Movable automatic mosquito capturing system and device

Abstract

The utility model discloses a movable automatic mosquito capturing system and device. The system comprises a chassis driving module, a tracing navigation module, a host 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 the mosquito capturing system reaches a mosquito area; the tracing navigation module is installed at the bottom of the chassis and used for recognizing a preset route so that the mosquito capturing system can achieve automatic obstacle avoidance and navigation. The host module is used for processing the data signal acquired by the tracing navigation module and executing an automatic obstacle avoidance and navigation instruction; the capturing module adopts a bionic acousto-optic induction device and is used for attracting and capturing mosquitoes. The utility model aims to solve the problems that an existing mosquito trapping device is insufficient in intelligence and automation degree, cannot be flexibly deployed and moved and is difficult to adapt to complex and changeable environment requirements, and provides the movable automatic mosquito trapping device, so that efficient and intelligent mosquito trapping is realized, and the mosquito-borne disease transmission risk is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of biomedical detection, in particular to a movable automatic mosquito trapping system and device. BACKGROUND

[0002] Mosquitoes are the main transmission vectors of many infectious diseases such as malaria, dengue fever, Zika virus disease, etc., posing a major challenge to global public health. Traditional mosquito trapping methods, such as using mosquito nets, electric mosquito swatters, mosquito-killing lamps, and fixed mosquito traps, etc., although to some extent help to reduce the number of mosquitoes and the risk of disease transmission, but these methods in practical application face many limitations, especially in flexibility, intelligence and automation. Most traditional mosquito trapping devices are static, i.e. they are fixedly installed at a certain position and cannot be dynamically adjusted according to the actual activity range of mosquitoes. The activity of mosquitoes is often affected by many factors such as light, temperature, humidity, wind direction and human activity, so the fixed device may not effectively cover the most active area of mosquitoes, resulting in low trapping efficiency.

[0003] Traditional mosquito trapping methods lack advanced intelligent control and automation functions. For example, they cannot automatically adjust the working mode (such as light intensity, air flow speed, etc.) according to the real-time changes of environmental conditions, nor can they predict the trend of mosquito activity through data analysis to optimize the trapping strategy. In complex and variable environments such as urban green spaces, rural fields or tropical rainforests, the species, density and activity habits of mosquitoes differ significantly. Traditional methods often lack sufficient flexibility to adapt to these different ecological conditions, limiting their effectiveness in widespread application. CONTENT OF THE UTILITY MODEL

[0004] The main purpose of the present application is to solve the problem of the lack of intelligence and automation in existing mosquito trapping devices, which cannot be flexibly deployed and moved according to the activity range of mosquitoes, and cannot adapt to complex and variable environmental requirements. By providing a movable automatic mosquito trapping device, integrating automatic navigation, intelligent sensing, bionics trapping technology, etc., efficient and intelligent mosquito trapping is realized, and the risk of mosquito-borne disease transmission is reduced.

[0005] To achieve the above purpose, the embodiment of the present application provides a movable automatic mosquito trapping system, the trace navigation module is installed at the bottom of the chassis, for identifying obstacles and outputting corresponding obstacle signals to the host module;

[0006] The host module is connected with the trace navigation module and the chassis driving module, for outputting automatic obstacle avoidance and navigation instructions to the chassis driving module according to the obstacle signal;

[0007] The chassis drive module adopts a motor drive structure, which is used to drive the mosquito capture system to the mosquito area based on the automatic obstacle avoidance and navigation instructions;

[0008] The capture module is used to activate a biomimetic sound and light induction device to attract and capture mosquitoes when the mosquito capture system reaches the mosquito area.

[0009] In one embodiment, the chassis drive module includes a chassis control circuit and a motor drive circuit; wherein:

[0010] The chassis control circuit is connected to the input terminal of the motor drive circuit, and the chassis control circuit is used to output chassis control signals to control the motor drive circuit.

[0011] The motor drive circuit is connected to the output terminal of the chassis control circuit. The motor drive circuit is used to receive the chassis control signal and drive the motor so that the device can reach the mosquito area according to a preset route.

[0012] In one embodiment, the chassis control circuit includes: 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;

[0013] The positive input terminal of the first operational amplifier is connected to the first terminal of the second resistor, the first terminal of the third resistor, the first terminal of the fourth resistor, and the first terminal of the first capacitor, respectively. The negative input terminal of the first operational amplifier is connected to the first terminal of the first resistor, the first terminal of the fifth resistor, and the first terminal of the second capacitor, respectively. The output terminal of the first operational amplifier is connected to the second terminal of the fifth resistor, the second terminal of the second capacitor, and the input terminal of the motor drive circuit, respectively. The second terminal of the fourth resistor is connected to the first power supply, and the second terminals of the third resistor and the first capacitor are grounded. The second terminal of the first resistor is connected to the input terminal of the first bridge arm of the motor drive circuit. The second terminal of the second resistor is connected to the input terminal of the second bridge arm of the motor drive circuit.

[0014] In one embodiment, the motor drive 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;

[0015] The gates of the first transistor and the second transistor are connected to the second terminal of the first resistor, and the gates of the third transistor and the fourth transistor are connected to the second terminal of the second resistor;

[0016] The drains of the first and second transistors are connected to the power supply, and the sources of the first and second transistors are grounded. The sources of the first and second transistors are connected to the first and second terminals of the motor, respectively. The drains of the third and fourth transistors are connected to the first and second terminals of the motor, respectively. The anode of the first diode is connected to the source of the first transistor, and the cathode of the first diode is connected to the drain of the first transistor. The anode of the second diode is connected to the source of the second transistor, and the cathode of the second diode is connected to the drain of the second transistor. The anode of the third diode is connected to the source of the third transistor, and the cathode of the third diode is connected to the drain of the third transistor. The anode of the fourth diode is connected to the source of the fourth transistor, and the cathode of the fourth diode is connected to the drain of the fourth transistor. The anode of the fifth diode is connected to the source of the third transistor, and the cathode of the fifth diode is connected to the drain of the first transistor. The anode of the sixth diode is connected to the source of the fourth transistor, and the cathode of the sixth diode is connected to the drain of the second transistor.

[0017] In one embodiment, the tracking and navigation module includes: an infrared photocell sensor and an ultrasonic sensor; wherein:

[0018] The infrared pair sensor is connected to the host module, and the infrared pair sensor is used to identify the preset route;

[0019] The ultrasonic sensor is connected to the host module. The ultrasonic sensor is used to detect obstacles in the preset route and output the obstacle signal to the host module.

[0020] In one embodiment, the portable automatic mosquito-catching system further includes: a photosensitive circuit and a temperature and humidity sensor; wherein:

[0021] The photosensitive circuit is connected to the host module. The photosensitive circuit is used to collect ambient light intensity signals and output the light intensity signals to the host module.

[0022] The temperature and humidity sensor is connected to the host module. The temperature and humidity sensor is used to collect the temperature and humidity signals of the environment and output the temperature and humidity signals to the host module.

[0023] The host module is further configured to control the capture module to stop starting the bionic acoustic-optical induction device when the amplitude of the light 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.

[0024] In one embodiment, the system further includes a positioning module; wherein:

[0025] The positioning module is connected to the host module and is used to provide location information of the mosquito capture system.

[0026] In one embodiment, the system further includes a power supply module and a power detection module; wherein:

[0027] The power module is connected to the host module and is used to supply power to the host module;

[0028] The power detection module is connected to the power module and is used to detect the battery power of the power module. When the battery power of the power module is lower than the protection level, the power module is controlled to stop supplying power to the host module.

[0029] In one embodiment, the system also connects to an external smart terminal via the host module.

[0030] To achieve the above objectives, this application also proposes a portable automatic mosquito trapping device, which includes the aforementioned portable automatic mosquito trapping system.

[0031] The above-mentioned one or more technical solutions provided in this application may have the following advantages or at least achieve the following technical effects:

[0032] This application discloses a mobile automatic mosquito trapping system, comprising a chassis drive module, a tracking and navigation module, a main unit module, and a trapping module. The chassis drive module employs a motor-driven structure to control the speed and direction of the mosquito trapping system, enabling it to reach mosquito-infested areas. The tracking and navigation module, installed at the bottom of the chassis, identifies a preset route, allowing the mosquito trapping system to automatically avoid obstacles and navigate within the mosquito-infested area. The main unit module processes the data signals collected by the tracking and navigation module and executes instructions for automatic obstacle avoidance and navigation. The trapping module uses a biomimetic acoustic and optical induction device to attract and trap mosquitoes. This system aims to address the shortcomings of existing mosquito trapping devices in terms of intelligence and automation, their inability to flexibly deploy and move according to mosquito activity ranges, and their difficulty in adapting to complex and changing environmental needs. By providing a mobile automatic mosquito trapping device that integrates automatic navigation, intelligent sensing, and biomimetic trapping technologies, it achieves efficient and intelligent mosquito trapping, reducing the risk of mosquito-borne disease transmission. Furthermore, the system is highly portable, facilitating flexible deployment and operation in outdoor environments. Intelligent visual field inspection devices have significant advantages. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of the mobile automatic mosquito-catching system proposed in the embodiments of this application;

[0035] Figure 2 This is a circuit diagram of a first embodiment of a portable automatic mosquito-catching system proposed in this application.

[0036] Figure 3 This is a schematic diagram of a second embodiment of a mobile automatic mosquito-catching system proposed in this application.

[0037] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0039] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0040] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0041] Traditional mosquito control methods, such as using mosquito coils and mosquito lamps, can reduce mosquito numbers to some extent, but they often suffer from low efficiency and limited coverage. Therefore, developing an efficient and intelligent mosquito capture system is particularly important. This application details the design and implementation of a mobile automatic mosquito capture system. This system integrates multiple modules, including chassis drive, line-following navigation, data processing, and biomimetic acoustic-optical induction, aiming to achieve efficient and automatic mosquito capture.

[0042] This system integrates technologies such as automatic navigation, intelligent sensing and control, and biomimetic trapping, aiming to achieve efficient and intelligent mosquito capture and reduce the risk of mosquito-borne disease transmission. The system includes a mobile chassis, a capture module, a sensor module, a control module, and a power module. The mobile chassis uses four-wheel independent drive and is equipped with infrared phototransistors and ultrasonic sensors for automatic navigation and obstacle avoidance. The capture module attracts and captures mosquitoes through biomimetic sound induction, a UV LED light source, and a capture fan. The sensor module includes infrared phototransistors, ultrasonic sensors, photoresistors, and temperature and humidity sensors for environmental perception and data acquisition. The control module uses an STM32 microcontroller as its core to process data and execute instructions. The power module provides stable power support. This application features automatic movement, intelligent sensing and control, and biomimetic trapping, making it suitable for mosquito capture and control in both indoor and outdoor environments, significantly improving capture efficiency and reducing the risk of mosquito-borne disease transmission. After the user starts the system, it will perform initialization operations, including self-tests of each module and sensor calibration, to ensure the system is in normal working condition. The tracking and navigation module is carefully installed at the bottom of the chassis. This location ensures direct contact with the ground or potential obstacles, allowing for more accurate identification of the surrounding environment. The core function of the tracking and navigation module is obstacle identification, typically achieved by emitting infrared light and receiving reflected signals. When changes in ground color, material, or the presence of obstacles alter the infrared reflection characteristics, the system quickly detects these changes and converts them into corresponding obstacle signals. During movement, the system dynamically adjusts itself by real-time detection of marker lines and obstacles ahead, ensuring safe arrival at the mosquito-infested area. Once the system reaches the mosquito-infested area, the capture module begins operation. It attracts mosquitoes by emitting specific sound and light signals. Once a mosquito enters the capture range, the system captures and stores it using mechanical structures or airflow. During capture, the system records the number and type of mosquitoes captured in real time and stores this data in its internal memory. Users can view this data via a display device connected to the main module or a remote terminal for subsequent analysis and processing. After completing the capture task, the system automatically returns to the starting point or charging station along a preset route for charging and standby. Ensure the system can operate continuously.

[0043] refer to Figure 1 , Figure 1 This is a schematic diagram of the first embodiment of a mobile automatic mosquito-catching system proposed in this application.

[0044] In this embodiment, a mobile automatic mosquito-catching system is disclosed, comprising a chassis drive module, a tracking and navigation module, a main unit module, and a capturing module; wherein:

[0045] The tracking and navigation module is installed at the bottom of the chassis and is used to identify obstacles and output the corresponding obstacle signal to the host module.

[0046] The host module is connected to the tracking and navigation module and the chassis drive module, and is used to output automatic obstacle avoidance and navigation instructions to the chassis drive module according to the obstacle signal;

[0047] The chassis drive module adopts a motor drive structure, which is used to drive the mosquito capture system to the mosquito area based on the automatic obstacle avoidance and navigation instructions;

[0048] The capture module is used to activate a biomimetic sound and light induction device to attract and capture mosquitoes when the mosquito capture system reaches the mosquito area.

[0049] Specifically, in this embodiment, the mobile automatic mosquito-catching system mainly includes a chassis drive module, a tracking and navigation module, a main unit module, and a capture module. These modules work together to achieve the automatic capture of mosquitoes.

[0050] The chassis drive module is the foundation of the entire system's mobility, responsible for controlling the system's speed and direction. This module employs a motor-driven structure, controlling the motor's speed and direction to achieve forward, backward, left, and right turns. The motor drive structure offers advantages such as simplicity, ease of control, and fast response, meeting the system's mobility requirements. For more precise control, the chassis drive module also integrates encoders, gyroscopes, and other sensors to monitor the system's speed and attitude in real time. Using this sensor data, the system can adjust the motor's control parameters in real time, ensuring stable movement along the preset trajectory and speed.

[0051] The line-following navigation module, installed at the bottom of the chassis, is responsible for recognizing the preset route and guiding the system to achieve automatic obstacle avoidance and navigation. This module employs advanced sensor technology and image processing algorithms to accurately identify marking lines or obstacles on the ground and generate corresponding navigation commands based on this information. Specifically, the line-following navigation module may include various sensors such as infrared sensors, ultrasonic sensors, and cameras. Infrared sensors are used to detect the position of marking lines, ultrasonic sensors are used to detect obstacles ahead, and cameras are used for more complex scene recognition and obstacle avoidance decisions. The data collected by these sensors will be transmitted to the main module for processing and analysis.

[0052] The host module is the control center of the entire system, responsible for processing data signals collected by the tracking and navigation module and executing automatic obstacle avoidance and navigation. An obstacle is a physical entity existing in the system's movement path that may impede its normal progress. Obstacle signals are digital information generated by sensors after collection and processing, used to describe the existence, location, and attributes of obstacles. Automatic obstacle avoidance is a decision-making process in which the system adjusts its movement path in real time based on obstacle signals to avoid collisions. For example, after the system powers on, the host module self-checks the status of each sensor and drive component, loads a preset path (such as indoor area grid coordinates), detects path markers using an infrared photodiode array, and outputs obstacle signals to the host module. At this time, the host module calculates the speed difference between the left and right wheels (e.g., 70% duty cycle for the left wheel and 30% duty cycle for the right wheel) to correct the path. The ultrasonic sensor scans for obstacles ahead in real time (frequency 40Hz). When an obstacle is detected at a distance of <30cm, an interrupt signal is triggered. Emergency braking is performed (all motors stop, time <0.2 seconds), the system turns 45° to the right, and moves forward 50cm. The host module then re-detects the path. Once the system reaches the target mosquito area, the main module activates the sound and light induction device. The buzzer sounds intermittently at a frequency of 500Hz (cycle: 2 seconds of sound, 1 second of silence), and the UVLED array lights up at full power to attract mosquitoes to gather.

[0053] The capture module is the core functional part of the system, employing a biomimetic sound and light-induced device to attract and capture mosquitoes. This module simulates certain characteristics of the mosquito's natural ecological environment, such as specific sounds and lights, to attract mosquitoes. Specifically, the capture module may include one or more light-emitting diode (UV LED) lamps and a speaker. The UV LED lamps emit light of specific wavelengths and frequencies that are attractive to mosquitoes. The speaker emits sound signals simulating the sounds of mosquito predators or courtship, further attracting mosquitoes. When a mosquito approaches the capture module, the system captures and stores it through mechanical structures or airflow.

[0054] Furthermore, in this embodiment, the chassis drive module includes a chassis control circuit and a motor drive circuit; wherein:

[0055] The chassis control circuit is connected to the input terminal of the motor drive circuit, and the chassis control circuit is used to output chassis control signals to control the motor drive circuit.

[0056] The motor drive circuit is connected to the output terminal of the chassis control circuit. The motor drive circuit is used to receive the chassis control signal and drive the motor so that the device can reach the mosquito area according to a preset route.

[0057] Specifically, in this embodiment, the chassis drive module serves as the power source and foundation for the system's movement, and its importance is self-evident. This module is not only responsible for driving the entire system to move, but also for ensuring that the system can travel accurately and stably along a preset route in order to effectively capture mosquitoes in the environment.

[0058] The chassis drive module is a key component of the mobile automatic mosquito-catching system, integrating two core parts: the chassis control circuit and the motor drive circuit. The chassis control circuit, acting as the "brain," receives and processes instructions from higher-level systems such as the tracking and navigation module, generating corresponding chassis control signals. The motor drive circuit, acting as the "muscles," receives these control signals and drives the motor, thus moving the entire device. Together, they form the foundation for the system's efficient and stable movement. The chassis control circuit mainly consists of a microcontroller (MCU), power management circuit, signal input / output circuit, and communication interface. The microcontroller, as the core of the circuit, receives instruction data from higher-level systems (such as the tracking and navigation module) and processes and analyzes this data according to a preset algorithm. The processing results are output as chassis control signals, transmitted to the motor drive circuit through the signal output circuit.

[0059] The chassis control circuit ensures the device moves precisely along a preset route, dynamically adjusting speed based on path curvature (e.g., decelerating to 0.3 m / s during turns) and calculating target direction deviation, outputting a PWM duty cycle to adjust the servo angle. It also monitors obstacle information in real time and adjusts the direction of travel to avoid collisions. For more precise control, the chassis control circuit can integrate a sensor interface to receive real-time data from sensors such as gyroscopes, accelerometers, and odometers. This processed data can be used to correct control strategies, improving the system's positioning accuracy and stability. The motor drive circuit mainly consists of a power amplifier circuit, a motor interface circuit, and a protection circuit. The power amplifier circuit amplifies the weak control signal output from the chassis control circuit to a level sufficient to drive the motor. The motor interface circuit provides an interface for connecting to the motor, ensuring stable current and voltage transmission. The protection circuit monitors the motor's operating status and immediately cuts off power to protect the motor and the entire system from damage in case of overcurrent, overvoltage, or overheating. Depending on the application scenario and performance requirements, the chassis drive module may use different types of motors and their drive methods. Common types of motors include DC motors, stepper motors, and servo motors. DC motors have the advantages of simple structure and low cost, making them suitable for applications where speed control precision is not critical. Stepper motors, on the other hand, offer precise positioning and ease of control, making them suitable for applications requiring precise stepping control. Servo motors combine the advantages of both speed and position control, making them suitable for applications with high performance requirements.

[0060] There are various motor drive methods, including PWM (Pulse Width Modulation) control, H-bridge circuit control, and D / A conversion control. PWM control changes the average voltage of the motor by adjusting the pulse width, thereby controlling the speed; H-bridge circuit control changes the direction and speed of the motor by changing the on / off state of four switching transistors; D / A conversion control converts digital signals into analog signals to drive the motor. Selecting the appropriate motor type and drive method according to actual needs is crucial for improving system performance. When the system starts up and receives instructions from the upper-level system, the chassis control circuit first parses and processes these instructions. Based on the processing results, it generates corresponding chassis control signals and transmits them to the motor drive circuit through the signal output circuit. After receiving these signals, the motor drive circuit amplifies the power and converts them via an interface before driving the motor. The power generated by the motor is transmitted to the chassis and the entire device through the transmission mechanism, thereby moving the device along a preset route. During movement, the chassis control circuit monitors the device's position, speed, attitude, and other information in real time through integrated sensors and dynamically adjusts the control strategy based on this information. At the same time, the motor drive circuit also monitors the motor's operating status in real time through a protection circuit to ensure the safe and stable operation of the system.

[0061] Furthermore, in this embodiment, the chassis control circuit includes: 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;

[0062] The positive input terminal of the first operational amplifier is connected to the first terminal of the second resistor, the first terminal of the third resistor, the first terminal of the fourth resistor, and the first terminal of the first capacitor, respectively. The negative input terminal of the first operational amplifier is connected to the first terminal of the first resistor, the first terminal of the fifth resistor, and the first terminal of the second capacitor, respectively. The output terminal of the first operational amplifier is connected to the second terminal of the fifth resistor, the second terminal of the second capacitor, and the input terminal of the motor drive circuit, respectively. The second terminal of the fourth resistor is connected to the first power supply, and the second terminals of the third resistor and the first capacitor are grounded. The second terminal of the first resistor is connected to the input terminal of the first bridge arm of the motor drive circuit. The second terminal of the second resistor is connected to the input terminal of the second bridge arm of the motor drive circuit.

[0063] Specifically, in this embodiment, the chassis control circuit serves as a bridge connecting the host computer commands and the motor drive circuit, and its design directly affects the accuracy, stability, and response speed of motor control. Figure 2This is a schematic diagram of the chassis control circuit proposed in the first embodiment of a mobile automatic mosquito-catching system according to this application. This embodiment will explore in detail a chassis control circuit based on an operational amplifier, which achieves precise control of the input signal of the motor drive circuit through a carefully designed combination of resistors, capacitors and operational amplifiers.

[0064] The chassis control circuit mainly consists of resistors R1, R2, R3, R4, R5, capacitors C1 and C2, and operational amplifier OA1. Through a specific connection method, they form a precise feedback control system used to regulate and stabilize the input signal of the motor drive circuit. The positive input terminal of the operational amplifier OA1 is connected to the first terminals of resistors R2, R3, R4, and C1. These connections constitute the non-inverting input network of the operational amplifier, used to receive and integrate signals from different paths. The inverting input terminal is connected to the first terminals of resistors R1, R5, and C2. These connections constitute the inverting input network of the operational amplifier, used to compare with the positive input signal to form feedback control.

[0065] The output of the chassis control circuit is connected to the second terminal of the fifth resistor R5, the second terminal of the second capacitor C2, and the input terminal of the motor drive circuit. The output signal of the operational amplifier is transmitted to the motor drive circuit through the above connections to control the motor's operation. The second terminal of the fourth resistor R4 is connected to the first power supply to provide a stable DC voltage for the circuit. The second terminals of the third resistor R3 and the second terminal of the first capacitor C1 are grounded, forming a common reference point for the circuit. The second terminal of the first resistor R1 is connected to the input terminal of the first bridge arm of the motor drive circuit, used to transmit a portion of the control signal. The second terminal of the second resistor R2 is connected to the input terminal of the second bridge arm of the motor drive circuit, also used to transmit a portion of the control signal.

[0066] The chassis control circuit operates based on the differential amplification characteristics and feedback control principle of operational amplifiers. When the host computer issues a control command, the command is converted into a corresponding voltage or current signal and input to the positive input terminal of the operational amplifier through a specific path. Simultaneously, the inverting input terminal of the operational amplifier receives feedback signals from the motor drive circuit (through the first resistor R1 and the second resistor R2). The operational amplifier compares these two input signals and adjusts the output signal according to their difference to drive the motor drive circuit, causing the motor to operate in a preset manner. The first capacitor C1 and the second capacitor C2 serve to filter and stabilize the output in the circuit. They smooth high-frequency noise in the input signal, improving the circuit's anti-interference capability. The choice of resistor values ​​depends on the specific requirements of the circuit. For example, the resistance values ​​of the first resistor R1 and the second resistor R2 determine the strength of the feedback signal, thus affecting the circuit's gain and stability. The resistance value of the fourth resistor R4 determines the circuit's supply voltage. The choice of capacitor values ​​mainly depends on the circuit's filtering requirements and response time. Larger capacitor values ​​provide better filtering but increase the circuit's response time; smaller capacitor values ​​have the opposite effect. The selection of an operational amplifier requires consideration of factors such as its gain-bandwidth product, input impedance, output impedance, noise performance, and stability.

[0067] This chassis control circuit utilizes the differential amplification characteristics of operational amplifiers and the feedback control principle to achieve precise control of the input signal to the motor drive circuit. This helps ensure that the motor operates according to the preset mode, improving the accuracy and reliability of inspection tasks. The capacitors in the circuit act as filters and stabilize the output, smoothing high-frequency noise in the input signal and improving the circuit's anti-interference capability. This helps ensure stable operation of the circuit even in harsh environments. The chassis control circuit design offers a degree of flexibility; the resistance and capacitor values ​​can be adjusted according to actual needs to adapt to different control requirements and motor types. Furthermore, additional components or functional modules can be added as needed to expand the circuit's functionality and performance.

[0068] Furthermore, in this embodiment, the motor drive 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;

[0069] The gates of the first transistor and the second transistor are connected to the second terminal of the first resistor, and the gates of the third transistor and the fourth transistor are connected to the second terminal of the second resistor;

[0070] The drains of the first and second transistors are connected to the power supply, and the sources of the first and second transistors are grounded. The sources of the first and second transistors are connected to the first and second terminals of the motor, respectively. The drains of the third and fourth transistors are connected to the first and second terminals of the motor, respectively. The anode of the first diode is connected to the source of the first transistor, and the cathode of the first diode is connected to the drain of the first transistor. The anode of the second diode is connected to the source of the second transistor, and the cathode of the second diode is connected to the drain of the second transistor. The anode of the third diode is connected to the source of the third transistor, and the cathode of the third diode is connected to the drain of the third transistor. The anode of the fourth diode is connected to the source of the fourth transistor, and the cathode of the fourth diode is connected to the drain of the fourth transistor. The anode of the fifth diode is connected to the source of the third transistor, and the cathode of the fifth diode is connected to the drain of the first transistor. The anode of the sixth diode is connected to the source of the fourth transistor, and the cathode of the sixth diode is connected to the drain of the second transistor.

[0071] Specifically, in this embodiment, the motor drive circuit is the key link in realizing the conversion of electrical energy into mechanical energy. This embodiment provides an in-depth analysis of a transistor-based H-bridge motor drive circuit, which achieves precise control of a DC motor through a cleverly designed combination of transistors, diodes, and other components. The motor drive circuit mainly consists of 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. These components, through a specific connection method, form an H-bridge circuit with bidirectional driving capability, used to control the forward and reverse rotation and braking of the DC motor. The gates of the first transistor T1 and the second transistor T2 are connected together to the second terminal of the first resistor R1, receiving control signals from the switching control circuit. When the control signal is high, T1 is turned on and T2 is turned off; when the control signal is low, T1 is turned off and T2 is turned on. This complementary conduction state realizes the switching of the motor current direction. The gates of the third transistor T3 and the fourth transistor T4 are connected together to the second terminal of the second resistor R2, also receiving control signals from the switching control circuit. However, their conduction states are opposite to those of T1 and T2, in order to achieve another type of steering control for the motor.

[0072] The working principle of this motor drive circuit is based on the bidirectional driving characteristics of the H-bridge circuit. When T1 and T4 are both on, the first terminal of the motor is positive and the second terminal is negative, causing the motor to rotate in the forward direction. When T2 and T3 are both on, the first terminal of the motor is negative and the second terminal is positive, causing the motor to rotate in the reverse direction. By controlling the conduction state of T1 to T4, precise control of the motor's direction of rotation can be achieved. During motor braking, by simultaneously turning off T1 to T4 and using D5 and D6 to release the energy stored in the motor back to the power supply, rapid braking of the motor can be achieved. Furthermore, D1 to D4, when the transistors are off, can prevent damage to the transistors from the motor's back electromotive force, improving the circuit's reliability. The selection of transistors needs to consider factors such as their withstand voltage, maximum current, on-resistance, and switching speed. In practical applications, MOSFETs with low on-resistance, high switching speed, and high withstand voltage are typically chosen as drive transistors to improve circuit efficiency and reliability. The selection of diodes mainly focuses on their reverse breakdown voltage and forward conduction current. To ensure stable operation of the circuit in harsh environments, diodes with sufficiently high reverse breakdown voltage and forward conduction current are typically selected. The power supply selection must be based on the motor's rated voltage and current requirements. To ensure normal motor operation, the power supply's output voltage should be slightly higher than the motor's rated voltage, while the output current should meet the motor's maximum current requirements. This motor drive circuit, through an H-bridge circuit design, achieves precise control of the DC motor's direction and speed. This control method offers advantages such as fast response speed and high control accuracy. The diodes in the motor drive circuit provide reverse cutoff protection, preventing damage to the transistors from the motor's back electromotive force and improving circuit reliability. Furthermore, by appropriately selecting component parameters and layout wiring, the circuit failure rate can be further reduced. The design of this motor drive circuit offers a degree of flexibility, allowing for the addition of additional protection circuits or functional modules, such as overcurrent protection and overheat protection, according to actual needs. Moreover, independent control of multiple motors can be achieved by adding additional H-bridge circuits.

[0073] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description and will not be repeated hereafter. Based on this, in this embodiment, the line-following navigation module includes: an infrared photocell sensor and an ultrasonic sensor; wherein:

[0074] The infrared pair sensor is connected to the host module, and the infrared pair sensor is used to identify the preset route;

[0075] The ultrasonic sensor is connected to the host module. The ultrasonic sensor is used to detect obstacles in the preset route and output the obstacle signal to the host module.

[0076] Specifically, in this embodiment, the track navigation module plays a crucial role. It is responsible not only for guiding the system along a preset route but also for detecting obstacles ahead in real time to avoid collisions. To achieve this, the track navigation module in this embodiment employs a combination of infrared photocells and ultrasonic sensors.

[0077] The line-following navigation module mainly includes infrared photoelectric sensors, ultrasonic sensors, and a host module. The infrared photoelectric sensors are used to identify the preset route, while the ultrasonic sensors are used to detect the distance to obstacles ahead. These sensors communicate with the host module through a specific connection method, jointly realizing the line-following navigation function. The infrared photoelectric sensor is a commonly used photoelectric detection element, consisting of a transmitter and a receiver. The transmitter emits infrared light, and the receiver receives the reflected infrared light. When infrared light shines on a specific marker (such as a black line) on the preset route, the intensity of the light received by the receiver changes due to the different absorption and reflection characteristics of the marker's material and color. By detecting this change in light intensity, the preset route can be identified. In this embodiment, the infrared photoelectric sensors are connected to the host module through a specific interface. The transmitter and receiver are connected to corresponding pins on the host module, and a stable power supply voltage is required to ensure the normal operation of the sensors. To enhance the sensor's anti-interference capability, appropriate filtering circuits can be added to the connection lines. Furthermore, to achieve unified management of multiple infrared photoelectric sensors, they can be connected through a multiplexer (such as an analog switch). In this way, the host module can read the data from each sensor sequentially by controlling the strobe signal of the multiplexer, thereby achieving comprehensive detection of the entire tracking route.

[0078] An ultrasonic sensor is a component that uses ultrasound to measure distance. It typically consists of a transmitter and a receiver. The transmitter emits ultrasonic pulses, which are reflected back after encountering an obstacle and received by the receiver. By measuring the time difference between the transmitted and received pulses and combining this with the speed of sound in air, the distance to the obstacle can be calculated. The ultrasonic sensor connects to the host module via a specific interface. The transmitter and receiver are connected to corresponding pins on the host module, and a stable power supply is required. To enhance the sensor's measurement accuracy and anti-interference capability, appropriate signal processing circuits, such as amplifier circuits and filter circuits, can be added to the connection lines. Because the ultrasonic sensor requires a certain time interval to transmit and receive ultrasonic pulses during distance measurement, the host module needs to properly control the sensor's transmission and reception timing to ensure the accuracy of the measurement results.

[0079] After receiving data from the infrared photodiode sensor and the ultrasonic sensor, the host module needs to perform corresponding data processing and fusion. The specific process is as follows: Preprocessing the received sensor data, including filtering and noise reduction, to improve data accuracy and reliability. Identifying the position and direction of the preset route based on changes in the infrared photodiode sensor data. This typically involves threshold judgment and pattern matching of the sensor data. Calculating the distance to obstacles ahead based on the ultrasonic sensor data and determining whether the movement direction needs to be adjusted to avoid collision. Fusing the route identification and obstacle detection results to generate the final movement command. This involves comprehensive analysis and judgment of data from multiple sensors to ensure the system can move safely and stably along the preset route.

[0080] In practical applications, the line-following navigation module demonstrated excellent performance and effectiveness. The infrared photocell sensors accurately identified specific markers on the preset route, maintaining a high recognition rate even in low light or with light-colored markers. The ultrasonic sensors detected the distance to obstacles ahead in real time and issued timely warnings or adjusted the direction of movement when necessary, effectively preventing collisions. Furthermore, the line-following navigation module offers high flexibility and scalability. By adjusting the sensor layout and parameter settings, it can adapt to different application scenarios and performance requirements. For example, when higher route recognition accuracy is needed, the number of infrared photocell sensors can be increased or their layout optimized; when a longer ranging range is required, ultrasonic sensors with higher transmission power and receiving sensitivity can be selected.

[0081] Furthermore, in this embodiment, the portable automatic mosquito-catching system further includes: a photosensitive circuit and a temperature and humidity sensor; wherein:

[0082] The photosensitive circuit is connected to the host module. The photosensitive circuit is used to collect ambient light intensity signals and output the light intensity signals to the host module.

[0083] The temperature and humidity sensor is connected to the host module. The temperature and humidity sensor is used to collect the temperature and humidity signals of the environment and output the temperature and humidity signals to the host module.

[0084] The host module is further configured to control the capture module to stop starting the bionic acoustic-optical induction device when the amplitude of the light 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.

[0085] Specifically, in this embodiment, a photosensor circuit and a temperature and humidity sensor are added to the original line-following navigation module. The photosensor circuit can collect ambient light intensity signals and automatically adjust the device's operating status according to changes in light intensity, achieving a dual improvement in energy saving and comfort. The temperature and humidity sensor can collect ambient temperature and humidity signals in real time, providing the system with more comprehensive environmental monitoring data, which helps the system make more accurate decisions and controls.

[0086] The photosensitive circuit mainly consists of photosensitive elements (such as photoresistors and photodiodes), signal processing circuits, and interface circuits. The photosensitive element converts ambient light intensity into an electrical signal, while the signal processing circuit amplifies and filters the signal. Finally, the processed signal is transmitted to the host module via the interface circuit. In this embodiment, a photoresistor is selected as the photosensitive element. The resistance of the photoresistor changes with light intensity; it decreases when the light intensity increases and increases when the light intensity decreases. By measuring the change in the resistance of the photoresistor, information about the ambient light intensity can be indirectly obtained. The photosensitive circuit is connected to 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 receives the analog electrical signal output from the photoresistor, while the digital signal output interface transmits the processed light intensity signal to the host module in digital form. To ensure the stability and accuracy of the photosensitive circuit, a high-precision operational amplifier is used to amplify the electrical signal output from the photoresistor, and a low-pass filter is designed to filter out high-frequency noise interference. In addition, protection circuits are included to prevent damage caused by overload or short circuits. After receiving the light intensity signal from the photosensitive circuit, the host module performs further data processing. First, the received analog signal is converted to a digital signal via analog-to-digital conversion (ADC) for subsequent processing. Then, a threshold judgment is made on the digital signal based on a preset light intensity threshold. When the light intensity is below a certain threshold, the system may automatically turn on lighting equipment or adjust screen brightness; when the light intensity is above a certain threshold, the system may turn off unnecessary lighting equipment or reduce screen brightness to save energy. Furthermore, to more precisely control the device's operating status, more complex algorithms can be used to process the light intensity signal, such as fuzzy control algorithms and neural network algorithms. These algorithms can automatically adjust the device's operating parameters based on real-time changes in light intensity, achieving more intelligent control.

[0087] A temperature and humidity sensor is a sensor capable of simultaneously measuring ambient temperature and humidity. It typically consists of a humidity-sensing element, a temperature-sensing element, and a signal processing circuit. The humidity-sensing element detects changes in ambient humidity and converts them into an electrical signal; the temperature-sensing element measures the ambient temperature. The signal processing circuit amplifies, filters, and performs analog-to-digital conversion on these two electrical signals, ultimately transmitting the processed temperature and humidity signals in digital form to the host module. In this embodiment, we selected a highly integrated and stable temperature and humidity sensor chip. This chip integrates the humidity-sensing element, temperature-sensing element, and signal processing circuit, and can directly output digital temperature and humidity signals, simplifying circuit design and signal processing. The temperature and humidity sensor connects to the host module via communication interfaces such as I2C or SPI. These communication interfaces offer advantages such as high transmission speed and strong anti-interference capabilities, ensuring stable communication between the temperature and humidity sensor and the host module. During connection, attention must be paid to the sensor's power supply voltage and current requirements, as well as the pin definitions and signal levels of the communication interface. Additionally, appropriate decoupling capacitors and filtering circuits need to be incorporated into the circuit to reduce the impact of power supply noise and signal interference on sensor performance. After receiving the temperature and humidity signals from the temperature and humidity sensor, the host module performs further data processing. First, it verifies and detects errors in the received digital signals to ensure data accuracy and integrity. Then, it performs threshold judgment on the digital signals based on preset temperature and humidity thresholds. When the ambient temperature or humidity exceeds or falls below a certain threshold, the system may trigger corresponding alarms or control logic, such as turning on air conditioners or humidifiers to adjust the indoor environment. Furthermore, to more accurately reflect the changing trends and patterns of ambient temperature and humidity, algorithms such as data smoothing and trend prediction can be used to process the temperature and humidity signals. These algorithms can predict future temperature and humidity trends based on historical data, providing the system with more precise control data.

[0088] Furthermore, in this embodiment, the system further includes a positioning module; wherein:

[0089] The positioning module is connected to the host module and is used to provide location information of the mosquito capture system.

[0090] Specifically, in this embodiment, to further optimize the performance of the mosquito capture system, a positioning module has been added to the original system. This module can combine multiple positioning technologies to provide accurate and reliable location information for the mosquito capture system, thereby enabling real-time monitoring and precise capture of mosquito activity.

[0091] A positioning module is a device that integrates multiple positioning technologies, designed to provide high-precision, all-weather, and wide-coverage positioning services. Figure 3This is a schematic diagram of a second embodiment of a portable automatic mosquito-catching system proposed in this application. In this embodiment, the positioning module mainly adopts two technologies: satellite positioning (such as GPS, Beidou, etc.) and base station positioning (such as LBS, AGPS, etc.). Satellite positioning technology uses signals emitted by multiple satellites for three-dimensional positioning, which has the advantages of high positioning accuracy and wide applicability; while base station positioning technology calculates the position by measuring the signal transmission time difference or angle difference between the mobile device and the base station, which has the characteristics of fast positioning speed and strong indoor positioning capability.

[0092] The positioning module combines the advantages of satellite positioning and base station positioning to provide high-precision location information, with an error range typically between a few meters and tens of meters. Regardless of changing weather conditions, the positioning module maintains stable positioning performance, ensuring accurate location information acquisition even in harsh environments.

[0093] Satellite positioning technology offers global coverage, while base station positioning technology provides more accurate positioning services in densely populated urban areas. The combination of the two enables the positioning module to achieve effective positioning in various environments. To meet the demands of long-term operation, the positioning module employs a low-power design, reducing energy consumption and extending battery life through optimized algorithms and hardware structure.

[0094] The positioning module connects to the host module through a specific communication interface to achieve data transmission and interaction. In this embodiment, we use the UART (Universal Asynchronous Receiver / Transmitter) interface as the primary communication method. The UART interface has advantages such as simplicity, reliability, and ease of implementation, and can meet the data transmission requirements between the positioning module and the host module. The UART interface includes data transmission (TX), data reception (RX), ground (GND), and optional signal lines (such as RTS, CTS, etc.). In the connection between the positioning module and the host module, we mainly use three lines: TX, RX, and GND. The TX line is used for the positioning module to send data to the host module, and the RX line is used for the host module to receive data sent by the positioning module. The GND line serves as a common ground line to ensure the electrical connection between the two modules. To ensure correct data transmission and parsing, we have developed a specific data transmission protocol. This protocol includes parameters such as data frame format, parity method, and baud rate. The data frame format typically includes start bits, data bits, parity bits, and stop bits. The parity method is used to detect errors during data transmission; common parity methods include odd parity, even parity, and no parity. The baud rate determines the data transmission rate and needs to be selected based on the actual situation. After receiving the location information transmitted by the positioning module, the host module will perform further data processing and analysis. The data processing flow mainly includes steps such as data parsing, coordinate transformation, and position correction.

[0095] Furthermore, in this embodiment, the system further includes a power supply module and a power detection module; wherein:

[0096] The power module is connected to the host module and is used to supply power to the host module;

[0097] The power detection module is connected to the power module and is used to detect the battery power of the power module. When the battery power of the power module is lower than the protection level, the power module is controlled to stop supplying power to the host module.

[0098] Specifically, in this embodiment, to further improve the stability and durability of the system, a power module and a power detection module are added to the original system. This power module not only provides stable and continuous power to the host module, but also ensures safe battery use through the power detection module, while providing a battery capacity indicator function to help users understand the remaining power and usage time.

[0099] The power module is a key component of the mosquito-catching system, responsible for converting electrical energy from an external power source or battery into voltage and current suitable for the main unit module. In this embodiment, the power module employs a high-efficiency DC-DC conversion circuit, capable of converting a wide range of input voltages into a stable output voltage to meet the operating requirements of the main unit module. Simultaneously, the power module also features overcurrent protection, overvoltage protection, and short-circuit protection to ensure the protection of the main unit module and battery from damage in abnormal conditions. The power module connects to the main unit module through a specific interface to achieve power transmission. In this embodiment, standard power interfaces and connecting cables are used to ensure a stable and reliable connection between the power module and the main unit module. The power interface design conforms to industry standards and safety specifications, including positive and negative polarity markings and foolproof design, ensuring that users do not connect the wrong wires or damage the interface during connection. Furthermore, the power interface is waterproof and dustproof, adaptable to complex outdoor environments. The connection between the power module and the main unit module uses plug-in or screw-fixed methods to ensure a stable and reliable connection. In plug-in connections, users simply align the power connector with the socket on the main module and gently insert it. In screw-fixed connections, users need to use a screwdriver to secure the power connector to the main module. Regardless of the connection method, it is essential to ensure a tight and secure connection to avoid power loss and safety hazards during transmission. The power detection module monitors the battery status and controls the charging and discharging process to ensure safe battery use and extend battery life. When the battery charging voltage exceeds a preset value, the power detection module automatically cuts off the charging circuit to prevent overcharging, which could lead to damage or explosion. Simultaneously, the power detection module monitors the charging current to ensure the charging process remains within a safe range. When the battery discharging voltage falls below a preset value, the power detection module automatically cuts off the discharging circuit to prevent over-discharging, which could cause performance degradation or damage. Over-discharge protection is a key measure for extending battery life. When a short circuit occurs between the positive and negative terminals of the battery, the power detection module quickly cuts off the circuit to prevent short-circuit current from damaging the battery and circuitry. Short-circuit protection is a crucial function for ensuring safe battery use.

[0100] The power detection module also features temperature monitoring, enabling real-time monitoring of battery temperature changes. When the battery temperature is too high, the module automatically cuts off the charging and discharging circuit or adjusts the charging and discharging rate to prevent overheating, damage, or safety hazards. The module also monitors the remaining battery capacity and usage time, providing notifications to the user via LED indicators or a digital display. This helps users understand the battery's status, manage usage time appropriately, and avoid system malfunctions due to insufficient power. The power module provides a stable and continuous power supply to the mosquito trapping system, ensuring the normal operation of components such as the main module, sensors, and actuators. In complex outdoor environments, the power module adapts to varying voltage fluctuations and temperature changes, maintaining stable and reliable output voltage.

[0101] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A mobile automatic mosquito trapping system, characterized in that, The system includes a chassis drive module, a line-following and navigation module, a host module, and a capture module; wherein: The tracking and navigation module is installed at the bottom of the chassis and is used to identify obstacles and output the corresponding obstacle signal to the host module. The host module is connected to the tracking and navigation module and the chassis drive module, and is used to output automatic obstacle avoidance and navigation instructions to the chassis drive module according to the obstacle signal; The chassis drive module adopts a motor drive structure, which is used to drive the mosquito capture system to the mosquito area based on the automatic obstacle avoidance and navigation instructions; The capture module is used to activate a biomimetic sound and light induction device to attract and capture mosquitoes when the mosquito capture system reaches the mosquito area.

2. The mobile automatic mosquito trapping system as described in claim 1, characterized in that, The chassis drive module includes: a chassis control circuit and a motor drive circuit; wherein: The chassis control circuit is connected to the input terminal of the motor drive circuit, and the chassis control circuit is used to output chassis control signals to control the motor drive circuit. The motor drive circuit is connected to the output terminal of the chassis control circuit. The motor drive circuit is used to receive the chassis control signal and drive the motor so that the device can reach the mosquito area according to a preset route.

3. The portable automatic mosquito trapping system as described in claim 2, characterized in that, The chassis control circuit includes: 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 terminal of the first operational amplifier is connected to the first terminal of the second resistor, the first terminal of the third resistor, the first terminal of the fourth resistor, and the first terminal of the first capacitor, respectively. The negative input terminal of the first operational amplifier is connected to the first terminal of the first resistor, the first terminal of the fifth resistor, and the first terminal of the second capacitor, respectively. The output terminal of the first operational amplifier is connected to the second terminal of the fifth resistor, the second terminal of the second capacitor, and the input terminal of the motor drive circuit, respectively. The second terminal of the fourth resistor is connected to the first power supply, and the second terminals of the third resistor and the first capacitor are grounded. The second terminal of the first resistor is connected to the input terminal of the first bridge arm of the motor drive circuit. The second terminal of the second resistor is connected to the input terminal of the second bridge arm of the motor drive circuit.

4. The portable automatic mosquito trapping system as described in claim 3, characterized in that, The motor drive 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 to the second terminal of the first resistor, and the gates of the third transistor and the fourth transistor are connected to the second terminal of the second resistor; The drains of the first and second transistors are connected to the power supply, and the sources of the first and second transistors are grounded. The sources of the first and second transistors are connected to the first and second terminals of the motor, respectively. The drains of the third and fourth transistors are connected to the first and second terminals of the motor, respectively. The anode of the first diode is connected to the source of the first transistor, and the cathode of the first diode is connected to the drain of the first transistor. The anode of the second diode is connected to the source of the second transistor, and the cathode of the second diode is connected to the drain of the second transistor. The anode of the third diode is connected to the source of the third transistor, and the cathode of the third diode is connected to the drain of the third transistor. The anode of the fourth diode is connected to the source of the fourth transistor, and the cathode of the fourth diode is connected to the drain of the fourth transistor. The anode of the fifth diode is connected to the source of the third transistor, and the cathode of the fifth diode is connected to the drain of the first transistor. The anode of the sixth diode is connected to the source of the fourth transistor, and the cathode of the sixth diode is connected to the drain of the second transistor.

5. A mobile automatic mosquito trapping system as described in claim 1, characterized in that, The tracking and navigation module includes: an infrared photocell sensor and an ultrasonic sensor; wherein: The infrared pair sensor is connected to the host module, and the infrared pair sensor is used to identify the preset route; The ultrasonic sensor is connected to the host module. The ultrasonic sensor is used to detect obstacles in the preset route and output the obstacle signal to the host module.

6. A mobile automatic mosquito trapping system as described in claim 1, characterized in that, The portable automatic mosquito-catching system further includes: a photosensitive circuit and a temperature and humidity sensor; wherein: The photosensitive circuit is connected to the host module. The photosensitive circuit is used to collect ambient light intensity signals and output the light intensity signals to the host module. The temperature and humidity sensor is connected to the host module. The temperature and humidity sensor is used to collect the temperature and humidity signals of the environment and output 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 acoustic-optical induction device when the amplitude of the light 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.

7. A portable automatic mosquito trapping system as described in claim 1, characterized in that, The system further includes a positioning module; wherein: The positioning module is connected to the host module and is used to provide location information of the mosquito capture system.

8. A portable automatic mosquito trapping system as described in claim 1, characterized in that, The system also includes a power module and a power detection module; wherein: The power module is connected to the host module and is used to supply power to the host module; The power detection module is connected to the power module and is used to detect the battery power of the power module. When the battery power of the power module is lower than the protection level, the power module is controlled to stop supplying power to the host module.

9. A portable automatic mosquito trapping system as described in claim 1, characterized in that, The system also connects to external smart terminals through the host module.

10. A portable automatic mosquito-catching device, characterized in that, The portable automatic mosquito-catching device includes a portable automatic mosquito-catching system as described in any one of claims 1-9.

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