Intelligent bionic mosquito trapping device based on visual avoidance

Abstract

The invention relates to the technical field of mosquito control equipment, and particularly discloses an intelligent bionic mosquito trapping device based on visual avoidance, which comprises a control module, a visual avoidance module, a position adjusting mechanism and a nepenthes-like trapping device, the common nepenthes imitating type capturing device is arranged on the position adjusting mechanism; the visual avoidance module and the position adjusting mechanism are both electrically connected with the control module, and the control module is at least used for controlling the position adjusting mechanism according to detection information of the visual avoidance module so as to adjust the position of the common nepenthes imitating type capturing device; according to the intelligent bionic mosquito catching device based on visual avoidance, the advantages of an automatic control technology and a machine vision technology are integrated, and the efficient and environment-friendly mosquito catching effect is achieved by simulating a natural mosquito catching mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of mosquito control equipment, and in particular to an intelligent bionic mosquito catching device based on visual avoidance. Background Art

[0002] Traditional mosquito control methods rely primarily on chemical agents, such as mosquito coils and insecticides. While these chemical methods can repel or kill mosquitoes to a certain extent, their long-term use may have adverse effects on human health and the ecological environment. The use of these chemicals may not only cause allergic reactions in humans, but may also pollute the environment and disrupt the ecological balance. In addition, mosquitoes are gradually developing resistance to these chemicals, resulting in a significant decrease in the control effectiveness of existing mainstream chemical insecticides and repellents, and the expected control effect cannot be achieved. At the same time, some physical mosquito control methods, such as mosquito nets and electric mosquito swatters, although they have advantages in terms of safety, have limitations in terms of mosquito killing efficiency and ease of use, and cannot meet the modern society's demand for efficient and convenient mosquito control methods. Therefore, the development of a new, more efficient mosquito trap is of great significance and has great application prospects. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent bionic mosquito catching device based on visual avoidance, which integrates the advantages of automatic control technology and machine vision technology, and achieves efficient and environmentally friendly mosquito catching effects by imitating the mechanism of catching mosquitoes in nature.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] An intelligent bionic mosquito catching device based on visual avoidance comprises a control module, a visual avoidance module, a position adjustment mechanism and a pitcher plant-like capturing device.

[0006] The pitcher plant-like capturing device is configured on the position adjustment mechanism.

[0007] The visual avoidance module and the position adjustment mechanism are both electrically connected to the control module. The control module is at least used to control the position adjustment mechanism according to the detection information of the visual avoidance module to adjust the position of the pitcher plant-like capture device.

[0008] The pitcher plant-like capturing device comprises a leaf-shaped plate, a funnel-shaped head section, a funnel-shaped middle section, an air outlet base, an air intake fan, an exhaust fan, an insect storage container, an ultraviolet lamp and a carbon dioxide lamp.

[0009] The small-diameter end of the funnel-shaped middle section is detachably connected to the small-diameter end of the funnel-shaped head section, and the large-diameter end of the funnel-shaped middle section is detachably connected to the air outlet base.

[0010] The end of the leaf plate is connected to the large-diameter end of the funnel-shaped head section.

[0011] The insect storage container is detachably arranged in the funnel-shaped middle section, the air intake fan is located above the funnel-shaped head section, and the exhaust fan is located below the funnel-shaped middle section.

[0012] The ultraviolet lamp is fixedly arranged on the back side of the leaf-shaped plate, and the ultraviolet lamp faces the funnel-shaped head section.

[0013] The bottom of the insect storage container is provided with a breathable escape-proof net.

[0014] The carbon dioxide lamp is fixedly arranged in the funnel-shaped head section.

[0015] In the intelligent bionic mosquito catching device based on visual avoidance provided by at least one embodiment of the present disclosure, the top of the insect storage container abuts against the funnel-shaped middle section.

[0016] In the intelligent bionic mosquito catching device based on visual avoidance provided in at least one embodiment of the present disclosure, the position adjustment mechanism includes: a first driving device, a second driving device, a first connecting rod, a connecting member and a connecting seat.

[0017] The head end of the first connecting rod is fixedly connected to the first driving device, and the first driving device is used to drive the first connecting rod to swing.

[0018] The end of the first connecting rod is fixedly connected to the connecting seat, and the second driving device is fixedly arranged in the connecting seat.

[0019] The head end of the connecting member is fixedly connected to the second driving device, and the second driving device is used to drive the connecting member to swing.

[0020] The end of the connecting piece is connected to the funnel-shaped head section.

[0021] The rotation axis of the first driving device is perpendicular to the rotation axis of the second driving device.

[0022] In the intelligent bionic mosquito catching device based on visual avoidance provided by at least one embodiment of the present disclosure, the visual avoidance module is fixedly arranged on the connecting seat.

[0023] The intelligent bionic mosquito catching device based on visual avoidance provided in at least one embodiment of the present disclosure further includes a solar power generation system for powering the control module, the visual avoidance module, the position adjustment mechanism and the pitcher plant-like capture device.

[0024] In the intelligent bionic mosquito catching device based on visual avoidance provided in at least one embodiment of the present disclosure, the solar power generation system includes a leaf-shaped placement plate, a photoresistor, a solar panel, a solar charge and discharge control component and a battery.

[0025] The photoresistor and the solar cell panel are both fixedly arranged on the top surface of the leaf-shaped placement plate, and the leaf-shaped placement plate is fixedly connected to the connecting piece.

[0026] The photoresistor is electrically connected to the control module, and the control module is further used to adjust the position of the leaf-shaped placement plate according to the detection information of the photoresistor and / or the visual avoidance module, so that the solar cell panel faces a direction with sufficient light.

[0027] The intelligent bionic mosquito catching device based on visual avoidance provided in at least one embodiment of the present disclosure further includes a wall-mounted housing.

[0028] The control module, the first driving device, the solar charge and discharge control component and the battery are all fixedly arranged in the wall-mounted housing.

[0029] The head end of the first connecting rod is inserted into the wall-mounted housing, and the first connecting rod is connected to the rotating housing.

[0030] In the intelligent bionic mosquito catching device based on visual avoidance provided in at least one embodiment of the present disclosure, a second connecting rod is provided between the connecting member and the funnel-shaped head section.

[0031] Both ends of the second connecting rod are fixedly connected to the connecting piece and the funnel-shaped head section respectively.

[0032] In the intelligent bionic mosquito catching device based on visual avoidance provided by at least one embodiment of the present disclosure, four photoresistors are provided, and the four photoresistors are distributed in a rectangular shape.

[0033] The solar cell panel is located in an area surrounded by the four photoresistors.

[0034] The beneficial effects of the present invention are: combining the insect catching mechanism of nature with modern technology, using physical mosquito prevention methods, which can solve the problem of being unsuitable for use by pregnant women, infants and pet families and the problem of mosquitoes developing drug resistance. At the same time, it combines carbon dioxide lamp trapping and ultraviolet lamp trapping to attract and capture mosquitoes more efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 The figure is a schematic diagram of the overall structure of an intelligent bionic mosquito catching device based on visual avoidance according to the present invention.

[0037] Figure 2 Schematic diagram of the connection between the position adjustment mechanism and the leaf-shaped placement plate.

[0038] Figure 3 This is an exploded view of the components of the pitcher plant-like capture device.

[0039] Figure 4 This is a three-dimensional diagram of an insect storage container.

[0040] Figure 5 This is a distribution diagram of photoresistors.

[0041] Figure 6 It is a schematic diagram of the connection between the position adjustment mechanism and the pitcher plant-like capture device.

[0042] Figure 7 This is a component connection block diagram of an intelligent bionic mosquito catching device based on visual avoidance according to the present invention.

[0043] Figure 8 This is a connection diagram of the solar panel, solar charge and discharge control components and batteries.

[0044] Figure 9 This is the control flow chart of the position adjustment mechanism.

[0045] Figure 10 Simulate port definition graph for the visual avoidance module.

[0046] Figure 11 This is the waveform diagram of the simulation results.

[0047] In the picture:

[0048] 10. Control module;

[0049] 20. Visual avoidance module;

[0050] 30. Position adjustment mechanism; 31. First drive device; 32. Second drive device; 33. First connecting rod; 34. Connecting member; 35. Connecting seat; 36. Second connecting rod;

[0051] 40. Nepenthes-like trapping device; 41. Leaf-shaped plate; 42. Funnel-shaped head section; 43. Funnel-shaped middle section; 44. Air outlet base; 45. Inlet fan; 46. Exhaust fan; 47. Insect storage container; 48. Ultraviolet lamp; 49. Carbon dioxide lamp; 471. Breathable escape-like net; 421. Air outlet;

[0052] 50. Solar power generation system; 51. Leaf-shaped placement board; 52. Photoresistor; 53. Solar panel; 54. Solar charge and discharge control component; 55. Battery;

[0053] 60. Wall-mounted enclosure. DETAILED DESCRIPTION

[0054] The technical solutions in the embodiments will be described clearly and completely below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments, rather than all the embodiments.

[0055] Example

[0056] like Figure 1 and 7 As shown, this embodiment provides an intelligent bionic mosquito catching device based on visual avoidance, including: a control module 10, a visual avoidance module 20, a position adjustment mechanism 30, a pitcher plant-like capturing device 40, a solar power generation system 50 and a wall-mounted housing 60.

[0057] Specifically, the pitcher plant-like capturing device 40 is disposed on the position adjustment mechanism 30 . The visual avoidance module 20 and the position adjustment mechanism 30 are both electrically connected to the control module 10 .

[0058] The structure and working principle of the pitcher plant-like capturing device 40 will be described below with reference to the accompanying drawings.

[0059] like Figure 3 and 4 As shown, the pitcher plant-like capturing device 40 includes a leaf-shaped plate 41, a funnel-shaped head section 42, a funnel-shaped middle section 43, an air outlet base 44, an air intake fan 45, an exhaust fan 46, an insect storage container 47, an ultraviolet lamp 48 and a carbon dioxide lamp 49.

[0060] Specifically, the small-diameter end of the funnel-shaped middle section 43 is detachably connected to the small-diameter end of the funnel-shaped head section 42, and the large-diameter end of the funnel-shaped middle section 43 is detachably connected to the air outlet base 44. The end of the fender is connected to the large-diameter end of the funnel-shaped head section 42.

[0061] Specifically, the insect storage container 47 is detachably disposed in the funnel-shaped middle section 43, the air intake fan 45 is located above the funnel-shaped head section 42, and the exhaust fan 46 is located below the funnel-shaped middle section 43. The air outlet base 44 has multiple air outlets and is a hollow structure as a whole.

[0062] Specifically, the ultraviolet lamp 48 is fixedly disposed on the back of the leaf plate 41 and faces the funnel-shaped head section 42. The carbon dioxide lamp 49 is fixedly disposed in the funnel-shaped head section 42.

[0063] Specifically, the bottom of the insect storage container 47 has a breathable escape-proof net 471. The top of the insect storage container 47 abuts against the funnel-shaped middle section 43.

[0064] Specifically, the side wall of the funnel-shaped head section 42 is provided with a plurality of air outlets 421 , and the carbon dioxide lamp is located above the air outlets 421 ; by providing the air outlets 421 , the diffusion path of the carbon dioxide can be increased, thereby attracting more mosquitoes.

[0065] During use, the ultraviolet lamp 48 and the carbon dioxide lamp 49 work synergistically to attract mosquitoes. When mosquitoes fly above the funnel-shaped head section 42, the downward airflow generated by the intake fan 45 draws them into the insect storage container 47. The breathable anti-escape net 471 effectively prevents mosquitoes from escaping, while the continuous downward airflow generated by the exhaust fan 46 further restricts their movement. Overall, this creates a circulating airflow, enhancing the device's mosquito-catching effectiveness. The entire device boasts a compact structure and ingenious design, achieving efficient and convenient mosquito-catching. The dual-fan design also accelerates the drying and death of mosquitoes.

[0066] For example, the funnel-shaped middle section 43 and the funnel-shaped head section 42 are detachably connected by a snap-fit structure, and the funnel-shaped middle section 43 and the air outlet base 44 are also detachably connected by a snap-fit structure. The funnel-shaped head section 42 and the air outlet base 44 can be easily assembled and disassembled, greatly facilitating cleaning and maintenance.

[0067] Furthermore, the snap-fit structure includes an L-shaped slot and a buckle (not shown); the funnel-shaped head section 42 has a buckle, the air outlet base 44 has an L-shaped slot, the top of the funnel-shaped middle section 43 has an L-shaped slot, and the bottom of the funnel-shaped middle section 43 has a buckle.

[0068] When in use, the air outlet base 44 can be rotated to allow the buckle on the bottom end of the funnel-shaped middle section 43 to reach a suitable position, and then a downward pulling force is applied to the air outlet base 44 to remove the air outlet base 44.

[0069] When a certain number of mosquitoes have accumulated in the insect storage container 47 , the air outlet base 44 can be disassembled and the insect storage container 47 can be taken out for cleaning.

[0070] The structure of the position adjustment mechanism 30 will be described below with reference to the accompanying drawings.

[0071] like Figure 2 and 6 As shown, the position adjustment mechanism 30 includes a first driving device 31 , a second driving device 32 , a first connecting rod 33 , a connecting member 34 and a connecting seat 35 .

[0072] Specifically, the head end of the first connecting rod 33 is fixedly connected to the first drive device 31, which is used to drive the first connecting rod 33 to swing. The tail end of the first connecting rod 33 is fixedly connected to the connecting seat 35, and the second drive device 32 is fixedly disposed in the connecting seat 35. The rotation axis of the first drive device 31 is perpendicular to the rotation axis of the second drive device 32.

[0073] Specifically, the head end of the connecting member 34 is fixedly connected to the second driving device 32 , and the second driving device 32 is used to drive the connecting member 34 to swing.

[0074] Specifically, a second connecting rod 36 is provided between the connecting member 34 and the funnel-shaped head section 42, and both ends of the second connecting rod 36 are fixedly connected to the connecting member 34 and the funnel-shaped head section 42. The connecting member 34 and the funnel-shaped head section 42 are linked by the second connecting rod 36.

[0075] Specifically, the left and right sides of each connecting seat 35 are fixedly provided with a visual avoidance module 20 .

[0076] Exemplarily, the first drive device 31 and the second drive device 32 are both servo motors.

[0077] The structure of the wall-mounted housing 60 will be described below with reference to the accompanying drawings.

[0078] like Figure 1 As described above, the control module 10 , the first driving device 31 , the solar charge and discharge control assembly 54 and the battery 55 are all fixedly disposed in the wall-mounted housing 60 .

[0079] The head end of the first connecting rod 33 is inserted into the wall-mounted housing 60, and the first connecting rod 33 is rotatably connected to the wall-mounted housing 60.

[0080] Two wall-mounted buckles are provided on the wall-mounted housing 60 , and the two wall-mounted buckles are fixed on the left and right sides of the wall-mounted housing 60 .

[0081] The structure and working principle of the solar power generation system 50 will be described below with reference to the accompanying drawings.

[0082] The solar power generation system 50 is used to supply power to the control module 10 , the visual avoidance module 20 , the position adjustment mechanism 30 and the pitcher plant-like capturing device 40 .

[0083] like Figure 5 、 7 As shown in FIG8 , the solar power generation system 50 includes a leaf-shaped placement plate 51 , a photoresistor 52 , a solar cell panel 53 , a solar charge and discharge control component 54 and a battery 55 .

[0084] Specifically, the photoresistor 52 and the solar cell panel 53 are both fixedly disposed on the top surface of the leaf-shaped placement plate 51 , and the leaf-shaped placement plate 51 is fixedly connected to the connecting member 34 .

[0085] Specifically, four photoresistors 52 are provided, and the four photoresistors 52 are distributed in a rectangular shape; the solar cell panel 53 is located in an area surrounded by the four photoresistors 52 .

[0086] Specifically, the photoresistor 52 is electrically connected to the control module 10 , and the control module 10 is used to adjust the position of the leaf-shaped placement plate 51 according to the detection information of the photoresistor 52 and the visual avoidance module 20 so that the solar panel 53 faces a direction with sufficient light.

[0087] Since the leaf-shaped placement plate 51 and the second connecting rod 36 are both connected to the connecting member 34 , when the position of the leaf-shaped placement plate 51 is adjusted, the position of the entire pitcher plant-like capturing device 40 will also change with the position of the connecting member 34 .

[0088] Specifically, two batteries are provided. The solar charge and discharge control component 54 includes a voltage stabilizing chip, a battery protection chip and an electric boost chip.

[0089] The battery protection chip ensures the battery operates within a safe voltage range, preventing overcharge and over-discharge, thereby extending its lifespan. A second battery acts as a backup power source, automatically starting in low-light conditions or at night to ensure continuous operation. The boost chip boosts the battery voltage to a level suitable for all devices, ensuring a stable and reliable power supply.

[0090] The working principle of the control module 10 will be described below with reference to the accompanying drawings.

[0091] like Figure 7 、 8As shown in Figure 9, after receiving the light data detected by the four photoresistors 52, the control module 10 controls the operation of the first and second drive devices 31 and 32 based on the light data. The first drive device 31 drives the left and right rotation of the solar panel 53; the second drive device 32 controls the vertical rotation of the solar panel 53. This allows the solar panel 53 to be adjusted with two degrees of freedom: vertical movement and left and right rotation, ensuring that it can move toward the direction with the most sufficient light. Under the control of the control module, the solar panel 53 can always be oriented in the direction that is most sensitive to and has the most sufficient light.

[0092] Since collisions or unexpected movements between modules are inevitable during the movement of the position adjustment mechanism 30, a visual avoidance module 20 is introduced, and the control module 10 cooperates with the visual avoidance module 20 to realize a self-regulating feedback function.

[0093] During use, the system uses visual perception to acquire environmental information and, based on environmental modeling, path planning, and algorithms, develops behavioral strategies that can avoid obstacles, prevent collisions, and achieve goal orientation. The Visual Avoidance Module 20 supports multi-cascade configurations, reading ranging data from all cascaded sensors in real time through an interface.

[0094] The visual avoidance module 20 is used to obtain environmental data surrounding the connectors 35, as well as obstacle avoidance distances between adjacent connectors 35. Next, the visual avoidance modules 20 are cascaded to obtain relative position and posture information for each connector 35. Finally, the control module 10 compares and analyzes this position and posture data with the collected illumination data, then applies an avoidance logic algorithm to generate a global path plan for the position adjustment mechanism.

[0095] Exemplarily, the visual avoidance module 20 uses a laser ranging sensor.

[0096] In addition, the control module 10 is further equipped with an input terminal (not shown), which is used for a user to input instructions. The control module 10 is also used to control the position adjustment mechanism 30 according to the instructions from the input terminal.

[0097] For example, the input end adopts a touch screen, which also displays lighting information, normal working status information and battery capacity information in real time.

[0098] The following will simulate and verify the global path planning of the intelligent bionic mosquito-catching device based on visual avoidance.

[0099] The global path planning simulation and verification are carried out under the Robei EDA tool, which has functions such as visual module definition, instruction simulation test and waveform output verification. The simulation port definition is as follows Figure 10As shown in the figure: P1, P2, P3, and P4 are input ports, representing the light data collected by the photoresistors in four different directions. The greater the light exposure to the photoresistors, the smaller their resistance. This characteristic yielded a set of experimental test data. P6 and P7 are output ports. A high level on P6 indicates downward flipping; otherwise, upward flipping (the angles for downward and upward flipping are limited to the range [-50 degrees, 50 degrees]). A high level on P7 indicates leftward rotation; otherwise, rightward rotation (the angles for leftward and rightward rotation are limited to the range [-60 degrees, 60 degrees]). Sum1 represents the sum of the light data from P1 and P2 on the inside. Sum2 represents the sum of the light data from P3 and P4 on the outside. Sum3 represents the sum of the light data from P1 and P3 on the left side. Sum4 represents the sum of the light data from P2 and P4 on the right side. P5 is an input port, representing the distance information collected by the laser ranging sensor, which is compared with the safe distance range (3-5 cm). P8 represents the safety signal. If P5 is greater than the safety distance range (3-5cm), P8 is low level, indicating safety. Otherwise, P8 is high level, indicating danger, and the swinging motion stops. B is the output port, indicating the swing signal. If B is high level, it means that each position adjustment mechanism is swinging, otherwise it means that the swinging motion stops. Clk is the clock signal; the simulation result waveform is as follows Figure 11 shown.

[0100] The simulation results are as follows:

[0101] |>Generating D: / Robei / bin / fang / build / fmodel_test.v...

[0102] |>Generating D: / Robei / bin / fang / build / fmodel.v...

[0103] |>Compiledone.

[0104] |>Running...

[0105] VCD info:dumpfile D: / Robei / bin / fang / build / fmodel_test.vcd opened foroutput.

[0106] Test1: p1=00000010, p2=00000011, p3=00000001, p4=00000011, p5=00000010

[0107] result1:p6=1(exp1),p7=0(exp0),p8=1(exp1),B=0(exp0)

[0108] Test2:p1=00000010,p2=00000001,p3=00000001,p4=00000001,p5=00000001

[0109] result2:p6=1(exp1),p7=1(exp1),p8=1(exp1),B=0(exp0)

[0110] Test3:p1=00000010,p2=00000001,p3=00000011,p4=00000011,p5=00000010

[0111] result3:p6=0(exp 0),p7=1(exp1),p8=1(exp1),B=0(exp0)

[0112] Test4:p1=00000010,p2=00000001,p3=00000011,p4=00000101,p5=00000010

[0113] result4:p6=0(exp 0),p7=0(exp 0),p8=1(exp1),B=0(exp0)

[0114] Test5:p1=00000010,p2=00000011,p3=00000001,p4=00000011,p5=00000110

[0115] result5:p6=1(exp1),p7=0(exp0),p8=0(exp0),B=1(exp1)

[0116] Test6:p1=00000010,p2=00000001,p3=00000001,p4=00000001,p5=00000110

[0117] result6:p6=1(exp1),p7=1(exp1),p8=0(exp0),B=1(exp1)

[0118] Test7:p1=00000010,p2=00000001,p3=00000011,p4=00000011,p5=00000110

[0119] result7:p6=0(exp0),p7=1(exp1),p8=0(exp0),B=1(exp1)

[0120] Test8: p1=00000010, p2=00000001, p3=00000011, p4=00000101, p5=00000110

[0121] result8:p6=0(exp0),p7=0(exp0),p8=0(exp0),B=1(exp1)

[0122] Test9: p1=00000001, p2=00000001, p3=00000001, p4=00000001, p5=00000010

[0123] result9:p6=0(exp0),p7=0(exp0),p8=1(exp1),B=0(exp0)

[0124] Test10: p1=00000001, p2=00000001, p3=00000001, p4=00000001, p5=00000110

[0125] result10:p6=0(exp0),p7=0(exp0),p8=0(exp0),B=1(exp1)

[0126] D: / Robei / bin / fang / build / fmodel_test.v:63:$finish called at120(1s)

[0127] Result Analysis

[0128] Test 1: Tests the logic state when the swing motion flips downward and turns to the right and the obstacle avoidance distance is less than the safety range distance.

[0129] Test 2: Test the logic state when the swing motion flips downward and turns to the left and the obstacle avoidance distance is less than the safety range distance.

[0130] Test 3: Test the logic state when the swing motion flips upward and turns to the left and the obstacle avoidance distance is less than the safety range distance.

[0131] Test 4: Test the logical state when the swing motion flips upward and turns to the right and the obstacle avoidance distance is less than the safety range distance.

[0132] Test 5: Test the logic state when the swing motion flips downward and turns to the right and the obstacle avoidance distance is greater than the safety range distance.

[0133] Test 6: Test the logic state when the swing motion flips downward and turns to the left and the obstacle avoidance distance is greater than the safety range distance.

[0134] Test7: Test the logical state when the swing motion flips upward and turns to the left and the obstacle avoidance distance is greater than the safety range distance.

[0135] Test 8: Test the logical state when the swing motion flips upward and turns to the right and the obstacle avoidance distance is greater than the safety range distance.

[0136] Test9: Test the logical state when the swing motion flips upward and turns to the right and the obstacle avoidance distance is less than the safety range distance.

[0137] Test 10: Test the logic state when the swing motion flips upward and turns to the right and the obstacle avoidance distance is greater than the safety range distance.

[0138] Logical consistency verification:

[0139] p6 and p7: In all test cases, the actual output is exactly the same as expected, indicating that their logical expressions are correct.

[0140] p8: When p5=2 (binary 00000010), it outputs 1; when p5=6 (binary 00000110), it outputs 0, which meets the expected conditions.

[0141] B: In all test cases with p5=6 (Test5-Test8, Test10), B is correctly triggered to 1.

[0142] Key signal behaviors:

[0143] p8 logic: p8 outputs 1 only when p5=2, and outputs 0 in other cases, which is in line with design expectations.

[0144] Trigger conditions:

[0145] B is triggered to 1 when p5=6 and to 0 in other cases, verifying its threshold judgment logic.

[0146] Design Summary

[0147] Functional Correctness: The module passes all test cases, indicating that the logical design is as expected.

[0148] Robustness: Testing covered boundary conditions (e.g., p5=2, p5=6) and common input combinations, and no abnormal behavior was found. The current design passed all test cases, demonstrating correct functionality and stable logic.

[0149] Avoid the main judgment code of the logic algorithm:

[0150] localparam A=3; / / Set the minimum obstacle avoidance safety distance A, fixed to 3cm (decimal)

[0151] / / Combinatorial logic calculation to obtain the light intensity of the four directions sum1, sum2, sum3, sum4

[0152] wire[8:0]sum1=p1+p2; / / p1+p2, represents the inner light intensity

[0153] wire[8:0]sum2=p3+p4; / / p3+p4,indicates the external light intensity

[0154] wire[8:0]sum3=p1+p3; / / p1+p3 indicates the light intensity on the left side

[0155] wire[8:0]sum4=p2+p4; / / p2+p4 indicates the light intensity on the right side

[0156] / / Output the combined logic of p6 and p7. p6 and p7 represent the rotational directions of the two degrees of freedom. When the light intensity on the inside is higher than that on the outside, p6 is high, indicating that the solar panel flips down. Otherwise, it flips up. When the light intensity on the left is higher than that on the right, p7 is high, indicating that the solar panel rotates to the left. Otherwise, it rotates to the right. This ensures that the solar panel always faces the direction of higher light intensity.

[0157] always@*begin

[0158] p6=(sum1>sum2)? 1'b1:1'b0; / / sum1>sum2 then p6=1

[0159] p7=(sum3>sum4)? 1'b1:1'b0; / / sum3>sum4 then p7=1

[0160] end

[0161] / / Outputs p8 and B sequential logic (clock-dependent, delay-based). p5 is distance information. If p5 is greater than the minimum obstacle avoidance distance, the path is safe, and the p8 safety signal is low. B swing information is high, indicating the swing motion continues. Conversely, if the path is dangerous, the p8 safety signal is high, and B swing information is low, indicating the swing motion stops.

[0162]

[0163]

[0164] Although the embodiments of the present application have been shown and described above, the scope of protection of the present invention is not limited thereto, and any changes or substitutions that are not conceivable through creative work should be included in the scope of protection of the present invention; unless expressly stated, any elements, actions or instructions used in this document should not be interpreted as critical or necessary.

Claims

1. An intelligent bionic mosquito catching device based on visual avoidance, characterized in that: include: A control module, a visual avoidance module, a position adjustment mechanism, and a pitcher plant-like capture device; The pitcher plant-like capturing device is configured on the position adjustment mechanism; The visual avoidance module and the position adjustment mechanism are both electrically connected to the control module, and the control module is at least used to control the position adjustment mechanism according to the detection information of the visual avoidance module to adjust the position of the pitcher plant-like capture device; The pitcher plant-like capturing device comprises a leaf-shaped plate, a funnel-shaped head section, a funnel-shaped middle section, an air outlet base, an air intake fan, an exhaust fan, an insect storage container, an ultraviolet lamp, and a carbon dioxide lamp; The small-diameter end of the funnel-shaped middle section is detachably connected to the small-diameter end of the funnel-shaped head section, and the large-diameter end of the funnel-shaped middle section is detachably connected to the air outlet base; The end of the leaf plate is connected to the large-diameter end of the funnel-shaped head section; The insect storage container is detachably arranged in the funnel-shaped middle section, the air intake fan is located above the funnel-shaped head section, and the exhaust fan is located below the funnel-shaped middle section; The ultraviolet lamp is fixedly arranged on the back of the leaf-shaped plate, and the ultraviolet lamp faces the funnel-shaped head section; The bottom of the insect storage container is provided with a breathable escape-proof net. The carbon dioxide lamp is fixedly arranged in the funnel-shaped head section.

2. The intelligent bionic mosquito catching device based on visual avoidance according to claim 1, characterized in that: The top of the insect storage container abuts against the funnel-shaped middle section.

3. The intelligent bionic mosquito catching device based on visual avoidance according to claim 1, characterized in that: The position adjustment mechanism includes: A first driving device, a second driving device, a first connecting rod, a connecting member and a connecting seat; The first end of the first connecting rod is fixedly connected to the first driving device, and the first driving device is used to drive the first connecting rod to swing; The end of the first connecting rod is fixedly connected to the connecting seat, and the second driving device is fixedly arranged in the connecting seat; The head end of the connecting member is fixedly connected to the second driving device, and the second driving device is used to drive the connecting member to swing; The end of the connecting piece is connected to the funnel-shaped head section; The rotation axis of the first driving device is perpendicular to the rotation axis of the second driving device.

4. The intelligent bionic mosquito catching device based on visual avoidance according to claim 3, characterized in that: The visual avoidance module is fixedly arranged on the connecting seat.

5. The intelligent bionic mosquito catching device based on visual avoidance according to claim 3, characterized in that: It also includes a solar power generation system for supplying power to the control module, the visual avoidance module, the position adjustment mechanism and the pitcher plant-like capture device.

6. The intelligent bionic mosquito catching device based on visual avoidance according to claim 5, characterized in that: The solar power generation system comprises a leaf-shaped placement plate, a photoresistor, a solar panel, a solar charge and discharge control component and a battery; The photoresistor and the solar cell panel are both fixedly arranged on the top surface of the leaf-shaped placement plate, and the leaf-shaped placement plate is fixedly connected to the connecting member; The photoresistor is electrically connected to the control module, and the control module is further used to adjust the position of the leaf-shaped placement plate according to the detection information of the photoresistor and / or the visual avoidance module, so that the solar cell panel faces a direction with sufficient light.

7. The intelligent bionic mosquito catching device based on visual avoidance according to claim 6, characterized in that: Also included is a wall-mounted enclosure; The control module, the first drive device, the solar charge and discharge control assembly and the battery are all fixedly arranged in the wall-mounted housing; The head end of the first connecting rod is inserted into the wall-mounted housing, and the first connecting rod is connected to the rotating housing.

8. The intelligent bionic mosquito catching device based on visual avoidance according to claim 3, characterized in that: A second connecting rod is provided between the connecting piece and the funnel-shaped head section; Both ends of the second connecting rod are fixedly connected to the connecting piece and the funnel-shaped head section respectively.

9. The intelligent bionic mosquito catching device based on visual avoidance according to claim 6, characterized in that: There are four photoresistors, and the four photoresistors are distributed in a rectangular shape; The solar cell panel is located in an area surrounded by the four photoresistors.

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