Intelligent bionic mosquito trapping device based on visual avoidance

Abstract

The application relates to the technical field of mosquito control equipment, and particularly discloses an intelligent bionic mosquito catching device based on visual avoidance, which comprises a control module, a visual avoidance module, a position adjusting mechanism and a bionic Nepenthes catching device; the bionic Nepenthes catching device is arranged on the position adjusting mechanism; the visual avoidance module and the position adjusting mechanism are electrically connected with the control module; and the control module is used for controlling the position adjusting mechanism according to the detection information of the visual avoidance module, so as to adjust the position of the bionic Nepenthes catching device; the intelligent bionic mosquito catching device based on visual avoidance combines the advantages of automatic control technology and machine vision technology, and further imitates the mechanism of catching mosquitoes in the nature, so that the efficient and environment-friendly mosquito catching effect is realized.

Description

Technical Field

[0001] This invention relates to the field of mosquito control equipment technology, specifically to an intelligent bionic mosquito trapping device based on visual avoidance. Background Technology

[0002] Traditional mosquito control methods primarily rely on chemical agents, such as mosquito coils and insecticides. While these chemical methods can repel or kill mosquitoes to some extent, their long-term use may have adverse effects on human health and the ecological environment. The use of these chemicals can not only cause allergic reactions in humans but also pollute the environment and disrupt the ecological balance. Furthermore, mosquitoes are gradually developing resistance to these chemicals, leading to a significant decrease in the effectiveness of existing mainstream chemical insecticides and repellents, failing to achieve the desired control effect. Meanwhile, some physical mosquito control methods, such as mosquito nets and electric mosquito swatters, while having advantages in safety, have limitations in mosquito-killing efficiency and ease of use, failing to meet the modern society's demand for efficient and convenient mosquito control methods. Therefore, developing a new and more efficient mosquito-catching device is of great significance and has promising application prospects. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent biomimetic mosquito-catching device based on visual avoidance, which integrates the advantages of automated control technology and machine vision technology, and achieves efficient and environmentally friendly mosquito-catching effect by imitating the mechanism of mosquito catching in nature.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A smart biomimetic mosquito trap based on visual avoidance includes: a control module, a visual avoidance module, a position adjustment mechanism, and a pitcher plant-shaped trapping device.

[0005] The pitcher plant-like trapping device is mounted on the position adjustment mechanism.

[0006] Both the visual avoidance module and the position adjustment mechanism are electrically connected to the control module. The control module is at least used to control the position adjustment mechanism based on the detection information of the visual avoidance module, so as to adjust the position of the pitcher plant-like trapping device.

[0007] The pitcher plant-like trapping device includes a leaf-shaped plate, a funnel-shaped head section, a funnel-shaped middle section, an air outlet base, an air inlet fan, an air outlet fan, an insect storage container, an ultraviolet lamp, and a carbon dioxide lamp.

[0008] 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.

[0009] The end of the leaf-shaped plate is connected to the large-diameter end of the funnel-shaped head section.

[0010] The insect storage container is detachably disposed within the middle section of the funnel shape, the air intake fan is located above the head section of the funnel shape, and the exhaust fan is located below the middle section of the funnel shape.

[0011] The ultraviolet lamp is fixedly mounted on the back of the leaf-shaped plate, and the ultraviolet lamp faces the funnel-shaped head section.

[0012] The bottom of the insect storage container has a breathable, escape-preventing net.

[0013] The carbon dioxide lamp is fixedly installed inside the funnel-shaped head section.

[0014] In at least one embodiment of the present disclosure, a visually-avoidance-based intelligent bionic mosquito-catching device is provided, wherein the top of the insect storage container abuts against the middle section of the funnel shape.

[0015] In at least one embodiment of the present disclosure, a visually-avoidance-based intelligent bionic mosquito-catching device is provided, wherein the position adjustment mechanism includes: a first driving device, a second driving device, a first connecting rod, a connector, and a connecting seat.

[0016] The first end of the first connecting rod is fixedly connected to the first driving device, which is used to drive the first connecting rod to swing.

[0017] The end of the first connecting rod is fixedly connected to the connecting seat, and the second driving device is fixedly disposed inside the connecting seat.

[0018] The first end of the connector is fixedly connected to the second driving device, which is used to drive the connector to swing.

[0019] The end of the connector is connected to the funnel-shaped head section.

[0020] The rotation axis of the first drive device is perpendicular to the rotation axis of the second drive device.

[0021] In at least one embodiment of the present disclosure, a visual avoidance-based intelligent bionic mosquito-catching device is provided, wherein the visual avoidance module is fixedly mounted on the connecting base.

[0022] The intelligent biomimetic mosquito-catching device based on visual avoidance provided in at least one embodiment of this disclosure also includes a solar power generation system for powering the control module, the visual avoidance module, the position adjustment mechanism, and the pitcher plant-like trapping device.

[0023] In at least one embodiment of the present disclosure, a visual avoidance-based intelligent bionic mosquito-catching device is provided, wherein 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 storage battery.

[0024] The photoresistor and the solar panel are both fixedly mounted on the top surface of the leaf-shaped placement plate, and the leaf-shaped placement plate is fixedly connected to the connector.

[0025] The photoresistor is electrically connected to the control module, and the control module is also 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 panel faces the direction of sufficient sunlight.

[0026] The intelligent bionic mosquito-catching device based on visual avoidance provided in at least one embodiment of this disclosure also includes a wall-mounted outer shell.

[0027] The control module, the first drive device, the solar charging and discharging control component, and the battery are all fixedly installed inside the wall-mounted housing.

[0028] The first end of the first connecting rod is inserted into the wall-mounted housing.

[0029] In at least one embodiment of the present disclosure, a second connecting rod is provided between the connector and the funnel-shaped head section in an intelligent biomimetic mosquito-catching device based on visual avoidance.

[0030] The two ends of the second connecting rod are fixedly connected to the connecting piece and the funnel-shaped head section, respectively.

[0031] In at least one embodiment of the present disclosure, a visually-avoidance-based intelligent bionic mosquito-catching device is provided, wherein four photoresistors are provided, and the four photoresistors are arranged in a rectangular distribution.

[0032] The solar panel is located within the area surrounded by the four photoresistors.

[0033] The beneficial effects of this invention are as follows: it combines natural insect-trapping mechanisms with modern technology, using physical mosquito-repelling methods to solve the problems of unsuitability for pregnant women, infants, and pet households, as well as the development of insecticide resistance in mosquitoes. It also combines carbon dioxide lamp attraction and ultraviolet lamp attraction methods to attract and capture mosquitoes more efficiently. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the overall structure of an intelligent bionic mosquito-catching device based on visual avoidance according to the present invention.

[0036] Figure 2 This is a schematic diagram showing the connection between the position adjustment mechanism and the leaf-shaped placement plate.

[0037] Figure 3 This is an exploded view of the components of a pitcher plant-like trapping device.

[0038] Figure 4 This is a three-dimensional view of the insect storage container.

[0039] Figure 5 This is a schematic diagram of the distribution of photoresistors.

[0040] Figure 6 This is a schematic diagram showing the connection between the position adjustment mechanism and the pitcher plant-like trapping device.

[0041] Figure 7 This is a block diagram showing the component connections of an intelligent bionic mosquito-catching device based on visual avoidance according to the present invention.

[0042] Figure 8 A connection diagram of the solar panel, solar charge / discharge control components, and battery.

[0043] Figure 9 This is the control flowchart for the position adjustment mechanism.

[0044] Figure 10 This diagram defines the simulation ports for the visual avoidance module.

[0045] Figure 11 The waveform diagram shows the simulation results.

[0046] In the picture: 10. Control module; 20. Visual avoidance module; 30. Position adjustment mechanism; 31. First drive device; 32. Second drive device; 33. First connecting rod; 34. Connector; 35. Connecting seat; 36. Second connecting rod; 40. Pitcher plant-like trapping device; 41. Leaf-shaped plate; 42. Funnel-shaped head section; 43. Funnel-shaped middle section; 44. Air outlet base; 45. Intake fan; 46. Exhaust fan; 47. Insect storage container; 48. Ultraviolet lamp; 49. Carbon dioxide lamp; 471. Breathable escape-proof net; 421. Air outlet; 50. Solar power generation system; 51. Leaf-shaped placement plate; 52. Photoresistor; 53. Solar panel; 54. Solar charge and discharge control component; 55. Storage battery; 60. Wall-mounted casing. Detailed Implementation

[0047] The technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments, not all embodiments.

[0048] Example like Figure 1 and 7 As shown, this embodiment provides an intelligent biomimetic mosquito trap based on visual avoidance, including: a control module 10, a visual avoidance module 20, a position adjustment mechanism 30, a pitcher plant-shaped trapping device 40, a solar power generation system 50, and a wall-mounted shell 60.

[0049] Specifically, the pitcher plant-like trapping device 40 is mounted on the position adjustment mechanism 30. Both the visual avoidance module 20 and the position adjustment mechanism 30 are electrically connected to the control module 10.

[0050] The structure and working principle of the pitcher plant-like trapping device 40 will be explained below with reference to the accompanying drawings.

[0051] like Figure 3 and 4 As shown, the pitcher plant-like trapping 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.

[0052] 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 leaf-shaped plate is connected to the large-diameter end of the funnel-shaped head section 42.

[0053] Specifically, the insect storage container 47 is detachably installed inside 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 an overall hollow structure.

[0054] Specifically, the ultraviolet lamp 48 is fixedly disposed on the back of the leaf-shaped plate 41, and the ultraviolet lamp 48 faces the funnel-shaped head section 42. The carbon dioxide lamp 49 is fixedly disposed inside the funnel-shaped head section 42.

[0055] Specifically, the bottom of the insect storage container 47 has a breathable escape-proof mesh 471. The top of the insect storage container 47 abuts against the funnel-shaped middle section 43.

[0056] Specifically, the side wall of the funnel-shaped head section 42 is provided with multiple air outlets 421, and the carbon dioxide lamp is located above the air outlets 421; by providing air outlets 421, the diffusion path of carbon dioxide can be increased, making it more attractive to mosquitoes.

[0057] In use, the ultraviolet lamp 48 and the carbon dioxide lamp 49 work synergistically to attract mosquitoes. When a mosquito flies above the funnel-shaped head section 42, the downward airflow generated by the intake fan 45 draws it into the insect storage container 47. The breathable escape-proof net 471 effectively prevents mosquitoes from escaping, while the continuous downward airflow generated by the exhaust fan 46 further restricts mosquito activity, creating an overall circulating airflow that enhances the mosquito-catching effect of the device. The entire device has a compact structure and ingenious design, achieving efficient and convenient mosquito-catching functionality. The dual-fan design also accelerates the drying and death of mosquitoes.

[0058] 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 disassembled and assembled, which greatly facilitates cleaning and maintenance.

[0059] 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.

[0060] When in use, the air outlet base 44 can be rotated so that the buckle at the bottom of the funnel-shaped middle section 43 is in the appropriate position, and then a downward pulling force can be applied to the air outlet base 44 to disassemble it.

[0061] When the number of mosquitoes in the insect storage container 47 reaches a certain level, the air outlet base 44 can be disassembled and the insect storage container 47 can be removed for cleaning.

[0062] The structure of the position adjustment mechanism 30 will now be described with reference to the accompanying drawings.

[0063] like Figure 2 and 6 As shown, the position adjustment mechanism 30 includes a first drive device 31, a second drive device 32, a first connecting rod 33, a connector 34, and a connecting seat 35.

[0064] Specifically, the first end of the first connecting rod 33 is fixedly connected to the first driving device 31, which drives the first connecting rod 33 to swing. The end of the first connecting rod 33 is fixedly connected to the connecting seat 35, and the second driving device 32 is fixedly disposed within the connecting seat 35. The rotation axis of the first driving device 31 and the rotation axis of the second driving device 32 are perpendicular.

[0065] Specifically, the first end of the connector 34 is fixedly connected to the second drive device 32, which is used to drive the connector 34 to swing.

[0066] Specifically, a second connecting rod 36 is provided between the connector 34 and the funnel-shaped head section 42, with both ends of the second connecting rod 36 fixedly connected to the connector 34 and the funnel-shaped head section 42, respectively. The connector 34 and the funnel-shaped head section 42 are linked through the second connecting rod 36.

[0067] Specifically, visual avoidance modules 20 are fixedly installed on both the left and right sides of each connector 35.

[0068] For example, both the first drive device 31 and the second drive device 32 are servo motors.

[0069] The structure of the wall-mounted housing 60 will now be described with reference to the accompanying drawings.

[0070] like Figure 1 The control module 10, the first drive device 31, the solar charge and discharge control component 54, and the battery 55 are all fixedly installed inside the wall-mounted housing 60.

[0071] The first end of the first connecting rod 33 is inserted into the wall-mounted housing 60.

[0072] The wall-mounted housing 60 is equipped with two wall-mounting buckles, which are fixed on the left and right sides of the wall-mounted housing 60.

[0073] The structure and working principle of the solar power generation system 50 will be explained below with reference to the accompanying drawings.

[0074] The solar power system 50 is used to power the control module 10, the visual avoidance module 20, the position adjustment mechanism 30, and the pitcher plant-like trapping device 40.

[0075] like Figure 5 , 7 As shown in Figure 8, the solar power generation system 50 includes a leaf-shaped mounting plate 51, a photoresistor 52, a solar panel 53, a solar charge and discharge control component 54, and a battery 55.

[0076] Specifically, the photoresistor 52 and the solar 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 connector 34.

[0077] Specifically, four photoresistors 52 are provided, and the four photoresistors 52 are arranged in a rectangular shape; the solar panel 53 is located in the area surrounded by the four photoresistors 52.

[0078] Specifically, the photoresistor 52 is electrically connected to the control module 10. 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 the direction of sufficient sunlight.

[0079] Since both the leaf-shaped placement plate 51 and the second connecting rod 36 are connected to the connector 34, the position of the entire pitcher plant-like trapping device 40 will change as the position of the connector 34 changes when the position of the leaf-shaped placement plate 51 is adjusted.

[0080] Specifically, there are two batteries. The solar charge / discharge control assembly 54 includes a voltage regulator chip, a battery protection chip, and a voltage boost chip.

[0081] The battery protection chip ensures the battery operates within a safe voltage range, preventing overcharging and over-discharging and extending battery life. Another battery serves as a backup power source, automatically starting in low light conditions or at night to ensure continuous operation of the device. The boost converter chip increases the battery voltage to a level suitable for all devices, ensuring the stability and reliability of the power supply.

[0082] The working principle of the control module 10 will be explained below with reference to the accompanying drawings.

[0083] like Figure 7 , 8 As shown in Figure 9, after receiving the illumination data detected by the four photoresistors 52, the control module 10 regulates the operation of the first driving device 31 and the second driving device 32 according to the illumination data. The first driving device 31 drives the solar panel 53 to rotate left and right; the second driving device 32 controls the solar panel 53 to rotate up and down. In this way, the solar panel 53 has two degrees of freedom of adjustment, namely, up and down movement and left and right rotation, ensuring that it can move towards the direction with more sunlight. Under the control of the control module, the solar panel 53 can always face the direction that is most sensitive to and has the most sufficient sunlight.

[0084] Because collisions or unexpected movements between modules are inevitable during the movement of the position adjustment mechanism 30, a visual avoidance module 20 is introduced. The control module 10 works in conjunction with the visual avoidance module 20 to achieve a self-regulating feedback function.

[0085] During use, the system acquires environmental information through visual perception and, based on environmental modeling, path planning, and algorithms, formulates behavioral strategies to avoid obstacles, prevent collisions, and achieve goal orientation. The visual avoidance module 20 supports multi-cascade configuration and reads ranging data from all cascaded sensors in real time via an interface.

[0086] The visual avoidance module 20 is used to acquire environmental data around the connecting seat 35, as well as obstacle avoidance distance values ​​between adjacent connecting seats 35. Next, the visual avoidance modules 20 are cascaded to obtain the position and attitude information of each connecting seat 35. Finally, the control module 10 compares and analyzes the position and attitude data with the illumination acquisition data, and performs an avoidance logic algorithm to obtain the global path planning for the position adjustment mechanism.

[0087] For example, the visual avoidance module 20 employs a laser rangefinder.

[0088] In addition, the control module 10 is also equipped with an input terminal (not shown), which is used for users to input commands. The control module 10 is also used to control the position adjustment mechanism 30 according to the commands from the input terminal.

[0089] For example, the input terminal uses a touch screen, which also displays real-time lighting information, normal operating status information, and battery capacity information.

[0090] The following section will simulate and verify the global path planning of the intelligent bionic mosquito-catching device based on visual avoidance.

[0091] Global path planning simulation and verification were performed using the Robei EDA tool, which offers features such as visual module definition, instruction simulation testing, and waveform output verification. Simulation port definitions are as follows: Figure 10 As shown: P1, P2, P3, and P4 are input ports, representing the illumination data collected by the four photoresistors. The greater the illumination received by the photoresistor, the lower its resistance. This characteristic is used to obtain a set of experimental test data. P6 and P7 are output ports. A high level on P6 indicates downward rotation; otherwise, it rotates upward (the angles of downward and upward rotation are limited to the range of -50 degrees to 50 degrees). A high level on P7 indicates rotation to the left; otherwise, it rotates to the right (the angles of left and right rotation are limited to the range of -60 degrees to 60 degrees). Sum1 represents the sum of the illumination data from the inner P1 and P2 ports. Sum2 represents the sum of the illumination data from the outer P3 and P4 ports. Sum3 represents the sum of the illumination data from the left P1 and P3 ports. Sum4 represents the sum of the illumination data from the right P2 and P4 ports. P5 is an input port, representing the distance information collected by the laser rangefinder and compared with the safe distance range (3-5 cm). P8 represents a safety signal. If P5 is greater than the safe distance range (3-5cm), P8 is low to indicate safety. Otherwise, P8 is high to indicate danger, and the swing motion stops. B is the output port, representing the swing signal. If B is high, it indicates that each position adjustment mechanism is swinging; otherwise, it indicates that the swing motion has stopped. Clk is the clock signal; the simulation waveform is shown below. Figure 11 As shown.

[0092] The simulation results are as follows: |>Generating D: / Robei / bin / fang / build / fmodel_test.v... |>Generating D: / Robei / bin / fang / build / fmodel.v... |>Compile done. |>Running... VCD info:dumpfile D: / Robei / bin / fang / build / fmodel_test.vcd opened foroutput. Test1:p1=00000010,p2=00000011,p3=00000001,p4=00000011,p5=00000010 result1:p6=1(exp1),p7=0(exp0),p8=1(exp1),B=0(exp0) Test2:p1=00000010,p2=00000001,p3=00000001,p4=00000001,p5=00000001 result2:p6=1(exp1),p7=1 (exp1),p8=1(exp1),B=0(exp0) Test3:p1=00000010,p2=00000001,p3=00000011,p4=00000011,p5=00000010 result3:p6=0(exp 0),p7=1(exp1),p8=1(exp1),B=0(exp0) Test4:p1=00000010,p2=00000001,p3=00000011,p4=00000101,p5=00000010 result4:p6=0(exp 0),p7=0(exp 0),p8=1(exp1),B=0 (exp0) Test5:p1=00000010,p2=00000011,p3=00000001,p4=00000011,p5=00000110 result5:p6=1(exp1),p7=0(exp0),p8=0(exp0),B=1(exp1) Test6:p1=00000010,p2=00000001,p3=00000001,p4=00000001,p5=00000110 result6:p6=1(exp1),p7=1(exp1),p8=0(exp0),B=1(exp1) Test7:p1=00000010,p2=00000001,p3=00000011,p4=00000011,p5=00000110 result7:p6=0(exp0),p7=1(exp1),p8=0(exp0),B=1(exp1) Test8:p1=00000010,p2=00000001,p3=00000011,p4=00000101,p5=00000110 result8:p6=0(exp0),p7=0(exp0),p8=0(exp0),B=1(exp1) Test9:p1=00000001,p2=00000001,p3=00000001,p4=00000001,p5=00000010 result9:p6=0(exp0),p7=0(exp0),p8=1(exp1),B=0(exp0) Test10:p1=00000001,p2=00000001,p3=00000001,p4=00000001,p5=00000110 result10:p6=0(exp0),p7=0(exp0),p8=0(exp0),B=1(exp1) D: / Robei / bin / fang / build / fmodel_test.v:63:$finish called at 120(1s) Results Analysis Test1: Test the logic state when the swinging motion flips downwards and rotates to the right, and the obstacle avoidance distance is less than the safe range distance.

[0093] Test2: Test the logic state when the swinging motion flips downwards and rotates to the left, and the obstacle avoidance distance is less than the safe range distance.

[0094] Test3: Test the logic state when the swinging motion flips upward and rotates to the left, and the obstacle avoidance distance is less than the safe range distance.

[0095] Test4: Test the logic state when the swinging motion flips upward and rotates to the right, and the obstacle avoidance distance is less than the safe distance.

[0096] Test5: Test the logic state when the swinging motion flips downwards and rotates to the right, and the obstacle avoidance distance is greater than the safe range distance.

[0097] Test6: Test the logic state when the swinging motion flips downwards and rotates to the left, and the obstacle avoidance distance is greater than the safe range distance.

[0098] Test7: Test the logic state when the swinging motion flips upward and rotates to the left, and the obstacle avoidance distance is greater than the safe range distance.

[0099] Test8: Test the logic state when the swinging motion flips upward and rotates to the right, and the obstacle avoidance distance is greater than the safe range distance.

[0100] Test9: Test the logic state when the swinging motion flips upward and rotates to the right, and the obstacle avoidance distance is less than the safe range distance.

[0101] Test10: Test the logic state when the swinging motion flips upward and rotates to the right, and the obstacle avoidance distance is greater than the safe range distance.

[0102] Logical consistency verification: p6 and p7: In all test cases, the actual output is completely consistent with the expectation, indicating that its logical expression is correct.

[0103] p8: When p5=2 (binary 00000010), output 1; when p5=6 (binary 00000110), output 0, which meets the expected conditions.

[0104] B: In all test cases with p5=6 (Test5-Test8, Test10), B is correctly triggered as 1.

[0105] Key signal behaviors: p8 logic: p8 outputs 1 only when p5=2, and outputs 0 in other cases, which meets the design expectation.

[0106] Triggering conditions: B is triggered as 1 when p5=6, and as 0 in other cases, which verifies its threshold judgment logic.

[0107] Design Summary Functional correctness: The module passed verification in all test cases, indicating that the logical design meets expectations.

[0108] Robustness: Tests covered boundary conditions (such as p5=2, p5=6) and normal input combinations, and no abnormal behavior was found. The current design passed all test cases, demonstrating correct functionality and stable logic.

[0109] The main code for the avoidance logic algorithm is as follows: localparam A = 3; / / Sets the minimum obstacle avoidance safety distance A, fixed at 3cm (decimal). / / Combinational logic calculations yield the light intensity sum1, sum2, sum3, and sum4 for the four directions. wire[8:0]sum1=p1+p2; / / p1+p2 represents the inner light intensity wire[8:0]sum2=p3+p4; / / p3+p4 represents the light intensity on the outside. wire[8:0]sum3=p1+p3; / / p1+p3 represents the light intensity on the left side. wire[8:0]sum4=p2+p4; / / p2+p4 represents the light intensity on the right side. / / Output the combinational logic of p6 and p7, where p6 and p7 represent the rotation direction of two degrees of freedom. When the light intensity on the inner side is higher than that on the outer side, p6 is high, indicating that the solar panel flips downwards. Conversely, it flips upwards. When the light intensity on the left side is higher than that on the right side, p7 is high, indicating that the solar panel rotates to the left. Conversely, it rotates to the right. This ensures that the solar panel always faces the direction of higher light intensity.

[0110] p6=(sum1>sum2)?1'b1:1'b0; / / If sum1>sum2, then p6=1 p7=(sum3>sum4)?1'b1:1'b0; / / sum3>sum4 then p7=1 end / / Output the timing logic for p8 and B (clock-dependent, considering delay). p5 contains distance information. If p5 is greater than the minimum obstacle avoidance distance, the path is safe, and the p8 safety signal is low. The B swing information is high, indicating that the swing motion continues. Conversely, the path is dangerous, and the p8 safety signal is high. The B swing information is low, indicating that the swing motion stops.

[0111] always@(posedge clk)begin if(p5>A)begin / / If p5>A p8<=1'b0; / / p8 outputs 0 B<=1'b1; / / B is updated to 1 end else begin / / Otherwise (p5<=A) p8 <= 1'b1; / / p8 outputs 1 B<=1'b0; / / B retains its original value (it will be automatically retained if not written to). end end Although embodiments of this application have been shown and described above, the scope of protection of this invention is not limited thereto. Any variations or substitutions that can be conceived without inventive effort should be covered within the scope of protection of this invention. Unless expressly stated otherwise, no element, action or instruction used herein should be construed as critical or necessary.

Claims

1. A smart biomimetic mosquito-catching device based on visual avoidance, characterized in that, include: Control module, visual avoidance module, position adjustment mechanism, pitcher plant-like trapping device, and solar power generation system; The pitcher plant-like trapping device is mounted on the position adjustment mechanism; Both the visual avoidance module and the position adjustment mechanism are electrically connected to the control module. The control module is at least used to control the position adjustment mechanism based on the detection information of the visual avoidance module, so as to adjust the position of the pitcher plant-like trapping device. The solar power system is used to power the control module, the visual avoidance module, the position adjustment mechanism, and the pitcher plant-like trapping device. The pitcher plant-like trapping device includes a leaf-shaped plate, a funnel-shaped head section, a funnel-shaped middle section, an air outlet base, an air inlet fan, an air outlet 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-shaped plate is connected to the large-diameter end of the funnel-shaped head section; The insect storage container is detachably disposed within the middle section of the funnel shape, the air intake fan is located above the head section of the funnel shape, and the exhaust fan is located below the middle section of the funnel shape; The ultraviolet lamp is fixedly mounted 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 has a breathable, escape-proof net; The carbon dioxide lamp is fixedly installed inside the funnel-shaped head section; 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 disposed inside the connecting seat; The first end of the connector is fixedly connected to the second driving device, which is used to drive the connector to swing. The end of the connector is connected to the funnel-shaped head section; The rotation axis of the first drive device is perpendicular to the rotation axis of the second drive device; A second connecting rod is provided between the connector and the funnel-shaped head section; The two ends of the second connecting rod are respectively fixedly connected to the connecting piece and the funnel-shaped head section; The solar power generation system includes a leaf-shaped mounting plate, a photoresistor, a solar panel, a solar charge and discharge control component, and a battery. The photoresistor is electrically connected to the control module, and the control module is also 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 panel faces the direction of sufficient sunlight; The visual avoidance module is used to acquire environmental data around the connector and the distance values ​​for obstacle avoidance between adjacent connectors. The position and attitude information of each connector are obtained by cascading the visual avoidance modules. The control module compares and analyzes the position and attitude data with the detection information, and performs an avoidance logic algorithm to obtain the global path planning of the position adjustment mechanism.

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 middle section of the funnel shape.

3. The intelligent bionic mosquito-catching device based on visual avoidance according to claim 2, characterized in that, The visual avoidance module is fixedly mounted on the connector.

4. The intelligent bionic mosquito-catching device based on visual avoidance according to claim 1, characterized in that, The photoresistor and the solar panel are both fixedly mounted on the top surface of the leaf-shaped placement plate, and the leaf-shaped placement plate is fixedly connected to the connector.

5. The intelligent bionic mosquito-catching device based on visual avoidance according to claim 1, characterized in that, It also includes wall-mounted housings; The control module, the first drive device, the solar charging and discharging control component, and the battery are all fixedly installed inside the wall-mounted housing; The first end of the first connecting rod is inserted into the wall-mounted housing.

6. The intelligent bionic mosquito-catching device based on visual avoidance according to claim 1, characterized in that, The photoresistors are provided in four positions, and the four photoresistors are arranged in a rectangular shape. The solar panel is located within the area surrounded by the four photoresistors.

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