CN206542832U - A kind of Intelligent Laser mosquito killing device and robot - Google Patents
A kind of Intelligent Laser mosquito killing device and robot Download PDFInfo
- Publication number
- CN206542832U CN206542832U CN201720132319.9U CN201720132319U CN206542832U CN 206542832 U CN206542832 U CN 206542832U CN 201720132319 U CN201720132319 U CN 201720132319U CN 206542832 U CN206542832 U CN 206542832U
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- killing device
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M1/00—Stationary means for catching or killing insects
- A01M1/22—Killing insects by electric means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M1/00—Stationary means for catching or killing insects
- A01M1/02—Stationary means for catching or killing insects with devices or substances, e.g. food, pheronones attracting the insects
- A01M1/04—Attracting insects by using illumination or colours
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M1/00—Stationary means for catching or killing insects
- A01M1/02—Stationary means for catching or killing insects with devices or substances, e.g. food, pheronones attracting the insects
- A01M1/026—Stationary means for catching or killing insects with devices or substances, e.g. food, pheronones attracting the insects combined with devices for monitoring insect presence, e.g. termites
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M1/00—Stationary means for catching or killing insects
- A01M1/22—Killing insects by electric means
- A01M1/226—Killing insects by electric means by using waves, fields or rays, e.g. sound waves, microwaves, electric waves, magnetic fields, light rays
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- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
- Laser Surgery Devices (AREA)
Abstract
The utility model is applied to laser mosquito eradication field there is provided a kind of Intelligent Laser mosquito killing device and robot, and Intelligent Laser mosquito killing device includes：Controller；The image collecting device be identified by controller control, to target mosquito, tracked；By controller control, the laser that output laser beam is hit target mosquito；By controller control, coordinate laser by the reflecting system of laser beam alignment target mosquito, the present apparatus realizes intelligent mosquito eradication, not only mosquito eradication efficiency high, saves a large amount of manpowers, and do not result in environmental pollution.Intelligent Laser mosquito killing device is combined with robot platform simultaneously, realizes and the active of mosquito in spatial dimension is killed, can more expeditiously complete whole to treat killing for mosquito in working range in combination with the cruise function of platform.
Description
Technical field
The utility model belongs to laser mosquito eradication field, more particularly to a kind of Intelligent Laser mosquito killing device and robot.
Background technology
Mosquito is as one of four pests, and propagable disease is up to kind more than 80, wherein most fatal is malaria, dengue fever, yellow heat
Disease, Japanese Type-B encephalitis etc..Mosquito propagates malaria in the world, especially influences huge to developing country, especially
Be civil war frequently, public medical and the severe Africa of sanitary condition be particularly acute, just have a children dead within every 43 seconds according to statistics
In malaria.According to the estimation of WHO, about 300,000,000 people can be infected with malaria every year, and death toll therein can then surpass
Cross 1,000,000.Dengue fever by killing propagation is the one of the main reasons of south east asia death of child, and in south China
Area during Summer generally breaks out.The illness outbreak of these killing propagations is strong, and can prevent currently without vaccine.
And be also all to take the poisonous of chemicals to spray substantially in terms of mosquito-killing, certain side effect can be brought
And environmental problem, there is the technology that some mosquito catching-killing instruments are all passive types, effect is poor.
The development of current artificial intelligence is ripe day by day, and artificial intelligence can carry out environment sensing, thinking analysis and people
Machine is interacted, and with the development of technology, robot is introduced into daily life and work, it has also become a kind of trend, if
Artificial intelligence can be combined with mosquito eradication, then can greatly be promoted the well-being of mankind.
Also it can easily carry out the intelligent equipment of mosquito killing without a kind of on the market at present.
Utility model content
The utility model embodiment provides a kind of Intelligent Laser mosquito killing device and intelligent mosquito eradication robot, it is intended to solve current
The problem of intelligent equipment that can also easily carry out mosquito killing without a kind of on the market.
The utility model embodiment is achieved in that a kind of Intelligent Laser mosquito killing device, including：
Controller；
Image collecting device, described image harvester is controlled by the controller, target mosquito is identified, with
Track；
Laser, the laser is controlled by the controller, and output laser beam is hit the target mosquito；
Reflecting system, the reflecting system is controlled by the controller, coordinates the laser by the laser beam pair
The accurate target mosquito.
The utility model embodiment also provides a kind of Intelligent Laser mosquito eradication robot, including：
Intelligent Laser mosquito killing device as described above；
The robot platform that carry the Intelligent Laser mosquito killing device, can move；
Control the core processor of the robot platform and the Intelligent Laser mosquito killing device co-ordination.
The utility model provides a kind of Intelligent Laser mosquito killing device and robot, and image collector is controlled by controller
Put and target mosquito is identified and tracked, then control reflecting system to enter the laser beam alignment target mosquito that laser is exported
Row strike；Intelligent mosquito eradication is realized, not only mosquito eradication efficiency high, save a large amount of manpowers, and do not result in environmental pollution.Together
When Intelligent Laser mosquito killing device is combined with robot platform, realize and the active of mosquito in spatial dimension killed, simultaneously
It can more expeditiously complete entirely to treat killing for mosquito in working range with reference to the cruise function of platform.
Brief description of the drawings
Fig. 1 is a kind of Intelligent Laser mosquito killing device side sectional view that the utility model first embodiment is provided；
Fig. 2 is a kind of Intelligent Laser mosquito killing device stereogram that the utility model first embodiment is provided；
Fig. 3 is a kind of structure chart for laser that the utility model first embodiment is provided；
Fig. 4 is a kind of mechanism map for Intelligent Laser mosquito eradication robot that the utility model second embodiment is provided；
Fig. 5 is a kind of mosquito eradication flow chart for Intelligent Laser mosquito eradication robot that the utility model second embodiment is provided.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is further elaborated.It should be appreciated that specific embodiment described herein is only to explain
The utility model, is not used to limit the utility model.
The utility model provides a kind of Intelligent Laser mosquito killing device and robot, and image collector is controlled by controller
Put and target mosquito is identified and tracked, then control reflecting system to enter the laser beam alignment target mosquito that laser is exported
Row strike；Intelligent mosquito eradication is realized, not only mosquito eradication efficiency high, save a large amount of manpowers, and do not result in environmental pollution.Together
When Intelligent Laser mosquito killing device is combined with robot platform, realize and the active of mosquito in spatial dimension killed, simultaneously
It can more expeditiously complete entirely to treat killing for mosquito in working range with reference to the cruise function of platform.
First embodiment：
As shown in figure 1, in one embodiment of the present utility model, a kind of Intelligent Laser mosquito killing device includes：
Controller 1, image collecting device 2, laser 3 and reflecting system 4.Wherein, the control of controller 1 image collector
Put mutually coordinated work between 2, laser 3 and reflecting system 4；Image collecting device 2 is controlled by controller 1, can be to target
Mosquito 8 is identified and tracked；Laser 3 is controlled to open by controller 1, and target mosquito 8 is beaten with exporting laser beam
Hit；Reflecting system 4 is controlled by controller 1, coordinates laser 3, by laser beam alignment target mosquito 8, to carry out precision strike.
In the utility model embodiment, controller 1 at least includes central processing unit, storage medium, internal memory, mainboard, with
And the I/O interfaces docked with other equipment etc.；Here the type selecting of controller 1 is not especially limited, as long as this programme can be realized
Function, for example, the model EP2C35F484C8N of the Cyclone II series of altera companies controller just can be with
Realize.
In the utility model embodiment, image collecting device 2 is camera module.
Shown in reference picture 2, in one embodiment of the present utility model, set between image collecting device 2 and reflecting system 4
There is a dichroscope 5, make target mosquito 8 and the line of its projected position on the dichroscope 5, with the laser beam
The direction for hitting the target mosquito 8 is coaxial.
Shown in reference picture 3, in one embodiment of the present utility model, laser 3 includes generating device of laser 31, laser
Collimator apparatus 32 and laser focusing device 33.Wherein generating device of laser 31 is laser diode, the utility model optimal wavelength
Short bluish violet, power is that the laser diode of milliwatt is LASER Light Source；Laser collimation device 32 is sent to laser diode
Laser beam collimated；Laser focusing device 33 is again by the Laser Focusing after standard to correspondence position.
In one embodiment of the present utility model, the transmission power of laser 3 is adjustable, i.e., generating laser is that power can
The generating laser of tune, suitable laser emitting power is selected according to specific usage scenario.For example, indoors or the crowd is dense
Area, with small-power such as 100 milliwatts to 3 watts of laser；And if in farmland, beat mouse etc., then need laser emitting power
Tune up.Concrete implementation such as, sets multiple generating lasers, to have proper emission according to concrete application scene selection switching
The generating laser of power；Or the power parameter of laser is adjusted using adjustable pulse width circuit.
In the utility model embodiment, IMAQ is carried out to real-time video frame by image collecting device 2, it is then right
Image after collection carries out image procossing, identifies clear target, and carries out feature recognition to image, distinguishes current goal thing
Species, such as mosquito, fly, locust or cockroach, it is thus identified that the species of object just can send regulation by controller 1 later
The instruction of laser emitting power.
In one embodiment of the present utility model, the preferred wave-length coverage of laser is between 400nm to 460nm.
In a kind of embodiment of the present utility model, reflecting system 4 at least includes two speculums：The He of first speculum 41
Second speculum 42, and according to the reflection mirror motor in the control instruction of controller 1 driving speculum change eyeglass direction, speculum
Motor includes the first reflection reflection mirror motor 44 of mirror motor 43 and second, respectively with 42 pairs of the first speculum 41 and the second speculum
It should connect.
In another embodiment of the present utility model, reflecting system 4 at least includes a speculum, and control speculum
Change the piezoelectric ceramics in eyeglass direction.
In one embodiment of the present utility model, Intelligent Laser mosquito killing device also includes an infrared light compensating apparatus 6, infrared
Light compensating apparatus 6 is directly or indirectly irradiated to the zone of action of the target mosquito.
In one embodiment of the present utility model, narrow band pass filter is provided with before image collecting device 2, return image is adopted
The light of acquisition means 2 is monochromatic light, background color unification, mosquito and background significant difference, is easily found；When visible ray is strong,
Also target will not be missed.Preferred infrared narrow band filter in the utility model, infrared narrow band filter only allows infrared background light
Through.
In one embodiment of the present utility model, controller 1, image collecting device 2, laser 3 and emission system 4 are solid
Due on a support 7.
As one embodiment of the present utility model, Intelligent Laser mosquito killing device using first just positioning, then be accurately positioned and
The mode of tracking is tracked to target mosquito.
As a kind of embodiment of the present utility model, image collecting device 2 is a camera module, wherein camera module
Can be CCD camera module or CMOS camera module etc..Large area scanning working space directly is removed using camera module,
That is just positioning scanning；After target mosquito 8 is found, camera module fixation work, then by controller 1 to camera module
Real-time video frame carry out graphical analysis, using background subtraction and visual background extraction algorithm in the camera module visual field
Moving target is identified and accurate tracking, while according to the target bearing information of accurate tracking, carrying out Trajectory Prediction, and control
Laser 3 processed exports laser beam, and controller 1 generates speculum control information according to Trajectory Prediction algorithm, controls reflecting system 4
Mirror drive module 41, pass through mirror drive module 41 control magnifier module 42 rapidly adjustment reflection angle, will
The accurate target goal mosquito 8 of laser beam in magnifier module 42 is beaten, realizes that real-time tracking is hit, until target is in shooting
Disappeared in the tracking visual field of head module.
As another embodiment of the present utility model, controller 1 is connected with sound transducer module, sound transducer mould
Block at least includes a data processing unit and two sound transducers, the sound that two sound transducers are sent to target mosquito 8 respectively
Sound is detected, data processing unit calculates the azimuthal coordinates of target mosquito 8 according to sound collection value, then will just be positioned
Azimuth information feeds back to controller 1, and controller 1 controls the camera lens of camera module towards the party according to the azimuth information just positioned
Position, control camera module is started working, and now target is in the small range visual field of camera, by controller 1 to camera
The real-time video frame of module carries out IMAQ, and the moving target in camera view is known using image processing algorithm
Not and accurate tracking, while carrying out Trajectory Prediction according to target bearing information, and laser 3 is controlled to export laser beam, control
Device 1 generates speculum control information according to Trajectory Prediction algorithm, the mirror drive module 41 of reflecting system 4 is controlled, by anti-
The control of mirror drive module 41 magnifier module 42 adjustment reflection angle rapidly is penetrated, the laser light in magnifier module 42 will be beaten
The accurate target goal mosquito 8 of beam, realizes that real-time tracking is hit, until target disappears in the tracking visual field of camera module.
In one embodiment of the present utility model, the Intelligent Laser mosquito killing device also includes the identification module that an anti-injury is accidentally injured, institute
Face recognition can be carried out to the image of the target mosquito region by stating anti-injury identification module, and be analyzed.With preset model
Matched, and matching result is sent to the controller, made the controller and controlled whether to send according to matching result
Strike instruction.For example, the background for the target mosquito region that the identification module can be collected to image collecting device 2 is entered
Row face recognition is analyzed, if the background for analyzing target mosquito meets face feature model, this will not launch laser, keep away
Exempted from laser to it is artificial into accidental injury.Here preset model can include faceform described above, can also include other
Manikin, or other models set on demand.
Above-mentioned utility model provides a kind of Intelligent Laser mosquito killing device, including：Controller；By controller control, to mesh
The image collecting device that mark mosquito is identified, tracked；By controller control, output laser beam is hit target mosquito
Laser；By controller control, coordinate laser by the reflecting system of laser beam alignment target mosquito；Pass through controller control
Imaged harvester is identified and tracked to target mosquito, then the laser beam pair for controlling reflecting system to export laser
Quasi- target mosquito is hit；Intelligent mosquito eradication is realized, not only mosquito eradication efficiency high, save a large amount of manpowers, and will not make
Into environmental pollution.
Second embodiment：
As shown in figure 4, a kind of Intelligent Laser mosquito eradication robot, including Intelligent Laser mosquito eradication dress as in the first embodiment shown
Put 100, robot platform 200 and the (not shown) of core processor 210 in robot platform.Wherein, robot
Platform 200 is used to carry Intelligent Laser mosquito killing device, and can move；Core processor 210 can control robot platform 200
And co-ordination is carried out between Intelligent Laser mosquito killing device 100.
In one embodiment of the present utility model, the bottom of robot platform 200 has the traveling such as wheel group or Athey wheel
Mechanism 220, make robot platform can ground on the scene move freely.
In one embodiment of the present utility model, robot platform 200 is gone out by a tumbler 230 with Intelligent Laser
Mosquito device 100 is connected, and tumbler 230 can carry out 360 degree of horizontal rotations and pitching up and down, and wherein elevation angle is reachable
180 °, so that large-scale space can be scanned for Intelligent Laser mosquito killing device 100 and mosquito hits and killed.
In one embodiment of the present utility model, Intelligent Laser mosquito eradication robot also includes a Ultrasonic ranging device 240
(not shown), the Ultrasonic ranging device 240 is connected with the core processor 300.
Shown in reference picture 5, when Intelligent Laser mosquito eradication robot is run, sound alignment sensor starts working to enter target
Row is just positioned, when target is not detected, then the cruise of robot platform 200 continues to detect target to next planning point.When
It is detected with after target, by the general orientation information transmission of target to core processor 300, core processor 300 is according to target
Azimuth information control tumbler 230 is rotated, and camera module is carried out smart tracking to target, i.e., by camera module to reality
When frame of video be acquired, image procossing then is carried out to the image after collection, clear target is identified, and according in the picture
Location of pixels so that the azimuth information that is accurately positioned where target, and by the processing of real-time video frame target is carried out with
Track, strike elimination is tracked to target while passing to reflecting system and opening laser the azimuth information of target, if
After the target entrance that other anti-injuries are detected during frame of video collection view synthesis, then signal transmission is closed immediately
Attack laser and then realize preventing mechanism.
In one embodiment of the present utility model, the bottom of robot platform 200 (does not show provided with vacuum absorption device in figure
Go out), and rubbish storage case (not shown), when needed, vacuum suction dress can be opened when robot platform 200 is moved
Put and rubbish storage case, robot platform 200 is operated the cleaning of environment.
Environmental detection set 250, environmental detection set are additionally provided with one embodiment of the present utility model, in robot
250 at least include one or more sensors for distinguishing measurement temperature, humidity, PM2.5 and harmful gas concentration.Environment measuring
Device 250 is mainly used in scene and monitored in real time, and wherein camera module is capable of the external image of real-time monitoring platform local environment
Information, and the Information Pull remote monitoring monitored can be uploaded to handheld terminal；Environmental detection set 250 is inside
Sensor is capable of the pernicious gas contents such as the formaldehyde in temperature, humidity, PM2.5 and the confined space of test platform local environment letter
Cease and shown；Gas leakage and fire alarm module can detect the gas content of local environment using internal sensor
And smoke detection and alarmed.
In one embodiment of the present utility model, robot also has Intelligent housing interface, passes through smart home
Control interface can access Intelligent Laser mosquito eradication robot in intelligent domestic system, can be somebody's turn to do by mobile phone A PP with Remote
Terminal module, had not only facilitated but also controllable.
In the utility model embodiment, Intelligent Laser mosquito killing device is combined with robot platform, realized to space
In the range of mosquito effective environmental protection it is active kill, more efficient can complete whole in combination with the cruise function of platform
Treat killing for mosquito in working range.Wherein preferred floor sweeping function can carry out sweeper while killing mosquito to region
Make, substantially increase the feature of product, similarly preferred ambient monitoring function can be realized under usually waiting condition to work
Environmental monitoring and monitoring in real time in region.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Any modifications, equivalent substitutions and improvements made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (17)
1. a kind of Intelligent Laser mosquito killing device, it is characterised in that including：
Controller；
Image collecting device, described image harvester is controlled by the controller, and target mosquito is identified, tracked；
Laser, the laser is controlled by the controller, and output laser beam is hit the target mosquito；
Reflecting system, the reflecting system is controlled by the controller, coordinates the laser that the laser beam is aligned into institute
State target mosquito.
2. Intelligent Laser mosquito killing device as claimed in claim 1, it is characterised in that described image harvester and the reflection
A dichroscope is provided between system, makes the target mosquito and the line of its projected position on the dichroscope, with
The direction that the laser beam hits the target mosquito is coaxial.
3. Intelligent Laser mosquito killing device as claimed in claim 1, it is characterised in that the controller and a sound transducer mould
Block is connected.
4. Intelligent Laser mosquito killing device as claimed in claim 1, it is characterised in that：The laser is filled including laser
Put, laser collimation device and laser focusing device.
5. Intelligent Laser mosquito killing device as claimed in claim 1, it is characterised in that the generating laser is power adjustable
Generating laser.
6. Intelligent Laser mosquito killing device as claimed in claim 1, it is characterised in that the reflecting system at least includes two instead
Mirror is penetrated, and according to the reflection mirror motor in the control instruction of the controller driving speculum change eyeglass direction.
7. Intelligent Laser mosquito killing device as claimed in claim 1, it is characterised in that the reflecting system at least includes one instead
Mirror is penetrated, and the control speculum changes the piezoelectric ceramics in eyeglass direction.
8. Intelligent Laser mosquito killing device as claimed in claim 1, it is characterised in that the Intelligent Laser mosquito killing device also includes
The image of the target mosquito region can be identified for the identification module of one incidental injury prevention, the identification module, and with it is pre-
If model is matched, and matching result is sent to the controller, make the controller according to matching result to control to be
It is no to send strike instruction.
9. Intelligent Laser mosquito killing device as claimed in claim 1, it is characterised in that the Intelligent Laser mosquito killing device also includes
One infrared light compensating apparatus, the infrared light compensating apparatus is directly or indirectly irradiated to the zone of action of the target mosquito.
10. Intelligent Laser mosquito killing device as claimed in claim 1, it is characterised in that provided with red before described image harvester
Outer narrow band pass filter.
11. a kind of Intelligent Laser mosquito eradication robot, it is characterised in that including：
Intelligent Laser mosquito killing device as described in any one of claim 1 to 10；
The robot platform that carry the Intelligent Laser mosquito killing device, can move；
On the robot platform, the robot platform and the core of the Intelligent Laser mosquito killing device co-ordination are controlled
Heart processor.
12. robot as claimed in claim 11, it is characterised in that the robot platform by a tumbler with it is described
Intelligent Laser mosquito killing device is connected, and the rotating mechanism can carry out 360 degree of horizontal rotations and low-angle pitching up and down.
13. robot as claimed in claim 11, it is characterised in that the robot platform bottom has wheel group or crawler belt
Wheel.
14. robot as claimed in claim 11, it is characterised in that the robot platform also includes a supersonic sounding and filled
Put, the Ultrasonic ranging device is connected with the core processor.
15. robot as claimed in claim 11, it is characterised in that the robot bottom is provided with vacuum absorption device, and
Rubbish storage case.
16. robot as claimed in claim 11, it is characterised in that the robot is provided with environmental detection set, described
Environmental detection set at least includes one or more sensings for distinguishing measurement temperature, humidity, PM2.5 and harmful gas concentration
Device.
17. robot as claimed in claim 11, it is characterised in that the robot has Intelligent housing interface.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN2016101407175 | 2016-03-11 | ||
| CN201610140717 | 2016-03-11 |
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| CN206542832U true CN206542832U (en) | 2017-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710079339.9A Active CN106719524B (en) | 2016-03-11 | 2017-02-14 | Intelligent laser mosquito eradication device and robot |
| CN201720132319.9U Active CN206542832U (en) | 2016-03-11 | 2017-02-14 | A kind of Intelligent Laser mosquito killing device and robot |
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| WO (1) | WO2017152737A1 (en) |
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| CN106719524A (en) * | 2016-03-11 | 2017-05-31 | 深圳市镭神智能系统有限公司 | A kind of Intelligent Laser mosquito killing device and robot |
| CN109712187A (en) * | 2018-12-26 | 2019-05-03 | 秒针信息技术有限公司 | The determination method and device of head angle |
| WO2022242235A1 (en) * | 2021-05-20 | 2022-11-24 | 青岛海尔空调器有限总公司 | Household appliance control method and apparatus for repelling mosquitoes, and household appliance |
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2017
- 2017-02-14 CN CN201710079339.9A patent/CN106719524B/en active Active
- 2017-02-14 WO PCT/CN2017/073507 patent/WO2017152737A1/en active Application Filing
- 2017-02-14 CN CN201720132319.9U patent/CN206542832U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106719524A (en) * | 2016-03-11 | 2017-05-31 | 深圳市镭神智能系统有限公司 | A kind of Intelligent Laser mosquito killing device and robot |
| CN106719524B (en) * | 2016-03-11 | 2023-10-31 | 深圳市镭神智能系统有限公司 | Intelligent laser mosquito eradication device and robot |
| CN109712187A (en) * | 2018-12-26 | 2019-05-03 | 秒针信息技术有限公司 | The determination method and device of head angle |
| WO2022242235A1 (en) * | 2021-05-20 | 2022-11-24 | 青岛海尔空调器有限总公司 | Household appliance control method and apparatus for repelling mosquitoes, and household appliance |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106719524B (en) | 2023-10-31 |
| CN106719524A (en) | 2017-05-31 |
| WO2017152737A1 (en) | 2017-09-14 |
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