprises a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first capacitor, a second capacitor and a first operational amplifier;

4. The mobile automatic mosquito trapping system of claim 3, wherein the motor driving circuit comprises a first transistor, a second transistor, a third transistor, a fourth transistor, a first diode, a second diode, a third diode, a fourth diode, a fifth diode, and a sixth diode;

5. The mobile automatic mosquito capturing system of claim 1, wherein the tracking navigation module comprises an infrared pair tube sensor and an ultrasonic sensor, wherein:

6. The mobile automatic mosquito capturing system of claim 1, further comprising a light sensing circuit and a temperature and humidity sensor, wherein:

7. The mobile automatic mosquito capturing system of claim 1, further comprising a positioning module, wherein:

8. The mobile automatic mosquito capturing system of claim 1, further comprising a power module and a power detection module, wherein:

9. The mobile automatic mosquito capturing system of claim 1, further comprising a connection to an external smart terminal through the host module.

10. A mobile automatic mosquito capturing device, characterized in that it comprises a mobile automatic mosquito capturing system according to any of claims 1-9.