WO2021213438A1

WO2021213438A1 - Pest inhibition apparatus, self-moving device and automatic working system

Info

Publication number: WO2021213438A1
Application number: PCT/CN2021/088692
Authority: WO
Inventors: 格哈德格雷厄姆; 王月红
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2020-04-21
Filing date: 2021-04-21
Publication date: 2021-10-28
Also published as: CN115426879A; CN113519485A

Abstract

Provided are a pest inhibition apparatus (100), a self-moving device (200) and an automatic working system. The self-moving device (200) comprises: a main body (3); a traveling module (203) installed at the bottom of the main body (3) and used for driving the self-moving device (200) to move; and the pest inhibition apparatus (100) detachably attached to the main body (3) and having a first working state of being attached to the main body (3) and a second working state of being separated from the main body (3). The pest inhibition apparatus (100) is connected to an energy module (204) disposed on the main body (3) when in the first working state; the pest inhibition apparatus (100) is connected to an external power supply (400) when in the second working state; and the external power supply (400) is configured to be selectively connected to the pest inhibition apparatus (100) or another power tool to supply power to the pest inhibition apparatus (100) or another power tool.

Description

虫抑制装置、自移动设备及自动工作***Insect suppression device, self-moving equipment and automatic working system

本申请要求了申请日为2020年04月21日，申请号为202010319136.4的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application whose application date is April 21, 2020 and the application number is 202010319136.4, the entire content of which is incorporated into this application by reference.

技术领域Technical field

本发明涉及移动工作设备领域，尤其涉及一种虫抑制装置、具有虫抑制功能的自移动设备及自动工作***。The invention relates to the field of mobile working equipment, in particular to a pest suppression device, a self-moving device with a pest suppression function, and an automatic working system.

背景技术Background technique

本部分的描述仅提供与本发明公开相关的背景信息，而不构成现有技术。The description in this section only provides background information related to the disclosure of the present invention, and does not constitute prior art.

随着人们生活水平的提高，对生活质量的要求也越来越高。日常生活中，尤其是夏季，困扰人们的一个问题是虫类(包括蚊子)的骚扰。一个典型的场景是用户在草坪上活动时，例如举办聚会，草坪上的虫类使人不堪其扰。尤其是夜间，虫类的骚扰大大降低了人们活动的兴致。With the improvement of people's living standards, the requirements for the quality of life are getting higher and higher. In daily life, especially in summer, a problem that plagues people is the harassment of insects (including mosquitoes). A typical scenario is when a user is active on the lawn, such as holding a party, and the bugs on the lawn make people unbearable. Especially at night, the harassment of insects greatly reduces people's interest in activities.

市面上的用于驱赶或灭杀虫类的设备种类繁多，例如灭虫拍、灭虫灯等等。这些设备通常固定于室内的某处，或需要用户操作。因此，这些设备的工作形式较为单一和固定，难以满足用户对多种不同操作形式的需求，灵活性有待于提高。There are many types of equipment on the market for repelling or exterminating insecticides, such as insect killers, insect killers, and so on. These devices are usually fixed somewhere indoors or require user operation. Therefore, the working form of these devices is relatively single and fixed, and it is difficult to meet the needs of users for a variety of different operating forms, and the flexibility needs to be improved.

应该注意，上面对技术背景的介绍只是为了方便对本发明的技术方案进行清楚、完整的说明，并方便本领域技术人员的理解而阐述的。不能仅仅因为这些方案在本发明的背景技术部分进行了阐述而认为上述技术方案为本领域技术人员所公知。It should be noted that the above introduction to the technical background is only set forth to facilitate a clear and complete description of the technical solutions of the present invention and to facilitate the understanding of those skilled in the art. It should not be considered that the above technical solutions are well-known to those skilled in the art just because these solutions are described in the background art part of the present invention.

发明内容Summary of the invention

基于前述的现有技术缺陷，本发明实施例提供一种虫抑制装置、一种具有虫抑制功能的自移动设备及自动工作***，通过将具备虫抑制功能的虫抑制装置可拆卸的集成于自移动设备，实现虫抑制装置整机式移动虫抑制操作和便携式虫抑制操作的结合，为用户提供更多的操作选择，提升用户体验。Based on the foregoing defects in the prior art, embodiments of the present invention provide a pest suppression device, a self-moving device with a pest suppression function, and an automatic working system. The mobile device realizes the combination of the whole-machine mobile insect suppression operation and the portable insect suppression operation of the insect suppression device, providing users with more operation options and improving user experience.

为了实现上述目的，本发明提供了一种自移动设备，该自移动设备包括：主体；行走模块，安装于所述主体的底部，用于带动所述自移动设备移动；虫抑制装置，与所述主体可分离的附接，具有与所述主体附接在一起的第一工作状态以及与所述主体分离的第二工作状态；当处于第一工作状态时，所述虫抑制装置与所述主体上配置的能源模块连接，由所述能源模块为其供电；当处于第二工作状态时，所述虫抑制装置与外部供电电源连接，由所述外部供电电源为其供电；其中，所述外部供电电源被配置为可选择性的与所述虫抑制装置或者其他电动工具连接，以为所述虫抑制装置或者其他电动工具供电。In order to achieve the above objective, the present invention provides a self-moving device, which includes: a main body; a walking module installed at the bottom of the main body to drive the self-moving device to move; The main body is detachably attached, having a first working state attached to the main body and a second working state separated from the main body; when in the first working state, the insect suppression device is connected to the The energy module configured on the main body is connected to the energy module; when in the second working state, the insect suppression device is connected to an external power supply, which is powered by the external power supply; wherein, the The external power supply is configured to be selectively connected to the insect suppression device or other electric tools to supply power to the insect suppression device or other electric tools.

在一个具体的实施例中，所述其他电动工具包括：冲击钻、电钻、电镐、电锤、角磨机、吹风机的至少其中一种。In a specific embodiment, the other electric tools include at least one of a percussion drill, an electric drill, an electric pick, an electric hammer, an angle grinder, and a hair dryer.

在一个具体的实施例中，所述虫抑制装置中设有安装部，所述外部供电电源与所述安装部可拆卸连接。In a specific embodiment, an installation part is provided in the insect suppression device, and the external power supply is detachably connected to the installation part.

在一个具体的实施例中，所述主体上设有主工作模块，用于执行不同于所述虫抑制装置的主工作任务；当所述虫抑制装置处于第一工作状态时，所述主体被所述行走模块带动而承载所述虫抑制装置在预设工作区域内或沿预设路径以低于所述自移动设备执行主工作任务时的速度移动；或者，所述主体承载所述虫抑制装置在预设工作区域停留。In a specific embodiment, the main body is provided with a main working module for performing main tasks different from the main work task of the insect suppression device; when the insect suppression device is in the first working state, the main body is The walking module drives and carries the insect suppression device to move in a preset work area or along a preset path at a speed lower than when the self-moving device performs the main work task; or, the main body carries the insect suppression The device stays in the preset working area.

在一个具体的实施例中，所述预设工作区域由用户预先设置或由所述自移动设备自动获取。In a specific embodiment, the preset working area is preset by the user or automatically acquired by the mobile device.

在一个具体的实施例中，所述预设工作区域由用户预先设置包括用户预先在预设工作区域和/或预设工作区域的附近铺设导线，所述自移动设备识别导线传输的电信号以控制所述主体承载所述虫抑制装置沿着导线移动到预设工作区域；或，用户预先在预设工作区域和/或预设工作区域的附近设置标记物，所述自移动设备识别所述标记物以控制所述主体承载所述虫抑制装置进入到所述预设工作区域；或，用户在交互设备上设置预设工作区域，并将其传输至自移动设备的控制模块，所述控制模块计算自移动设备至预设工作区域的移动路径，并控制所述主体承载所述虫抑制装置沿所述移动路径进入到所述预设工作区域。In a specific embodiment, the preset work area is preset by the user, including the user pre-lays a wire in the preset work area and/or the vicinity of the preset work area, and the self-mobile device recognizes the electrical signal transmitted by the wire as The main body is controlled to carry the insect suppression device to move along the wire to the preset work area; or, the user sets markers in the preset work area and/or the vicinity of the preset work area in advance, and the self-mobile device recognizes the The marker is used to control the main body carrying the insect suppression device to enter the preset work area; or, the user sets the preset work area on the interactive device and transmits it to the control module of the mobile device, and the control The module calculates the movement path from the mobile device to the preset work area, and controls the main body to carry the insect suppression device into the preset work area along the movement path.

在一个具体的实施例中，所述预设工作区域由自移动设备自动获取包括自移动设备通过定位其自身与预设工作区域的相对坐标/绝对坐标，或自动识别表征用户的特征，或自动探索用户携带的信号源的位置以获取预设工作区域。In a specific embodiment, the automatic acquisition of the preset work area from the mobile device includes the mobile device positioning itself and the relative coordinates/absolute coordinates of the preset work area, or automatically identifying the characteristics of the user, or automatically Explore the location of the signal source carried by the user to obtain the preset working area.

在一个具体的实施例中，当处于第一工作状态时，所述主工作模块与所述虫抑制装置中的一个操作时，另一个不操作。In a specific embodiment, when in the first working state, when one of the main working module and the insect suppression device is operating, the other is not operating.

在一个具体的实施例中，当处于第二工作状态时，所述虫抑制装置可选择性被放置在不同的工作区域；或者，所述虫抑制装置可选择性地在多个不同的工作区域之间切换。In a specific embodiment, when in the second working state, the insect suppression device can be selectively placed in different work areas; or, the insect suppression device can be selectively placed in multiple different work areas. Switch between.

在一个具体的实施例中，所述虫抑制装置包括用于容置诱捕剂的容腔，所述容腔设有连通外界的开口端；所述诱捕剂用于产生模拟人体散发的气味及CO2的引诱气体，所述引诱气体经由所述开口端扩散至外界环境中。In a specific embodiment, the insect suppression device includes a cavity for accommodating a trapping agent, the cavity is provided with an open end communicating with the outside; the trapping agent is used to generate odors and CO2 that simulate the human body The attracting gas diffuses into the external environment through the open end.

本发明实施例还提出了一种自移动设备，该自移动设备包括：主体；行走模块，安装于所述主体的底部，用于带动所述自移动设备移动；与所述主体附接的虫抑制装置，所述虫抑制装置容置有诱捕剂，所述诱捕剂用于产生模拟人体散发的气味及CO2的引诱气体。The embodiment of the present invention also provides a self-moving device, which includes: a main body; a walking module installed at the bottom of the main body to drive the self-moving device to move; and a bug attached to the main body A suppression device, the insect suppression device contains a trap, and the trap is used to generate an attracting gas that mimics the smell and CO2 emitted by the human body.

在一个具体的实施例中，所述主体上设有主工作模块，用于执行不同于所述虫抑制装置的主工作任务；当所述虫抑制装置与所述主体附接时，所述主体被所述行走模块带动而承载所述虫抑制装置在预设工作区域内或沿预设路径以低于所述自移动设备执行主工作任务时的速度移动；或者，所述主体承载所述虫抑制装置进入预设区域停留。In a specific embodiment, the main body is provided with a main working module for performing main tasks different from the main work task of the insect suppression device; when the insect suppression device is attached to the main body, the main body Driven by the walking module to carry the insect suppression device to move in a preset work area or along a preset path at a speed lower than when the self-moving device performs the main work task; or, the main body carries the insect The restraint device enters the preset area and stays.

在一个具体的实施例中，所述标记物包括磁性组件。In a specific embodiment, the marker includes a magnetic component.

在一个具体的实施例中，所述虫抑制装置包括用于容置诱捕剂的容腔，所述容腔设有连通外界的开口端；所述诱捕剂用于产生模拟人体散发的气味及CO ₂的引诱气体，所述引诱气体经由所述开口端扩散至外界环境中。 In a specific embodiment, the pest suppression device includes a cavity for accommodating a trapping agent, and the cavity is provided with an open end communicating with the outside; the trapping agent is used to generate odors and CO emitted by a human body. _{The attracting gas of 2} , the attracting gas diffuses into the external environment through the open end.

在一个具体的实施例中，所述虫抑制装置与所述主体附接时，所述主工作模块与所述虫抑制装置中的一个操作时，另一个不操作。In a specific embodiment, when the insect suppression device is attached to the main body, when one of the main working module and the insect suppression device operates, the other does not operate.

在一个具体的实施例中，当所述主体与所述虫抑制装置分离时，所述虫抑制装置可选择性被放置在不同的工作区域；或者，所述虫抑制装置可选择性地在多个不同的工作区域之间切换。In a specific embodiment, when the main body is separated from the insect suppression device, the insect suppression device can be selectively placed in a different work area; or, the insect suppression device can be selectively placed in multiple work areas. Switch between different working areas.

本发明实施例中还提出了一种虫抑制装置，所述虫抑制装置可拆卸的安装在自移动设备上，具有安装在所述自移动设备上的第一工作状态以及从所述自移动设备拆卸下来的第二工作状态；当处于第一工作状态时，所述虫抑制装置与所述自移动设备配置的能源模块连接，由所述能源模块为其供电；当处于第二工作状态时，所述虫抑制装置与外部供电电源连接，由所述外部供电电源为其供电；其中，所述外部供电电源被配置为可选择性的与所述虫抑制装置或者其他电动工具连接，以为所述虫抑制装置或者其他电动工具供电。The embodiment of the present invention also proposes an insect suppression device, which is detachably installed on a self-moving device, has a first working state installed on the self-moving device, and the self-moving device The disassembled second working state; when in the first working state, the insect suppression device is connected to the energy module configured for the self-moving device, and the energy module is powered for it; when in the second working state, The insect suppression device is connected to an external power supply, and is powered by the external power supply; wherein the external power supply is configured to be selectively connected to the insect suppression device or other electric tools for the Pest control devices or other power tools supply power.

本发明实施例中又一种自移动设备，所述自移动设备能够与外部设备通讯外部设备；所述自移动设备包括：主体；第一通讯模块，设在所述主体上，与所述外部设备通讯连接；行走模块，安装于所述主体的底部，能够带动所述自移动设备移动；虫抑制装置，与所述主体可分离的附接，具有与所述主体附接在一起的第一工作状态及与所述主体分离的第二工作状态；所述虫抑制装置包括：虫抑制模块、与所述虫抑制模块连接的控制模块、与所述控制模块连接的第二通讯模块；当所述虫抑制装置处于第一工作状态时，所述控制模块与所述第一通讯模块连接，所述控制模块基于所述第一通讯模块提供的触发指令控制所述虫抑制模块操作；所述触发指令为所述外部设备被用户执行触发操作所产生的电信号；当所述虫抑制装置处于第二工作状态时，所述第二通讯模块与所述外部设备通讯连接，所述控制模块通过所述第二通讯模块接收所述外部设备提供的触发指令。In an embodiment of the present invention, there is still another self-moving device, the self-moving device can communicate with an external device; the self-moving device includes: a main body; a first communication module, arranged on the main body, and Equipment communication connection; walking module, installed at the bottom of the main body, capable of driving the self-moving equipment to move; insect suppression device, detachably attached to the main body, with a first attached to the main body Working state and a second working state separated from the main body; the pest suppression device includes: a pest suppression module, a control module connected to the pest suppression module, a second communication module connected to the control module; When the insect suppression device is in the first working state, the control module is connected to the first communication module, and the control module controls the operation of the insect suppression module based on the trigger instruction provided by the first communication module; the trigger The instruction is an electrical signal generated by the user performing a trigger operation on the external device; when the insect suppression device is in the second working state, the second communication module is in communication with the external device, and the control module passes all The second communication module receives the trigger instruction provided by the external device.

在一个具体的实施例中，所述第二通讯模块包括有线通讯单元；当所述虫抑制装置处于第一工作状态时，所述有线通讯单元与所述第一通讯模块通过有线的方式实现通信连接；所述控制模块通过所述有线通讯单元、第一通讯模块与所述外部设备间接建立通信连接。In a specific embodiment, the second communication module includes a wired communication unit; when the pest suppression device is in the first working state, the wired communication unit and the first communication module realize communication in a wired manner Connection; the control module indirectly establishes a communication connection with the external device through the wired communication unit and the first communication module.

在一个具体的实施例中，所述第二通讯模块包括无线通讯单元；当所述虫抑制装置处于第二工作状态时，所述无线通讯单元与所述外部设备通信连接；所述控制模块通过所述无线通讯单元与所述外部设备直接建立通信连接。In a specific embodiment, the second communication module includes a wireless communication unit; when the insect suppression device is in the second working state, the wireless communication unit is in communication connection with the external device; the control module passes through The wireless communication unit directly establishes a communication connection with the external device.

在一个具体的实施例中，当所述虫抑制装置处于第一工作状态时，所述无线通讯单元与所述第一通讯模块通过无线的方式实现通信连接。In a specific embodiment, when the insect suppression device is in the first working state, the wireless communication unit and the first communication module realize a wireless communication connection.

在一个具体的实施例中，所述控制模块通过所述无线通讯单元、第一通讯模块与所述外部设备间接建立通信连接。In a specific embodiment, the control module indirectly establishes a communication connection with the external device through the wireless communication unit and the first communication module.

通过采用虫抑制装置与自移动设备可分离的附接，当虫抑制装置处于与自移动设备附接或集成的第一工作状态时，虫抑制装置可从自移动设备所配备的能源模块取电，并可由自移动设备带动而实现整机式移动虫抑制操作。而当虫抑制装置处于与自移动设备分离的第二工作状态时，虫抑制装置作为一个便携式、独立的构造，可从外部供电电源取电，并可被用户操作而放置在任意工作区域之间切换。从而，实现虫抑制装置整机式移动虫抑制操作和便携式虫抑制操作的结合，为用户提供更多的操作选择，提升用户体验。并且，自移动设备在自主移动过程中，无需用户监管即可自动执行工作，覆盖范围广、工作灵活、效率高、能够实现自动控制。By adopting the detachable attachment of the insect suppression device to the self-mobile device, when the insect suppression device is in the first working state of being attached or integrated with the self-mobile device, the insect suppression device can draw power from the energy module equipped with the self-mobile device , And can be driven by self-mobile equipment to realize the whole machine-type mobile insect suppression operation. When the insect suppression device is in the second working state separated from the mobile device, the insect suppression device is a portable and independent structure that can be powered from an external power supply and can be operated by the user to be placed between any work areas Switch. Thus, the combination of the whole-machine mobile insect suppression operation and the portable insect suppression operation of the insect suppression device is realized, which provides users with more operation options and improves user experience. In addition, the self-mobile device can automatically perform work without user supervision during the autonomous movement process, with wide coverage, flexible work, high efficiency, and automatic control.

此外，通过虫抑制装置处于不同的工作状态时，采用不同的控制方式来对其进行控制，从而可提升虫抑制装置以及配置该虫抑制装置的自移动设备的智能性，尽量降低用户的介入，提升用户的使用体验。In addition, when the insect suppression device is in different working conditions, different control methods are used to control it, so as to improve the intelligence of the insect suppression device and the self-moving device equipped with the insect suppression device, and minimize user intervention. Improve the user experience.

同时，该虫抑制装置容置有诱捕剂，诱捕剂用于产生模拟人体散发的气味及CO2的引诱气体，从而使得附接有虫抑制装置的自移动设备能够有效吸引蚊虫，并灭杀/驱离蚊虫，提高了自移动设备抑制蚊虫的效果，并且效率高。At the same time, the insect suppression device contains a trap, which is used to generate a gas that simulates the smell and CO2 emitted by the human body, so that the self-moving device attached with the insect suppression device can effectively attract mosquitoes and kill/repel mosquitoes. Free from mosquitoes, improve the effect of mosquito suppression by mobile devices, and the efficiency is high.

参照后文的说明和附图，详细公开了本发明的特定实施例，指明了本发明的原理可以被采用的方式。应该理解，本发明的实施例在范围上并不因而受到限制。With reference to the following description and drawings, specific embodiments of the present invention are disclosed in detail, indicating the ways in which the principles of the present invention can be adopted. It should be understood that the scope of the embodiments of the present invention is not limited thereby.

针对一种实施例描述和/或示出的特征可以以相同或类似的方式在一个或更多个其它实施例中使用，与其它实施例中的特征相组合，或替代其它实施例中的特征。Features described and/or shown for one embodiment can be used in one or more other embodiments in the same or similar manner, combined with features in other embodiments, or substituted for features in other embodiments .

应该强调，术语“包括/包含”在本文使用时指特征、整件、步骤或组件的存在，但并不排除一个或更多个其它特征、整件、步骤或组件的存在或附加。It should be emphasized that the term "comprising/comprising" when used herein refers to the existence of a feature, a whole, a step or a component, but does not exclude the existence or addition of one or more other features, a whole, a step or a component.

附图说明Description of the drawings

在此描述的附图仅用于解释目的，而不意图以任何方式来限制本发明公开的范围。另外，图中的各部件的形状和比例尺寸等仅为示意性的，用于帮助对本发明的理解，并不是具体限定本发明各部件的形状和比例尺寸。本领域的技术人员在本发明的教导下，可以根据具体情况选择各种可能的形状和比例尺寸来实施本发明。在附图中：The drawings described herein are for explanatory purposes only, and are not intended to limit the scope of the present disclosure in any way. In addition, the shape and proportional size of each component in the figure are only illustrative, which are used to help the understanding of the present invention, and do not specifically limit the shape and proportional size of each component of the present invention. Under the teaching of the present invention, those skilled in the art can choose various possible shapes and proportional sizes according to specific conditions to implement the present invention. In the attached picture:

图1为本发明一个非限制性实施例中配置虫抑制装置的自移动设备的结构示意图；Figure 1 is a schematic structural diagram of a self-moving device equipped with an insect suppression device in a non-limiting embodiment of the present invention;

图2为本发明一个非限制性实施例的自移动设备与充电站之间的装配结构示意图；2 is a schematic diagram of an assembly structure between a self-mobile device and a charging station according to a non-limiting embodiment of the present invention;

图3为本发明一个非限制性实施例中自移动设备为自动割草机的结构示意图；3 is a schematic structural diagram of an automatic lawn mower in a non-limiting embodiment of the present invention;

图4为一个实施例中虫抑制装置与自移动设备装配时的侧视结构示意图；4 is a schematic side view of the structure of the insect suppression device and the self-moving device in an embodiment when assembled;

图5为图4的俯视图；Figure 5 is a top view of Figure 4;

图6为另一个实施例中虫抑制装置与自移动设备装配时的侧视结构示意图；6 is a schematic side view of the structure of the insect suppression device and the self-moving device in another embodiment when assembled;

图7为图6的俯视图；Figure 7 is a top view of Figure 6;

图8为本发明一个非限制性实施例中自移动设备为自动割草机的工作场景示意图；FIG. 8 is a schematic diagram of a working scene of an automatic lawn mower in a non-limiting embodiment of the present invention;

图9为本发明一个非限制性实施例的自移动设备的结构示意图；FIG. 9 is a schematic structural diagram of a self-moving device according to a non-limiting embodiment of the present invention;

图10为本发明一个非限制性实施例的自移动设备中虫抑制装置的立体结构示意图；10 is a schematic diagram of a three-dimensional structure of an insect suppression device in a self-moving device according to a non-limiting embodiment of the present invention;

图11为图10中虫抑制装置的剖视图；Figure 11 is a cross-sectional view of the insect suppression device in Figure 10;

图12为本发明一个非限制性实施例的自移动设备在虫抑制装置处于第一工作状态或第二工作状态时虫抑制装置的取电情况拓扑图；FIG. 12 is a topological diagram of the power-fetching situation of the insect suppression device when the insect suppression device is in the first working state or the second working state according to a non-limiting embodiment of the present invention;

图13为本发明一个非限制性实施例的自移动设备在虫抑制装置处于第一工作状态时的模块拓扑图；FIG. 13 is a module topology diagram of a self-mobile device when the insect suppression device is in a first working state according to a non-limiting embodiment of the present invention;

图14为本发明一个非限制性实施例的自移动设备在虫抑制装置处于第二工作状态时的模块拓扑图；FIG. 14 is a module topology diagram of a self-mobile device when the insect suppression device is in a second working state according to a non-limiting embodiment of the present invention;

图15为本发明一个非限制性实施例的自移动设备的虫抑制装置补充诱捕剂的模块拓扑图；FIG. 15 is a module topology diagram of a non-limiting embodiment of the present invention for supplementing trapping agents from an insect suppression device of a mobile device;

图16为本发明一个非限制性实施例的自移动设备的虫抑制装置移出死去蚊虫的模块拓扑图。FIG. 16 is a module topology diagram of removing dead mosquitoes from a pest suppression device of a mobile device according to a non-limiting embodiment of the present invention.

具体实施方式Detailed ways

为了使本技术领域的人员更好地理解本发明中的技术方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都应当属于本发明保护的范围。In order to enable those skilled in the art to better understand the technical solutions in the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the protection scope of the present invention.

需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、 “左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施例。It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or a central element may also exist. When an element is considered to be "connected" to another element, it can be directly connected to the other element or an intermediate element may be present at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not meant to be the only embodiments.

除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

本发明实施例提供一种虫抑制装置、以及可配置该虫抑制装置的自移动设备。其中，自移动设备可以包括工业应用的搬运机器人、家用的自动吸尘器、自动割草机、服务于公共区域的街道清扫机，等等。自移动设备能够自主的在工作区域内移动，并完成工作任务。本发明实施例通过将具有虫抑制功能的虫抑制装置集成于自移动设备，使得自移动设备可在自主移动的过程中执行虫抑制任务，并且能够在无需用户监管的情况下自动执行工作，将用户从虫类骚扰中解脱出来。具有覆盖范围广、工作灵活、效率高、能够实现自动控制等优点。The embodiment of the present invention provides an insect suppression device and a self-moving device that can be configured with the insect suppression device. Among them, self-moving equipment may include industrial application handling robots, household automatic vacuum cleaners, automatic lawn mowers, street sweepers serving public areas, and so on. Self-moving devices can move autonomously in the work area and complete work tasks. The embodiment of the present invention integrates an insect suppression device with an insect suppression function into a self-moving device, so that the self-moving device can perform insect suppression tasks in the process of autonomous movement, and can automatically perform work without user supervision. Users are freed from harassment by bugs. It has the advantages of wide coverage, flexible work, high efficiency, and automatic control.

在本说明书中，将本发明实施例的自移动设备在正常使用状态下，指向或面对工作区域表面(例如地面、草地、工作台面)的方向定义为“下”，将与之相反，或者背对工作区域表面的方向定义为“上”。更具体的，将图1或图2中所示意的向上的方向定义为“上”，将图1或图2中所示意的向下的方向定义为“下”。In this specification, the direction that the self-mobile device of the embodiment of the present invention points to or faces the surface of the work area (such as the ground, grass, work surface) under normal use is defined as "down", which will be the opposite, or The direction facing away from the surface of the work area is defined as "up". More specifically, the upward direction shown in FIG. 1 or 2 is defined as "up", and the downward direction shown in FIG. 1 or 2 is defined as "down".

值得注意的是，本说明书中的对各方向定义，只是为了说明本发明技术方案的方便，并不限定本发明实施例的自移动设备和虫抑制装置在包括但不限定于使用、测试、运输和制造等等其他可能导致自移动设备和虫抑制装置方位发生颠倒或者位置发生变换的场景中的方向。It is worth noting that the definition of each direction in this specification is only for the convenience of explaining the technical solution of the present invention, and does not limit the self-moving equipment and insect suppression device in the embodiments of the present invention including but not limited to use, testing, and transportation. And manufacturing, etc., may cause the orientation of the mobile device and the insect suppression device to be reversed or the position in the scene to change.

图1为本发明一个非限制性实施例中，配置虫抑制装置100的自移动设备200的结构示意图。该自移动设备200包括主体3，主体3包括底座和上盖。自移动设备200还可包括行走模块203，安装于主体3的底部，用于带动自移动设备200移动。在一个可行的实施例中，行走模块203可包括轮组，由马达驱动以带动自移动设备200移动。在另一个可行的实施例中，行走模块203还可以包括履带，绕设于轮组。FIG. 1 is a schematic structural diagram of a self-moving device 200 equipped with an insect suppression device 100 in a non-limiting embodiment of the present invention. The self-moving device 200 includes a main body 3, and the main body 3 includes a base and an upper cover. The self-moving device 200 may further include a walking module 203 installed at the bottom of the main body 3 for driving the self-moving device 200 to move. In a feasible embodiment, the walking module 203 may include a wheel set, which is driven by a motor to drive the self-moving device 200 to move. In another feasible embodiment, the walking module 203 may also include crawlers, which are arranged around the wheel set.

结合图13和图14所示，自移动设备200还可包括控制模块202，容置于底座和上盖合围形成的主腔体中，用于控制行走模块203移动。为与下文所述的虫抑制装置100包含的控制模块101相区别，将自移动设备200所包含的控制模块202命名为工作机控制模块202。As shown in combination with FIG. 13 and FIG. 14, the self-moving device 200 may further include a control module 202, which is accommodated in the main cavity formed by the base and the upper cover, and is used to control the movement of the walking module 203. In order to be different from the control module 101 included in the insect suppression device 100 described below, the control module 202 included in the mobile device 200 is named the working machine control module 202.

自移动设备200还可以包括能源模块204，与工作机控制模块202连接。工作机控制模块202上可设有电平转换电路，用于将能源模块204提供的高电压转化为适于实用的低电压，以便为自移动设备200的移动和工作提供所需电能。在一个可行的实施例中，能源模块204可包括电池包，电池包可固定安装于主体3，或与主体3可拆卸连接。The mobile device 200 may also include an energy module 204 connected to the working machine control module 202. The working machine control module 202 may be provided with a level conversion circuit for converting the high voltage provided by the energy module 204 into a practical low voltage, so as to provide the required electric energy for the movement and operation of the mobile device 200. In a feasible embodiment, the energy module 204 may include a battery pack, and the battery pack may be fixedly installed on the main body 3 or detachably connected to the main body 3.

图2为本发明一个非限制性实施例中，自移动设备200与充电站D之间的装配结构示意图。如图2所示，自移动设备200在界限限定的工作区域C内移动并执行主工作任务。充电站D可供自移动设备200停靠，并为自移动设备200的能源模块204补充电能。能源模块204电量低时，工作机控制模块202控制行走模块203拖动自移动设备200返回充电站D进行充电。2 is a schematic diagram of the assembly structure between the self-mobile device 200 and the charging station D in a non-limiting embodiment of the present invention. As shown in FIG. 2, the self-mobile device 200 moves within the working area C defined by the boundary and executes the main work task. The charging station D can be used for the self-mobile device 200 to stop and supplement the energy module 204 of the self-mobile device 200 with electrical energy. When the power of the energy module 204 is low, the working machine control module 202 controls the walking module 203 to drag the mobile device 200 back to the charging station D for charging.

在一个具体的实施例中，自移动设备200可以为自动割草机。如图3所示，为本发明一个非限制性实施例中，自移动设备200为自动割草机的结构示意图。自动割草机可包括主工作模块7，用于执行不同于虫抑制装置100的任务。主工作模块7执行的任务，即为自移动设备200的主工作任务。例如，自动割草机的主工作模块7为切割模块或刀盘，由工作机控制模块202控制以执行割草任务(主工作任务)。In a specific embodiment, the self-moving device 200 may be an automatic lawn mower. As shown in FIG. 3, it is a schematic structural diagram of a self-moving device 200 as an automatic lawn mower in a non-limiting embodiment of the present invention. The automatic lawn mower may include a main working module 7 for performing tasks different from the insect suppression device 100. The tasks performed by the main work module 7 are the main work tasks of the mobile device 200. For example, the main working module 7 of the automatic lawn mower is a cutting module or a cutter head, which is controlled by the working machine control module 202 to perform the mowing task (main working task).

当然，自移动设备200并不限于上述自动割草机的实施例。在其他可行的实施例中，自移动设备200还可以是其他无需用户值守的设备，例如自动吸尘器、自动地板抛光机、自动街道清扫机，等等。当自移动设备200的类型不同时，其配备的主工作模块也相应变化。具体的，例如，当自移动设备200为自动吸尘器时，主工作模块为清洁模块，自移动设备200对应执行的主工作任务为吸尘。当自移动设备200为自动地板抛光机时，主工作模块为抛光模块，自移动设备200对应执行的主工作任务为抛光。当自移动设备200为自动街道清扫机时，主工作模块为清扫模块，自移动设备200对应执行的主工作任务为垃圾清扫。Of course, the self-moving device 200 is not limited to the embodiment of the automatic lawn mower described above. In other feasible embodiments, the self-moving device 200 may also be other devices that do not need to be watched by the user, such as an automatic vacuum cleaner, an automatic floor polisher, an automatic street sweeper, and so on. When the type of the self-mobile device 200 is different, the main working module equipped with it also changes accordingly. Specifically, for example, when the self-mobile device 200 is an automatic cleaner, the main work module is a cleaning module, and the main work task correspondingly executed by the self-mobile device 200 is dust collection. When the self-moving device 200 is an automatic floor polishing machine, the main work module is a polishing module, and the main work task executed by the self-moving device 200 is polishing. When the self-mobile device 200 is an automatic street sweeper, the main work module is a cleaning module, and the main work task correspondingly executed by the self-mobile device 200 is garbage cleaning.

如图1至图7所示，自移动设备200可附接有虫抑制装置100。虫抑制装置100起到在工作范围内避免虫类骚扰的作用，用于抑制包括蚊子在内的虫类，除蚊类外还包括有害的蛾、蝇、蜂、蠓、蜱、蚁，等等。如图10和图11所示，虫抑制装置100可包括壳体9，具有独立的外观。结合图13和图14所示，虫抑制装置100可包括虫抑制模块103，设在壳体9上。虫抑制模块103可包括诱捕蚊虫的诱捕单元103a、消灭蚊虫的灭杀单元103b、驱离或拒止蚊虫的驱离单元103c。As shown in FIGS. 1 to 7, the self-moving device 200 may be attached with an insect suppression device 100. Insect suppression device 100 plays a role in avoiding pest harassment within the working range, and is used to suppress insects including mosquitoes. In addition to mosquitoes, it also includes harmful moths, flies, bees, midges, ticks, ants, etc. . As shown in Figs. 10 and 11, the insect suppression device 100 may include a housing 9 having an independent appearance. As shown in combination with FIG. 13 and FIG. 14, the insect suppression device 100 may include an insect suppression module 103 arranged on the housing 9. The insect suppression module 103 may include a trap unit 103a for trapping mosquitoes, a killing unit 103b for exterminating mosquitoes, and a repelling unit 103c for repelling or repelling mosquitoes.

诱捕单元103a用于将虫引诱至虫抑制装置100后，由灭杀单元103b进行灭杀。在一个实施例中，诱捕单元103a可以包括红外发热装置。红外发热装置在发热温度维持在37至40摄氏度范围内，吸引虫进入灭杀单元103b。或者，诱捕单元103a还可包括诱捕灯。诱捕灯能发出容易吸引虫的紫光，吸引虫进入灭杀单元103b。灭杀单元103b包括上述风机、电网等。诱捕单元103a可与灭杀单元103b集成，也可分离设置。The trapping unit 103a is used to attract the insects to the insect suppression device 100, and then the killing unit 103b will kill them. In an embodiment, the trapping unit 103a may include an infrared heating device. The infrared heating device maintains the heating temperature in the range of 37-40 degrees Celsius, attracting insects into the killing unit 103b. Alternatively, the trap unit 103a may also include a trap lamp. The trap lamp can emit a purple light that is easy to attract insects, and attract the insects to enter the killing unit 103b. The killing unit 103b includes the above-mentioned fan, power grid, and the like. The trapping unit 103a can be integrated with the killing unit 103b, or can be arranged separately.

再或者，在另一个实施例中，诱捕单元103a可以为诱捕剂。具体的，虫抑制装置100包括用于容置诱捕剂的容腔，该容腔可以由一空壳限定，容腔可设有连通外界的开口。诱捕剂可散发模拟人体散发的气味及CO2的引诱气体，该引诱气体可经该开口扩散至外界环境中，从而可引诱蚊虫，提高灭蚊效果。在一个具体的实施例中，该诱捕剂成分包括CO2、L-乳酸、辛醇、苯酚、丙酮、二甲基二硫醚、氨、乙酸等混合物。其中丙酮一般作为增强剂使用。诱捕剂散发出CO2，蚊虫先寻找到CO2，再追寻CO2的源头，寻找到乙酸混合物。模仿蚊虫叮咬人类的原理为：蚊虫若寻找到CO2，则判断在人类附近。再追寻CO2的源头，寻找到乙酸混合物。若找到，则判断是人类的皮肤，便会立刻叮咬。在另一个具体实施例中，该诱捕剂的组成成分可以包括34.59％的乳酸、26.49％的碳酸氢铵、8.82％的己酸以及30.1％的其他成分。乳酸和碳酸氢铵可反应生成CO2，从而蚊虫在寻找到诱捕剂散发的CO2后，会再追寻CO2的源头，并在附近寻找到乳酸，进而判断是人类皮肤，便会立刻叮咬。Or, in another embodiment, the trapping unit 103a may be a trapping agent. Specifically, the insect suppression device 100 includes a cavity for accommodating the trapping agent, the cavity may be defined by an empty shell, and the cavity may be provided with an opening communicating with the outside. The trapping agent can emit an attracting gas that simulates the smell and CO2 emitted by the human body, and the attracting gas can diffuse into the external environment through the opening, thereby attracting mosquitoes and improving the mosquito-killing effect. In a specific embodiment, the trapping agent component includes a mixture of CO2, L-lactic acid, octanol, phenol, acetone, dimethyl disulfide, ammonia, acetic acid and the like. Among them, acetone is generally used as an enhancer. The trap emits CO2, and the mosquitoes first find the CO2, then trace the source of the CO2, and find the acetic acid mixture. The principle of imitating mosquitoes biting humans is: if a mosquito finds CO2, it is judged to be near humans. Then we traced the source of CO2 and found a mixture of acetic acid. If it is found, it is judged to be human skin, and it will bite immediately. In another specific embodiment, the composition of the trapping agent may include 34.59% lactic acid, 26.49% ammonium bicarbonate, 8.82% caproic acid, and 30.1% other components. Lactic acid and ammonium bicarbonate can react to form CO2. After finding the CO2 emitted by the trap, the mosquitoes will look for the source of the CO2 and find lactic acid nearby. If it is judged to be human skin, it will immediately bite.

在一些实施例中，为实现诱捕剂的持续性散发，如图15所示，可在虫抑制装置100中设置补充装置106，补充装置106可与上述容腔连通，并被配置为储存有预设剂量的诱捕剂，以在容腔中的诱捕剂不足时自动向容腔中补充诱捕剂，实现诱捕剂的持续性散发。在一些实施例中，如图15所示，虫抑制装置100还包括第一检测模块105，可设于容腔壁，被配置为检测容腔中的诱捕剂是否充足，具体可被配置为检测容腔中诱捕剂的液面高度是否低于预设高度或是诱捕剂的重量是否低于预设重量，并在容腔中诱捕剂的液面高度低于预设高度或是诱捕剂的重量低于预设重量(即检测出诱捕剂不足)时向补充装置106输出第一检测信号；控制模块101与第一检测模块105连接，被配置为根据第一检测信号控制补充装置106自动向容腔中补充诱捕剂。在一些实施例中，第一检测模块105包括液面检测传感器，用于检测容腔内诱捕剂的液面高度，也可以包括重量检测传感器，用于检测容腔内诱捕剂的重量。在一些实施例中，液面检测传感器可包括光电传感器，重量检测传感器可包括称重传感器。在一些实施例中，补充装置106与容腔的连通管路上设置有电磁阀，用以对诱捕剂的补充进行通断控制；当第一检测模块105检测出诱捕剂充足时，第一检测模块105不输出第一检测信号，电磁阀处于关闭状态，用于补充的诱捕剂储存在补充装置106内；当第一检测模块105检测出诱捕剂不足时，第一检测模块105输出第一检测信号，控制模块101控制电磁阀打开，用于补充的诱捕剂便可经连通管路补充至容腔内。In some embodiments, in order to achieve the continuous emission of the trapping agent, as shown in FIG. 15, a supplementary device 106 may be provided in the insect suppression device 100. The supplementary device 106 may be connected to the above-mentioned cavity and configured to store a preset A dose of trapping agent is set to automatically supplement the trapping agent in the cavity when the trapping agent in the cavity is insufficient, so as to realize the continuous emission of the trapping agent. In some embodiments, as shown in FIG. 15, the insect suppression device 100 further includes a first detection module 105, which may be provided on the wall of the cavity and configured to detect whether the trapping agent in the cavity is sufficient, and specifically may be configured to detect Whether the liquid level of the trapping agent in the cavity is lower than the preset height or the weight of the trapping agent is lower than the preset weight, and the liquid level of the trapping agent in the cavity is lower than the preset height or the weight of the trapping agent When the weight is lower than the preset weight (that is, when insufficient trapping agent is detected), the first detection signal is output to the replenishment device 106; the control module 101 is connected to the first detection module 105 and is configured to control the replenishment device 106 automatically to the container according to the first detection signal. Replenish trapping agent in the cavity. In some embodiments, the first detection module 105 includes a liquid level detection sensor for detecting the liquid level of the trap in the cavity, and may also include a weight detection sensor for detecting the weight of the trap in the cavity. In some embodiments, the liquid level detection sensor may include a photoelectric sensor, and the weight detection sensor may include a load cell. In some embodiments, a solenoid valve is provided on the communication pipeline between the supplementing device 106 and the cavity to control the replenishment of the trapping agent. When the first detection module 105 detects that the trapping agent is sufficient, the first detection module 105 does not output the first detection signal, the solenoid valve is closed, and the trap for replenishment is stored in the replenishing device 106; when the first detection module 105 detects that the trap is insufficient, the first detection module 105 outputs the first detection signal , The control module 101 controls the solenoid valve to open, and the trapping agent used for replenishment can be replenished into the cavity through the communication pipeline.

在另一些实施例中，诱捕剂可由若干种释放时间长的无毒物质组成，该若干种无毒物质可模仿皮肤中吸引蚊子的成分，从而实现蚊虫的持续诱捕。在另一些实施例中，由于一些种类的蚊虫是被CO2吸引，从而可将CO2与前述若干种无毒物质一起使用，实现不同种类蚊虫的持续性诱捕，其中，CO2可储存在CO2罐中(可持续释放24小时)，CO2罐的出气端与虫抑制装置100表面的喷射端连接，从而可使CO2经喷射端在虫抑制装置100的上方散发而不会有CO2进入虫抑制装置100内部。In other embodiments, the trapping agent can be composed of several non-toxic substances with a long release time, and the several non-toxic substances can imitate the mosquito-attracting ingredients in the skin, so as to achieve the continuous trapping of the mosquitoes. In other embodiments, because some types of mosquitoes are attracted by CO2, CO2 can be used together with the aforementioned non-toxic substances to achieve continuous trapping of different types of mosquitoes. Among them, CO2 can be stored in a CO2 tank ( It can be released continuously for 24 hours), the outlet end of the CO2 tank is connected to the spray end on the surface of the insect control device 100, so that CO2 can be emitted above the insect control device 100 through the spray end without CO2 entering the insect control device 100.

在某些实施例中，诱捕剂可采用活跃性较低或较为惰性的物质。则诱捕剂产生引诱气体需被执行外部的触发操作，例如加热、振动等等。具体可以为，当温度较低时，诱捕剂较少产生甚至不产生引诱气体。当温度升高至预定值时，诱捕剂开始产生引诱气体。并且，随着温度的升高，诱捕剂产生引诱气体的速率越快。或者，当处于静止状态时，诱捕剂较少产生甚至不产生引诱气体。当处于振动或摇晃状态时，诱捕剂开始产生引诱气体。并且，随着振动或摇晃幅度的加剧，诱捕剂产生引诱气体的速率越快。In some embodiments, the trapping agent can be a less active or inert substance. When the trapping agent generates the attracting gas, an external trigger operation must be performed, such as heating, vibration, and so on. Specifically, when the temperature is low, the trapping agent produces less or no attracting gas. When the temperature rises to a predetermined value, the trapping agent begins to produce attracting gas. And, as the temperature increases, the rate at which the trapping agent generates attracting gas is faster. Or, when in a static state, the trapping agent produces less or no attracting gas. When in a state of vibration or shaking, the trapping agent begins to produce attracting gas. Moreover, as the amplitude of vibration or shaking increases, the rate at which the trapping agent generates attracting gas becomes faster.

因此，在该实施例中，诱捕单元103a还可以包括用于促使容腔中的诱捕剂产生引诱气体的触发组件。具体的，触发组件可以为用于对容腔中的诱捕剂进行升温的加热元件，例如电阻丝或PTC(Positive Temperature Coefficient，正温度系数热敏电阻)加热片，设在容腔中或缠绕容腔的侧壁。或者，触发组件也可以为对容腔中的诱捕剂进行搅拌的搅拌元件，例如叶轮或叶片，设在容腔中。亦或者，触发组件也可以为用于使限定容腔的空壳产生振动或摇晃的振动元件，例如凸轮结构，设在空壳的底部或外侧壁。Therefore, in this embodiment, the trapping unit 103a may further include a triggering component for causing the trapping agent in the cavity to generate an attracting gas. Specifically, the trigger component may be a heating element used to heat up the trapping agent in the cavity, such as a resistance wire or a PTC (Positive Temperature Coefficient, positive temperature coefficient thermistor) heating element, which is arranged in the cavity or is wound in the cavity. The side walls of the cavity. Alternatively, the trigger component may also be a stirring element for stirring the trapping agent in the cavity, such as an impeller or a blade, which is provided in the cavity. Or alternatively, the trigger component may also be a vibrating element used to vibrate or shake the hollow shell defining the cavity, such as a cam structure, arranged on the bottom or outer side wall of the hollow shell.

则在该实施例中，容腔的开口可以处于敞口状态。当不需要执行虫抑制操作时，触发组件不操作，诱捕剂不产生引诱气体。当需要执行虫抑制操作时，触发组件操作，诱捕剂产生引诱气体，并经开口扩散至外界。Then in this embodiment, the opening of the cavity may be in an open state. When there is no need to perform pest suppression operations, the triggering component does not operate, and the trapping agent does not produce attracting gas. When the insect suppression operation needs to be performed, the component operation is triggered, and the trapping agent generates the attracting gas and diffuses to the outside through the opening.

当然，在另一些实施例中，诱捕剂也可以采用在常温或较低温度下就能产生引诱气体的物质。为避免在不需要进行虫抑制操作时，诱捕剂产生的引诱气体经由容腔的开口扩散至外界，容腔的开口端可设有阀(例如电磁阀)，以对引诱气体向外扩散进行通断控制。当不需要执行虫抑制操作时，阀处于关闭状态，诱捕剂产生的引诱气体被收集在容腔内。当需要执行虫抑制操作时，只需打开阀，引诱气体即可经开口扩散至外界。Of course, in other embodiments, the trapping agent can also be a substance that can generate attracting gas at room temperature or lower temperature. In order to prevent the trapping agent from diffusing to the outside through the opening of the cavity when pest suppression operations are not required, a valve (such as a solenoid valve) can be provided at the opening end of the cavity to communicate the diffusion of the attracting gas.断控制。 Off control. When there is no need to perform pest control operations, the valve is in a closed state, and the attracting gas generated by the trap is collected in the cavity. When it is necessary to perform insect control operations, simply open the valve, and the attracting gas can diffuse to the outside through the opening.

灭杀单元103b可以包括风机、电网、虫抑制物质中的至少一种。具体的，虫抑制装置100可设有空腔。当灭杀单元103b包括风机时，风机可设在该空腔中，其能够将蚊虫吸住并风干，以达到灭杀蚊虫的效果。当灭杀单元103b包括电网时，电网可设在空腔中，其电压被设置为足以电死蚊虫。虫抑制装置100还可以包括集虫装置，用于收集电网电死的蚊虫，其具体可以是一个腔体或者一个布袋。当灭杀单元103b包括虫抑制物质时，空腔内可设有加热装置，加热装置具体可以为电阻丝或PTC加热片。虫抑制物质容置在空腔中，例如电蚊香元件。其中，电蚊香元件为电蚊香片或者电蚊香液。加热装置将电蚊香片或者电蚊香液转化为灭杀蚊虫的气体进入空气中，达到消灭蚊虫的效果。或者，虫抑制物质可以为灭虫药剂，在一个实施例中，灭虫药剂具体地可以由下述组分按重量百分比组成：雷藤酮4-8％，番荔枝碱4-8％，乳化剂2-4％，余量为溶剂。当然，灭虫药剂也可以由其他的原料制成，只要达到灭虫的效果即可。The killing unit 103b may include at least one of a fan, a power grid, and an insect suppression substance. Specifically, the insect suppression device 100 may be provided with a cavity. When the killing unit 103b includes a fan, the fan can be arranged in the cavity, which can suck mosquitoes and air dry, so as to achieve the effect of killing mosquitoes. When the killing unit 103b includes a power grid, the power grid may be provided in the cavity, and the voltage of the power grid may be set to be sufficient to electrocute the mosquitoes. The insect suppression device 100 may also include an insect collecting device for collecting mosquitoes that have been electrocuted by the power grid, which may specifically be a cavity or a cloth bag. When the killing unit 103b includes an insect-inhibiting substance, a heating device may be provided in the cavity, and the heating device may specifically be a resistance wire or a PTC heating chip. The insect-inhibiting substance is contained in the cavity, such as an electric mosquito coil element. Among them, the electric mosquito coil element is an electric mosquito coil sheet or an electric mosquito coil liquid. The heating device converts the electric mosquito coil sheet or the electric mosquito coil liquid into the mosquito-killing gas into the air to achieve the effect of killing the mosquitoes. Alternatively, the insect-inhibiting substance may be an insecticide. In one embodiment, the insecticide may be specifically composed of the following components in weight percentage: 4-8% triptonone, 4-8% annonine, emulsification The agent is 2-4%, the balance is solvent. Of course, the insecticide can also be made from other raw materials, as long as it achieves the effect of insecticide.

在一些实施例中，虫抑制装置100还被配置为当集虫装置内死去的蚊虫达到一定数量时，使控制模块101控制集虫装置打开或倾倒而自动将集虫装置内死去的蚊虫移出，移出的死去蚊虫可用作肥料进入生态循环。在一些实施例中，如图16所示，虫抑制装置100还包括第二检测模块107和执行模块108，其中，第二检测模块107被配置为检测集虫装置内死去的蚊虫是否达到预设数量，并当集虫装置内死去的蚊虫达到预设数量时输出第二检测信号；控制模块101与第二检测模块107连接，被配置为根据第二检测信号输出控制集虫装置打开或倾倒的控制信号；执行模块108与控制模块101连接，被配置为根据控制信号执行集虫装置的打开或倾倒动作。在一些实施例中，第二检测模块107可包括高度检测传感器，也可包括重量检测传感器，其中高度检测传感器用于在集虫装置内死去的蚊虫的堆积高度达到预定高度时输出第二检测信号，重量检测传感器用于集虫装置内死去的蚊虫的重量达到预定重量时输出第二检测信号；执行模块108包括电机，电机的驱动端与集虫装置连接，通过电机驱动可使集虫装置打开或倾倒，进而将死去的蚊虫移出。在一些实施例中，高度检测传感器可包括光电传感器，重量检测传感器可包括称重传感器。在一些实施例中，集虫装置为腔体，其底部可设置为可开合的翻板，翻板的开合动作由电机控制。当翻板关上时，集虫装置用来收集死去的蚊虫，而当电机驱动翻板打开时，死去的蚊虫便会在重力作用下快速掉落移出；当然，也可直接通过电机驱动集虫装置翻转倾倒，从而将死去的蚊虫倒出。In some embodiments, the insect suppression device 100 is further configured to enable the control module 101 to control the insect collection device to open or dump and automatically remove the dead mosquitoes in the insect collection device when the number of dead mosquitoes in the insect collection device reaches a certain number. The removed dead mosquitoes can be used as fertilizer to enter the ecological cycle. In some embodiments, as shown in FIG. 16, the insect suppression device 100 further includes a second detection module 107 and an execution module 108, wherein the second detection module 107 is configured to detect whether the dead mosquitoes in the insect collection device reach a preset value. When the number of dead mosquitoes in the collection device reaches the preset number, the second detection signal is output; the control module 101 is connected to the second detection module 107 and is configured to output the control device to open or dump according to the second detection signal. Control signal; the execution module 108 is connected to the control module 101 and is configured to execute the opening or dumping action of the insect collection device according to the control signal. In some embodiments, the second detection module 107 may include a height detection sensor or a weight detection sensor, wherein the height detection sensor is used to output the second detection signal when the accumulation height of the dead mosquitoes in the insect collection device reaches a predetermined height , The weight detection sensor is used to output the second detection signal when the weight of the dead mosquitoes in the insect collecting device reaches a predetermined weight; the execution module 108 includes a motor, and the driving end of the motor is connected to the insect collecting device, and the insect collecting device can be opened by the motor drive Or dump it to remove the dead mosquitoes. In some embodiments, the height detection sensor may include a photoelectric sensor, and the weight detection sensor may include a load cell. In some embodiments, the insect collecting device is a cavity, the bottom of which can be provided as an openable flap, and the opening and closing action of the flap is controlled by a motor. When the flap is closed, the insect-collecting device is used to collect the dead mosquitoes, and when the motor-driven flap is opened, the dead mosquitoes will quickly fall and move out under the action of gravity; of course, the insect-collecting device can also be driven directly by the motor Turn over and dump to pour out the dead mosquitoes.

驱离单元103c可包括驱虫物质、超声波发生装置、驱虫灯中的至少一种。具体的，驱虫物质可以是固态、液态或气态，容置在虫抑制装置100上设置的空腔中，可喷洒驱虫液、或通过加热等物理或化学方式使驱虫物质释放，或使用泵等结构使驱虫物质释放。虫抑制物质可以为驱虫药剂，在一个实施例中，驱虫药剂具体地可以由以下重量份数的原料制成：天竺葵12-20份、艾叶10-16份、茯苓6-15份、雷公藤8-15份、自芷4-9 份、青葙子4-9份、紫绀4-9份和苦楝皮8-12份。当然，驱虫药剂也可以由其他的原料制成，只要达到虫抑制的效果即可。如图10所示，虫抑制装置100可包括喷头21，用于喷洒盛放于虫抑制装置100内的虫抑制物质。The repellent unit 103c may include at least one of an insect repellent substance, an ultrasonic generating device, and an insect repellent lamp. Specifically, the insect repellent material can be solid, liquid or gaseous, and is accommodated in a cavity provided on the insect suppression device 100, and can be sprayed with insect repellent liquid, or the insect repellent material can be released by physical or chemical means such as heating, or used Structures such as pumps release insect repellent substances. The insect-inhibiting substance can be an insect repellent. In one embodiment, the insect repellent can be specifically made from the following parts by weight of raw materials: 12-20 parts of geranium, 10-16 parts of mugwort, 6-15 parts of Poria cocos, Gotu Kola 8-15 parts of rattan, 4-9 parts of Zizhi, 4-9 parts of argentea, 4-9 parts of cyanosis, and 8-12 parts of neem. Of course, the insect repellent can also be made from other raw materials, as long as it achieves the effect of insect control. As shown in FIG. 10, the insect suppression device 100 may include a spray head 21 for spraying the insect suppression substance contained in the insect suppression device 100.

超声波发生装置可以发出频率在20000HZ以上的超声波，从而模仿蜻蜓、蝙蝠等虫类天敌翅膀振动时产生的声波，进而实现驱赶虫的效果。通常，超声波发生装置预先设置一种固定的超声波频率。驱虫灯可以发出黄色灯光，进而实现驱赶虫的效果。更精确地，驱虫灯发出的光集中在具有驱虫能力的530nm-590nm波段，进而实现驱赶虫的效果。The ultrasonic generating device can emit ultrasonic waves with a frequency above 20000HZ to imitate the sound waves generated by the vibration of the wings of natural enemies of insects such as dragonflies and bats, thereby achieving the effect of repelling insects. Generally, the ultrasonic generating device is preset with a fixed ultrasonic frequency. The insect repellent lamp can emit yellow light to achieve the effect of repelling insects. More precisely, the light emitted by the insect repellent lamp is concentrated in the 530nm-590nm band with the ability to repel insects, thereby achieving the effect of repelling insects.

由于通常灭杀和驱离是两个不同的蚊虫抑制方式，当其中一个发挥功能时，另一个一般情况下是处于闲置状态。因此，为避免这两种蚊虫抑制方式同时存在而导致其中一种未能发挥功能而造成浪费，在一些实施例场景中，虫抑制模块103可以仅包括灭杀单元103b或者驱离单元103c。并且，当虫抑制模块103可以仅包括灭杀单元103b时，还可以包括诱捕单元103a和灭杀单元103b，以提高虫抑制效果。Since killing and repelling are usually two different methods of mosquito suppression, when one of them is functioning, the other is generally in an idle state. Therefore, in order to avoid the simultaneous existence of these two mosquito suppression methods and one of them fails to function and cause waste, in some embodiments, the insect suppression module 103 may only include the killing unit 103b or the repelling unit 103c. In addition, when the insect suppression module 103 may only include the killing unit 103b, it may also include a trapping unit 103a and a killing unit 103b to improve the insect suppression effect.

上述实施例中的自移动设备200，通过配置具有虫抑制功能的虫抑制装置100，使得自移动设备200在自主移动的同时，能够同时执行虫抑制任务。虫抑制的覆盖范围广、效率高、工作灵活、无需用户操纵，将用户从虫类骚扰中解脱出来。In the above-mentioned embodiment, the self-mobile device 200 is equipped with an insect suppression device 100 with an insect suppression function, so that the self-mobile device 200 can simultaneously perform insect suppression tasks while autonomously moving. Insect suppression has wide coverage, high efficiency, flexible work, no user manipulation, and frees users from insect harassment.

在自移动设备200为自动割草机实施例中，自动割草机本身具备自动修剪草坪的功能，将用户从草坪维护的劳务中解脱出来。通过在自动割草机上加装虫抑制装置100，使得自动割草机同时具备虫抑制功能，拓展了自动割草机的用途，改善了用户的生活质量。当然，也可以通过在其他自移动庭院设备上加装虫抑制装置100，来拓展自移动庭院设备的功能。在一些实施例中，由于蚊虫多喜于聚集在阴凉的多叶植物上，而多叶植物一般位于草坪的边界位置，边界位置处通常埋设有边界线，因此，加装有虫抑制装置100的自动割草机可沿边界线移动进行蚊虫驱除，即言，此时自动割草机可无需借助GPS而是通过识别边界线的电信号进而沿边界线移动完成蚊虫驱除，如此可省去额外的驱虫路径规划，提升自动割草机的驱虫便利性。In the embodiment where the mobile device 200 is an automatic lawn mower, the automatic lawn mower itself has the function of automatically mowing the lawn, which frees the user from the labor of lawn maintenance. By installing the insect suppression device 100 on the automatic lawn mower, the automatic lawn mower has the function of insect suppression at the same time, which expands the use of the automatic lawn mower and improves the quality of life of the user. Of course, the function of the self-moving garden equipment can also be expanded by adding the insect suppression device 100 to other self-moving garden equipment. In some embodiments, because mosquitoes tend to gather on shady leafy plants, and leafy plants are generally located at the border of the lawn, and the border line is usually buried at the border. Therefore, the automatic insect suppression device 100 is installed. The lawn mower can move along the boundary line to repel mosquitoes, that is, at this time, the automatic lawn mower can eliminate the mosquitoes by identifying the electrical signal of the boundary line and move along the boundary line without the help of GPS, which can save additional repellent paths. Plan to improve the convenience of insect repelling of automatic lawn mowers.

由于虫类多于夜间出动叮咬人类，虫类在夜间的聚集度大，夜间人类在室外活动或室内休息时，遭受虫类骚扰的概率大。因此，可以令虫抑制装置100在夜间启动工作，以使人们免受虫类骚扰。Since more insects are sent out to bite humans at night, the concentration of insects at night is large, and humans are more likely to be harassed by insects during outdoor activities or indoor rest at night. Therefore, the insect suppression device 100 can be activated at night to prevent people from being harassed by insects.

具体的，如图11、图13和图14所示，在一个实施例中，虫抑制装置100还可以包括与虫抑制模块103连接的控制模块101，以及与控制模块101连接的感光元件104。感光元件104用于感测外界环境的光照强度，控制模块101可基于感光元件104感测到的外界环境中的光照强度控制虫抑制模块103操作。Specifically, as shown in FIGS. 11, 13 and 14, in one embodiment, the insect suppression device 100 may further include a control module 101 connected to the insect suppression module 103 and a photosensitive element 104 connected to the control module 101. The photosensitive element 104 is used to sense the light intensity of the external environment, and the control module 101 can control the operation of the insect suppression module 103 based on the light intensity in the external environment sensed by the photosensitive element 104.

在本实施例中，控制模块101基于感光元件104感测到的外界环境的光照强度来判断当前时间是否已经到傍晚或夜间。感光元件104可以为任意能够感测到外界环境的光照强度的构造，例如光敏元件、光照度传感器等。当感光元件104感测到外界环境的光照强度降低至设定阈值时，控制模块101控制虫抑制模块103开启。或者，也可以说，当感光元件104用于感测到外界环境的光照强度未降低至设定阈值时，控制模块101控制虫抑制模块103维持当前的关闭或静息状态。In this embodiment, the control module 101 determines whether the current time has reached evening or night based on the light intensity of the external environment sensed by the photosensitive element 104. The photosensitive element 104 may be any structure capable of sensing the light intensity of the external environment, such as a photosensitive element, an illuminance sensor, and the like. When the photosensitive element 104 senses that the light intensity of the external environment decreases to a set threshold, the control module 101 controls the insect suppression module 103 to turn on. Alternatively, it can also be said that when the light intensity used by the photosensitive element 104 to sense that the external environment has not decreased to a set threshold, the control module 101 controls the insect suppression module 103 to maintain the current closed or resting state.

在本实施例中，设定阈值可根据实际情况进行设置，本实施例对此不作限定。通常情况下，黑夜时外界环境的亮度为0.001-0.02勒克斯，月夜为0.02-0.3勒克斯。则预设阈值可设置的稍高于上述值，例如可以为10或15勒克斯。这样，控制模块101可控制虫抑制模块103提高开启操作。In this embodiment, the setting threshold can be set according to actual conditions, which is not limited in this embodiment. Under normal circumstances, the brightness of the external environment is 0.001-0.02 lux at night, and 0.02-0.3 lux at moonlit night. Then the preset threshold can be set slightly higher than the above-mentioned value, for example, it can be 10 or 15 lux. In this way, the control module 101 can control the insect suppression module 103 to improve the opening operation.

控制模块101具体控制虫抑制模块103的操作可以为，在虫抑制模块103包括诱捕单元103a，且诱捕单元103a为诱捕灯的实施例中，控制模块101可基于感光元件104感测到的光照强度控制诱捕灯启闭或亮度变化。进一步地，当感光元件104感测到外界环境的光照强度降低至设定阈值时，控制模块101控制诱捕灯开启。并且，当感光元件104感测到外界环境的光照强度在一段时间内不断降低时，控制模块101可控制诱捕灯的亮度逐渐增强。The control module 101 specifically controls the operation of the insect suppression module 103 as follows. In an embodiment where the insect suppression module 103 includes a trap unit 103a, and the trap unit 103a is a trap lamp, the control module 101 can be based on the light intensity sensed by the photosensitive element 104. Control the opening and closing of the trapping lamp or the brightness change. Further, when the light-sensing element 104 senses that the light intensity of the external environment decreases to a set threshold, the control module 101 controls the trap lamp to turn on. In addition, when the light-sensing element 104 senses that the light intensity of the external environment continuously decreases for a period of time, the control module 101 can control the brightness of the trap lamp to gradually increase.

而在诱捕单元103a为容置在容腔中的诱捕剂，且容腔的开口端设有阀的实施例中，控制模块101可基于感光元件104感测到的光照强度控制阀启闭或开度变化。具体的，当感光元件104感测到外界环境的光照强度降低至设定阈值时，控制模块101控制阀开启。并且，当感光元件104感测到外界环境的光照强度在一段时间内不断降低时，控制模块101可控制阀的开度逐渐增大。In the embodiment where the trapping unit 103a is a trapping agent accommodated in the cavity, and the opening end of the cavity is provided with a valve, the control module 101 can control the opening and closing or opening of the valve based on the light intensity sensed by the photosensitive element 104度变。 Degree changes. Specifically, when the photosensitive element 104 senses that the light intensity of the external environment drops to a set threshold, the control module 101 controls the valve to open. Moreover, when the light-sensing element 104 senses that the light intensity of the external environment continues to decrease for a period of time, the control module 101 can control the opening of the valve to gradually increase.

在诱捕剂需要触发产生引诱气体的实施例中，控制模块101可基于感光元件104感测到的光照强度控制触发组件开启或关闭。具体的，当感光元件104感测到外界环境的光照强度降低至设定阈值时，控制模块101控制触发组件开启(例如加热元件开始通电加热、搅拌元件开始搅拌、振动元件开始振动)。并且，当感光元件104感测到外界环境的光照强度在一段时间内不断降低时，控制模块101可触发组件的操作强度逐渐增强。In the embodiment where the trapping agent needs to trigger the generation of the attracting gas, the control module 101 may control the triggering component to be turned on or off based on the light intensity sensed by the photosensitive element 104. Specifically, when the light-sensing element 104 senses that the light intensity of the external environment decreases to a set threshold, the control module 101 controls the trigger component to turn on (for example, the heating element starts to be energized and heated, the stirring element starts to stir, and the vibrating element starts to vibrate). Moreover, when the light-sensing element 104 senses that the light intensity of the external environment continuously decreases for a period of time, the control module 101 can trigger the operation intensity of the component to gradually increase.

而在虫抑制模块103包括灭杀单元103b或驱离单元103c的实施例中，控制模块101基于感光元件104感测到的光照强度控制灭杀单元103b/驱离单元103c开启或关闭。具体的，当感光元件104感测到外界环境的光照强度降低至设定阈值时，控制模块101控制风机、电网操作、虫抑制物质释放；或者，控制模块101控制超声波发生装置、驱虫灯操作、驱虫物质释放等。In the embodiment where the insect suppression module 103 includes the killing unit 103b or the repelling unit 103c, the control module 101 controls the killing unit 103b/repelling unit 103c to turn on or off based on the light intensity sensed by the photosensitive element 104. Specifically, when the light-sensing element 104 senses that the light intensity of the external environment drops to a set threshold, the control module 101 controls the fan, the operation of the power grid, and the release of insect suppression substances; or, the control module 101 controls the operation of the ultrasonic generator and the insect repellent lamp. , Repellent substance release, etc.

进一步地，当满足预设条件时，控制模块101可控制虫抑制模块103停止工作或关闭，以避免虫抑制模块103一直处于工作状态。其中，预设条件可以包括：虫抑制模块103工作达到预定时长(例如1小时)，或者感光元件104感测到外界环境的光照强度升高至设定阈值以上，或者控制模块101接收到停止工作的指令信号。Further, when the preset condition is met, the control module 101 can control the insect suppression module 103 to stop working or shut down, so as to prevent the insect suppression module 103 from being in the working state all the time. Among them, the preset conditions may include: the insect suppression module 103 works for a predetermined period of time (for example, 1 hour), or the photosensitive element 104 senses that the light intensity of the external environment rises above a set threshold, or the control module 101 receives the stop of work Command signal.

其中，虫抑制模块103工作达到预定时长可通过如下方式实现：控制模块101包括工作时间设定单元，其可接收用户的触发而设置或者修改工作时间。当控制模块101检测到其控制虫抑制模块103开启工作的时间达到用户设置的工作时间时，即控制虫抑制模块103关闭或停止工作。Wherein, the insect suppression module 103 working for a predetermined time period can be implemented in the following manner: the control module 101 includes a working time setting unit, which can receive a user's trigger to set or modify the working time. When the control module 101 detects that its control insect suppression module 103 is turned on for the time set by the user, that is, the control insect suppression module 103 is turned off or stops working.

在预设条件为控制模块101获取到停止工作的指令信号的实施例中，此时感光元件104感测到外界环境的光照强度可能仍低于设定阈值，但停止工作指令信号的优先级高于感光元件104感测到外界环境的光照强度低于设定阈值时感光元件104提供给控制模块101的触发指令信号。因此，控制模块101可基于停止工作的指令信号强制控制虫抑制模块103停止工作或关闭。In the embodiment where the preset condition is that the control module 101 obtains the instruction signal to stop working, the light intensity of the external environment sensed by the photosensitive element 104 may still be lower than the set threshold at this time, but the priority of the stop working instruction signal is high The photosensitive element 104 provides a trigger instruction signal to the control module 101 when the photosensitive element 104 senses that the light intensity of the external environment is lower than the set threshold. Therefore, the control module 101 can forcibly control the insect suppression module 103 to stop working or shut down based on the stop working instruction signal.

控制模块101获取到的停止工作指令信号可以为基于用户的触发操作而产生的。举例为，在一个实施例中，虫抑制装置100的操作面板上可设有急停按钮，与控制模块101连接。用户可按下急停按钮，触发产生该停止工作的指令信号。The stop working instruction signal acquired by the control module 101 may be generated based on a user's trigger operation. For example, in one embodiment, an emergency stop button may be provided on the operation panel of the insect suppression device 100, which is connected to the control module 101. The user can press the emergency stop button to trigger the generation of the instruction signal to stop the work.

或者，上述急停按钮可设在自移动设备200的操作面板上，虫抑制装置100与自移动设备200信号连接。具体如图13和图14所示，虫抑制装置100包括与控制模块101连接的第二通讯模块102，急停按钮与工作机控制模块202连接，工作机控制模块202与第二通讯模块102通讯连接。当虫抑制装置100设在自移动设备200上时，用户可按压急停按钮，触发产生停止工作的指令信号，工作机控制模块202通过与之连接的第二通讯模块102将停止工作的指令信号提供给虫抑制装置100的控制模块101。Alternatively, the aforementioned emergency stop button may be provided on the operation panel of the self-mobile device 200, and the insect suppression device 100 is signally connected to the self-mobile device 200. Specifically, as shown in Figures 13 and 14, the pest suppression device 100 includes a second communication module 102 connected to the control module 101, the emergency stop button is connected to the working machine control module 202, and the working machine control module 202 communicates with the second communication module 102. connect. When the insect suppression device 100 is installed on the mobile device 200, the user can press the emergency stop button to trigger the generation of a stop instruction signal, and the working machine control module 202 will stop the work instruction signal through the second communication module 102 connected to it. Provided to the control module 101 of the insect suppression device 100.

又或者，第二通讯模块102与外部设备300连接，外部设备例如为客户端，用户操作外部设备300，使其产生停止工作的指令信号，外部设备300再将其提供给控制模块101。Or, the second communication module 102 is connected to an external device 300, for example, the external device is a client. The user operates the external device 300 to generate an instruction signal to stop working, and the external device 300 provides it to the control module 101.

以自移动设备200为自动割草机实施例为例，自动割草机主要在日间执行割草工作，夜间处于空闲状态，使装有虫抑制装置100的自动割草机在夜间执行虫抑制工作，使得同一设备日夜分时执行不同工作，充分利用了设备的价值。且自动割草机刀盘工作噪音大，而夜间仅启动虫抑制装置100，噪音小，不会打扰到人们休息，符合人们对产品的预期。Taking the embodiment of the mobile device 200 as an automatic lawn mower as an example, the automatic lawn mower mainly performs mowing work during the day and is idle at night, so that the automatic lawn mower equipped with the insect suppression device 100 performs insect suppression at night Work enables the same equipment to perform different tasks day and night, making full use of the value of the equipment. In addition, the cutter head of the automatic lawn mower has a large working noise, and only the insect suppression device 100 is activated at night, and the noise is small, and it will not disturb people's rest, which is in line with people's expectations of the product.

在一个优选的实施例中，当虫抑制装置100处于与自移动设备200附接在一起的第一工作状态时，主工作模块与虫抑制装置100是分开工作的，即两者其中一个操作时，另一个不操作。包括：主工作模块操作，虫抑制装置100不操作；以及虫抑制装置100操作，主工作模块不操作。In a preferred embodiment, when the insect suppression device 100 is in the first working state attached to the self-moving device 200, the main working module and the insect suppression device 100 work separately, that is, when one of the two is operating , The other does not operate. Including: the operation of the main work module, the insect suppression device 100 does not operate; and the operation of the insect suppression device 100, the main work module does not operate.

更进一步地，在上述实施例的基础上，主工作模块不操作，而虫抑制装置100操作。并且，行走模块203带动自移动设备200承载着虫抑制装置100移动，进行移动式灭虫。或者，自移动设备200承载着虫抑制装置100在预设工作区域定点停留，进行定点式灭虫/驱虫。Furthermore, on the basis of the above-mentioned embodiment, the main working module does not operate, but the insect suppression device 100 operates. In addition, the walking module 203 drives the self-mobile device 200 to carry the insect suppression device 100 to move to carry out mobile extermination. Alternatively, the self-mobile device 200 carries the insect suppression device 100 and stops at a fixed point in the preset working area to perform fixed-point insect extermination/deworming.

以自移动设备200为自动割草机为例，承接上文描述，自动割草机在夜间一般处于空闲状态，则此时自动割草机的刀盘不工作，不进行割草作业。而自动割草机可承载着虫抑制装置100缓慢移动进行移动式灭虫，或者承载着虫抑制装置100在定点停留进行定点式灭虫。Taking the mobile device 200 as an automatic lawn mower as an example, following the above description, the automatic lawn mower is generally in an idle state at night, and the cutter head of the automatic lawn mower is not working at this time and does not perform the mowing operation. The automatic lawn mower can carry the insect suppression device 100 to move slowly for mobile extermination, or carry the insect suppression device 100 to stay at a fixed point for fixed point extermination.

实际生活中，工作区域内常常存在某些虫类容易聚集的区域，例如为人类/动物等经常活动的区域，或者花草等繁杂的区域，因此，用户可选择地对这些重点区域进行重点灭蚊虫/驱蚊虫，具体地，用户可以控制自动割草机承载着虫抑制装置进入上述重点区域对蚊虫进行定点式灭杀/驱离。In actual life, there are often areas where certain insects tend to gather in the work area, such as areas where humans/animals are frequently active, or areas with complex flowers and plants. Therefore, users can choose to focus on mosquitoes in these key areas. Insect/mosquito repellent, specifically, the user can control the automatic lawn mower carrying the insect suppression device to enter the above-mentioned key area to kill/repel mosquitoes at a fixed point.

为实现上述目的，该预设工作区域(重点区域)可由用户预先设置或由自移动设备自动获取。其中，用户预先设置的方案包括多种。在一种实施方式中，用户预先在预设工作区域和/或预设工作区域的附近铺设导线，自移动设备识别导线传输的电信号后，控制主体承载虫抑制装置沿着导线移动到预设工作区域进行定点停留。In order to achieve the above purpose, the preset working area (key area) can be preset by the user or automatically acquired from the mobile device. Among them, there are many kinds of schemes preset by the user. In one embodiment, the user lays wires in the preset work area and/or the vicinity of the preset work area in advance, and after the mobile device recognizes the electrical signal transmitted by the wire, controls the main body to carry the insect suppression device to move along the wire to the preset Make a fixed stop in the work area.

在自动割草机领域，通常在工作区域的边界上铺设流通电信号的导线来限制工作区域的范围(下文简称边界线)，在一个具体的实施例中，自动割草机可以沿着边界线行走到上述需要定点驱蚊的重点区域。例如，用导线将工作区域分割成多个小工作区域，每个小工作区域都是一个独立的导线回路，当需要对某个小工作区域进行定点灭虫时，控制该区域流通电信号，自动割草机沿着该边界行走到该区域进行蚊虫灭杀/驱离。In the field of automatic lawn mowers, wires for circulating electrical signals are usually laid on the boundary of the work area to limit the scope of the work area (hereinafter referred to as the boundary line). In a specific embodiment, the automatic lawn mower may follow the boundary line Walk to the above-mentioned key areas that require fixed-point mosquito repellent. For example, use wires to divide the work area into multiple small work areas. Each small work area is an independent wire loop. When a small work area needs to be disinfested at a fixed point, the current signal in the area is controlled to automatically The lawn mower walks along the border to the area to kill/repel mosquitoes.

在一些实施例中，根据各个工作区域的蚊虫聚集程度，自动割草机在各个工作区域以不同的工作时间驱蚊。在一些实施例中，自动割草机在蚊虫聚集程度大的工作区域的工作时间长于自动割草机在蚊虫聚集程度小的工作区域的工作时间。在一具体实施例中，工作区域被划分为A、B、C三个小工作区域，当A工作区域的蚊虫聚集程度约为B和C工作区域的两倍时，可设置自动割草机在A工作区域以50％的工作时间驱蚊，在B工作区域以25％的工作时间驱蚊，在C工作区域以25％的工作时间驱蚊；而当A工作区域的蚊虫聚集程度约为B和C工作区域的三倍时，则可设置自动割草机在A工作区域以60％的工作时间驱蚊，在B工作区域以20％的工作时间驱蚊，在C工作区域以20％的工作时间驱蚊。在其他实施例中，A、B、C工作区域的蚊虫聚集程度也可以各不相同，对应的A、B、C工作区域的驱蚊时间也各不相同。根据各区域蚊虫的聚集程度来设置各区域的驱蚊时间，有利于更充分地利用驱蚊设备资源，从而更好地对不同区域的蚊虫进行灭杀/驱离。In some embodiments, the automatic lawn mower uses different working hours to repel mosquitoes in each work area according to the degree of mosquito accumulation in each work area. In some embodiments, the working time of the automatic lawn mower in a working area with a large mosquito concentration is longer than the working time of the automatic lawn mower in a working area with a small mosquito concentration. In a specific embodiment, the working area is divided into three small working areas A, B, and C. When the mosquito concentration in the working area A is about twice that of the working areas B and C, the automatic lawn mower can be set at Repelling mosquitoes in working area A with 50% of the working hours, repelling mosquitoes in working area B with 25% of working hours, and repelling mosquitoes in working area C with 25% of working hours; and when the concentration of mosquitoes in working area A is about B When it is three times the working area of C, the automatic lawn mower can be set to repel mosquitoes in the A working area with 60% of the working time, in the B working area with 20% of the working time, and in the C working area with 20% of the working time. Mosquito repellent during working hours. In other embodiments, the degree of mosquito aggregation in the work areas A, B, and C may also be different, and the mosquito repellent time of the corresponding work areas A, B, and C are also different. Setting the mosquito repellent time in each area according to the concentration of mosquitoes in each area is conducive to making full use of mosquito repellent equipment resources, so as to better kill/repel mosquitoes in different areas.

在另一个具体的实施例中，可以在重点区域附近设置流通电信号的辅助导线，自移动设备沿着辅助导线行走可直接寻找到该重点区域。例如，自移动设备在沿着边界线行走的过程中，识别到与边界线信号不同，具有特定特征的电信号时，自移动设备即可判断识别到重点区域，此时沿着辅助导线即可进入到该区域进行蚊虫灭杀/驱离。In another specific embodiment, an auxiliary wire for circulating electric signals may be set near the key area, and the key area can be directly found by walking along the auxiliary wire from the mobile device. For example, when the mobile device is walking along the boundary line and recognizes an electrical signal with specific characteristics that is different from the boundary line signal, the mobile device can determine and recognize the key area, and then follow the auxiliary wire. Enter the area to kill/repel mosquitoes.

在另一种实施方式中，用户预先在预设工作区域和/或预设工作区域的附近设置标记物，自移动设备识别到标记物后，可控制主体承载虫抑制装置进入到该预设工作区域，例如，在重点区域内或者重点区域的边界上设置一些有源/无源标记物进行标记，以使得自移动设备能够自动识别该区域进行蚊虫灭杀/驱离。In another embodiment, the user sets markers in the preset work area and/or the vicinity of the preset work area in advance. After the mobile device recognizes the markers, the user can control the main body carrying insect suppression device to enter the preset work. Areas, for example, some active/passive markers are set in the key area or on the boundary of the key area for marking, so that the mobile device can automatically identify the area for mosquito killing/repelling.

在一个具体的实施例中，用户可以在重点区域的边界上设置磁体组件，例如磁条/磁钉，具体地，自移动设备沿着边界行走时，利用自身设置的磁体检测元件识别到磁体组件产生的磁信号后，从而进入到该重点区域进行蚊虫灭杀/驱离。在另外的实施例中，用户也可以对重点区域的边界线进行特殊处理以进行标记，例如对该处边界线进行打折或缠绕等处理，使得该处的边界信号明显不同于未做处理的边界线信号，如此，自动割草机即可识别到该重点区域。可理解地，也可以在边界上设置一些其他标记物，自动割草机通过识别到其他标记物的特征而进入到工作区域内。In a specific embodiment, the user can set a magnet assembly, such as a magnetic strip/magnetic nail, on the boundary of the key area. Specifically, when the mobile device walks along the boundary, the magnet assembly is recognized by the magnet detection element set by itself. After the generated magnetic signal, it enters the key area to kill/repel mosquitoes. In another embodiment, the user can also perform special processing on the boundary line of the key area for marking, such as discounting or winding the boundary line, so that the boundary signal at this place is obviously different from the unprocessed boundary. Line signal, so that the automatic lawn mower can identify the key area. Understandably, some other markers can also be set on the border, and the automatic lawn mower enters the working area by recognizing the characteristics of the other markers.

在另一种实施方式中，用户可以在交互设备上设置预设工作区域，自移动设备计算其自身至预设工作区域的移动路径，并控制主体承载虫抑制装置沿该移动路径进入到该预设工作区域，该交互设备为用户可在其上进行工作区域的建立、修改、确认等操作的设备，在一个具体的实施例中，用户在终端设备的APP上设置定点驱蚊的重点区域，并将该重点区域传输至自移动设备的控制模块，自移动设备计算其自身至重点区域的移动路径，并利用RTK/GPS定位模块配合里程计/陀螺仪传感器等沿着移动路径自动行走到该重点区域。可变形地，用户也可以在自移动设备的操作面板上设置需要定点灭蚊的重点区域，此时自移动设备可直接计算出移动路径并控制自身移动到该重点区域。In another embodiment, the user can set a preset work area on the interactive device, calculate the movement path from the mobile device to the preset work area, and control the main body carrying insect suppression device to enter the preset work area along the movement path. Set the working area, the interactive device is a device on which the user can perform operations such as establishing, modifying, and confirming the working area. In a specific embodiment, the user sets the key area of fixed-point mosquito repellent on the APP of the terminal device, The key area is transmitted to the control module of the mobile device, and the mobile device calculates the movement path from itself to the key area, and uses the RTK/GPS positioning module to cooperate with the odometer/gyro sensor to automatically walk there along the movement path. Focus area. In a deformable manner, the user can also set a key area on the operation panel of the self-mobile device that needs to be targeted to kill mosquitoes. At this time, the self-mobile device can directly calculate the movement path and control itself to move to the key area.

自移动设备自动获取预设工作区域的位置也包括多种。在一个具体的实施例中，自移动设备可通过获取自身与重点区域的相对坐标和/或绝对坐标的方案自动获取到重点区域的位置，具体地，在重点区域内设置有UWB等定位信标，自移动设备本身也设有UWB定位模块，此时，通过定位信标之间的信号传输，自移动设备能够实时获取重点区域的相对坐标，从而行走到该重点区域内。在另一个具体的实施例中，自移动设备已知重点区域的绝对坐标，通过自身的定位装置(GPS等定位装置)实时获取重点区域的位置，从而行走到重点区域内。There are also many ways to automatically obtain the position of the preset working area from the mobile device. In a specific embodiment, the self-mobile device can automatically obtain the location of the key area by acquiring the relative coordinates and/or absolute coordinates between itself and the key area. Specifically, positioning beacons such as UWB are provided in the key area. The self-mobile device itself is also equipped with a UWB positioning module. At this time, through the signal transmission between the positioning beacons, the self-mobile device can obtain the relative coordinates of the key area in real time, so as to walk into the key area. In another specific embodiment, the absolute coordinates of the key area are known from the mobile device, and the position of the key area is obtained in real time through its own positioning device (positioning device such as GPS), so as to walk into the key area.

在另一个具体的实施例中，自移动设备也可以直接识别到用户/表征用户的特征，例如自移动设备可以通过图像识别技术识别到用户，或者识别到用户家的宠物等动物体，从而停留到用户附近进行蚊虫定点灭杀/驱离。在其他实施例中，也可以通过自移动设备与用户携带的信号源之间的信号传输而识别用户的位置，例如，可以通过用户的手机、平板电脑等终端设备与自移动设备进行蓝牙配对，自移动设备根据蓝牙信号强度实时判断自移动设备与用户的手机的距离，从而能够停留到用户附近进行定点驱蚊。当然，在其他实施例中也可以通过检测自移动设备与用户的终端设备之间的无线信号强度等方式检测距离，从而停留到用户附近进行蚊虫定点灭杀/驱离。In another specific embodiment, the self-mobile device can also directly recognize the user/characteristics of the user. For example, the self-mobile device can recognize the user through image recognition technology, or recognize animals such as pets in the user’s home, and stay there. Go to the user's vicinity for targeted killing/repelling of mosquitoes. In other embodiments, the location of the user can also be identified through signal transmission between the mobile device and the signal source carried by the user. For example, the user’s mobile phone, tablet computer and other terminal devices can be paired with the mobile device via Bluetooth. The self-mobile device judges the distance between the self-mobile device and the user's mobile phone in real time according to the Bluetooth signal strength, so that it can stay near the user for fixed-point mosquito repellent. Of course, in other embodiments, the distance can also be detected by detecting the strength of the wireless signal between the mobile device and the user's terminal device, etc., so as to stay near the user for spot killing/repelling of mosquitoes.

通过上述设计，当虫抑制装置100操作时，自移动设备200的主工作模块不操作，可避免自移动设备200的主工作模块由于操作而发出的巨大声响，如此可最大限度的降低甚至避免对蚊虫的惊扰，从而降低蚊虫由于受到声响的惊吓而飞离或逃离的概率，保证灭杀效果。相似的，自移动设备200承载着虫抑制装置100进行定点式灭虫，也可达到上述效果，甚至效果更佳。Through the above design, when the insect suppression device 100 is operating, the main working module of the mobile device 200 does not operate, which can prevent the main working module of the mobile device 200 from making loud noises due to the operation, which can minimize or even avoid The disturbance of mosquitoes, thereby reducing the probability of mosquitoes flying or escaping due to sound fright, and ensuring the killing effect. Similarly, the self-mobile device 200 carrying the insect suppression device 100 to perform fixed-point insect extermination can also achieve the above-mentioned effects, or even better.

本发明实施例的虫抑制装置100可以为一个独立的附件，与自移动设备200的主体3可拆卸的连接。从而虫抑制装置100具有与主体3附接在一起的第一工作状态，以及与主体3分离的第二工作状态。The insect suppression device 100 of the embodiment of the present invention may be an independent accessory that is detachably connected to the main body 3 of the mobile device 200. Thus, the insect suppression device 100 has a first working state attached to the main body 3 and a second working state separated from the main body 3.

本发明的一实施例中，当处于第一工作状态时，虫抑制装置100相对于自移动设备200的主体3可活动，虫抑制装置100可在相对主体3的工作状态和非工作状态之间切换。如图3所示，在工作状态下，虫抑制装置100可伸出自移动设备200的主体3，以方便虫抑制装置100的工作。如图1和图2所示，在非工作状态下，虫抑制装置100相对主体3向内回缩，避免日晒雨淋或外界污染物对虫抑制装置100的损毁，同时避免由于虫抑制装置100凸出而影响自移动设备200通过低矮灌木等工况下的通过性。In an embodiment of the present invention, when in the first working state, the insect suppression device 100 is movable relative to the main body 3 of the self-moving device 200, and the insect suppression device 100 can be between the working state and the non-working state relative to the main body 3 Switch. As shown in FIG. 3, in the working state, the insect suppression device 100 can extend from the main body 3 of the mobile device 200 to facilitate the operation of the insect suppression device 100. As shown in Figures 1 and 2, in the non-working state, the insect suppression device 100 retracts inward relative to the main body 3 to avoid damage to the insect suppression device 100 due to the sun and rain or external pollutants, and at the same time to avoid damage to the insect suppression device 100 due to the insect suppression device. 100 protruding affects the passability of the mobile device 200 through low shrubs and other working conditions.

进一步地，在工作状态下，虫抑制装置100具有第一工作角度以及第二工作角度。第一工作角度下虫抑制装置100朝前工作，以在自移动设备200移动的过程中，虫抑制装置100能迎面灭杀或捕获移动路径上的虫类。第二工作角度下虫抑制装置100朝后工作，以向自移动设备200驶过的区域喷洒虫抑制物质。当然，虫抑制装置100还可以包括其他多个工作角度，甚至可以旋转360度形成全方位覆盖。虫抑制装置100改变工作角度使得覆盖范围更广，虫抑制效果更好。虫抑制装置100相对主体3活动，可以通过电机等驱动机构带动，还可以包括螺纹、滑轨、弹性件等调节结构。虫抑制装置100可以做旋转运动、或平移运动、或复合运动。本实施例中，虫抑制装置100由工作机控制模块202控制自动实现状态的切换。在其他实施例中，虫抑制装置100也可以通过手动调节来改变状态。Further, in the working state, the insect suppression device 100 has a first working angle and a second working angle. The insect suppression device 100 at the first working angle works forward, so that during the movement from the mobile device 200, the insect suppression device 100 can kill or capture the insects on the moving path head-on. At the second working angle, the insect suppression device 100 works backwards to spray the insect suppression substance to the area driven by the mobile device 200. Of course, the insect suppression device 100 can also include multiple other working angles, and can even rotate 360 degrees to form an all-round coverage. The insect suppression device 100 changes the working angle so that the coverage area is wider and the insect suppression effect is better. The insect suppression device 100 moves relative to the main body 3 and can be driven by a driving mechanism such as a motor, and can also include adjustment structures such as threads, sliding rails, and elastic members. The insect suppression device 100 can perform a rotation movement, a translation movement, or a compound movement. In this embodiment, the insect suppression device 100 is controlled by the working machine control module 202 to automatically switch the state. In other embodiments, the insect suppression device 100 can also be manually adjusted to change the state.

如图10和图11所示，虫抑制装置100可配备有独立的控制模块101、或独立的开关15、或独立的指示器17。独立的控制模块101用于控制虫抑制装置100的工作。独立的开关15可以是按压、旋钮等机械开关，也可以是电子开关，例如触摸式、语音控制等，用于被触发而使虫抑制装置100开始或结束工作。独立的指示器17可以为指示灯，例如用多个LED灯指示不同的状态；或显示屏，显示状态信息，用于指示虫抑制装置100的工作状态，提示用户虫抑制装置100是否处于工作状态，是否出现异常，或虫抑制物质的容量，等等。As shown in FIG. 10 and FIG. 11, the insect suppression device 100 may be equipped with an independent control module 101, or an independent switch 15, or an independent indicator 17. The independent control module 101 is used to control the work of the pest suppression device 100. The independent switch 15 may be a mechanical switch such as a press or a knob, or an electronic switch, such as a touch type, a voice control, etc., which is used to be triggered to start or end the work of the insect suppression device 100. The independent indicator 17 may be an indicator light, for example, a plurality of LED lights are used to indicate different states; or a display screen, which displays status information, is used to indicate the working state of the insect suppression device 100 and prompt the user whether the insect suppression device 100 is in the working state , Whether there is an abnormality, or the capacity of the insect-inhibiting substance, etc.

在一个可行的实施例中，虫抑制装置100可不配置有独立的能源模块。则虫抑制装置100工作所需的电能，可由自移动设备200提供或外部电源提供。结合图12所示，具体的，当虫抑制装置100处于与自移动设备200附接在一起的第一工作状态时，虫抑制装置100可与主体3上配置的能源模块204连接，从自移动设备200上取电。则处于第一工作状态时，虫抑制装置100的一个或多个元件可以与自移动设备200的其他部件实现电源的共享。In a feasible embodiment, the insect suppression device 100 may not be equipped with an independent energy module. The power required for the operation of the insect suppression device 100 can be provided by the mobile device 200 or by an external power source. As shown in FIG. 12, specifically, when the insect suppression device 100 is in the first working state attached to the self-moving device 200, the insect suppression device 100 can be connected to the energy module 204 configured on the main body 3, so as to move from Power is taken on the device 200. When in the first working state, one or more components of the insect suppression device 100 can share power with other components of the mobile device 200.

当然，虫抑制装置100与自移动设备200实现共享的部件并不限于上述电源，在其他可行的实施例中，当处于第一工作状态时，虫抑制装置100还可以共享自移动设备200的其他部件。例如，虫抑制装置100可以不配置独立的指示器，而是通过设置在自移动设备200的主体3上的指示器来指示虫抑制装置100的状态。或者，自移动设备200包括无线通讯单元102b，与外部设备300通信，虫抑制装置100通过自移动设备200的无线通讯单元102b与外部设备300实现通信。亦或者，虫抑制装置100集成于自移动设备200，在自移动设备200出厂时即安装于自移动设备200的主体3。Of course, the components shared by the insect suppression device 100 and the mobile device 200 are not limited to the above-mentioned power supply. In other feasible embodiments, when in the first working state, the insect suppression device 100 can also share other components of the mobile device 200. part. For example, the insect suppression apparatus 100 may not be equipped with an independent indicator, but instead indicates the state of the insect suppression apparatus 100 through an indicator provided on the main body 3 of the mobile device 200. Alternatively, the mobile device 200 includes a wireless communication unit 102b to communicate with the external device 300, and the insect suppression device 100 communicates with the external device 300 through the wireless communication unit 102b of the mobile device 200. Or, the insect suppression device 100 is integrated in the self-mobile device 200, and is installed in the main body 3 of the self-mobile device 200 when the self-mobile device 200 leaves the factory.

虫抑制装置100处于第一工作状态时与自移动设备200的电连接方式可以为，如图10和图11所示，虫抑制装置100可包括对接接口19，用于与自移动设备200的主体3对接。对接接口19包括机械连接接口。具体的，虫抑制装置100包括与自移动设备200的主体3形配的结构，使得虫抑制装置100能够安装于自移动设备200的主体3。机械连接接口还可以包括滑轨或卡扣结构。对接接口19还可以包括电连接接口，电连接接口包括电源端子，实现与自移动设备200的能源模块204电连接。电连接接口的形式可以是接插件，方便插拔。When the insect suppression device 100 is in the first working state, the electrical connection with the self-mobile device 200 may be as shown in FIG. 10 and FIG. 3 docking. The docking interface 19 includes a mechanical connection interface. Specifically, the insect suppression device 100 includes a structure that matches with the main body 3 of the self-moving device 200 so that the insect suppression device 100 can be installed on the main body 3 of the self-moving device 200. The mechanical connection interface can also include a sliding rail or a snap structure. The docking interface 19 may also include an electrical connection interface, and the electrical connection interface includes a power terminal to realize electrical connection with the energy module 204 of the mobile device 200. The electrical connection interface can be in the form of a connector, which is convenient for plugging and unplugging.

在本实施例中，虫抑制装置100的对接接口19能够与自移动设备200主体3上对应的对接接口对接，从而实现虫抑制装置100的快速安装和拆卸，方便用户操作。一实施例中，虫抑制装置100可以无需工具的安装/拆卸。另一实施例中，虫抑制装置100通过螺钉等紧固件安装于自移动设备200的主体3。In this embodiment, the docking interface 19 of the pest suppression device 100 can be docked with the corresponding docking interface on the main body 3 of the mobile device 200, so as to realize the rapid installation and disassembly of the pest suppression device 100 and facilitate user operations. In one embodiment, the insect suppression device 100 can be installed/detached without tools. In another embodiment, the insect suppression device 100 is installed on the main body 3 of the self-moving device 200 by fasteners such as screws.

本实施例的虫抑制装置100与自移动设备200可拆卸的连接，虫抑制装置100作为产品附件，用户可以根据自身需求选配，实现个性化定制，也可以在购买自移动设备200后再购买虫抑制装置100，安装简单，从而可以简单的实现产品升级。The insect suppression device 100 of this embodiment is detachably connected to the mobile device 200. The insect suppression device 100 is used as a product accessory. The user can choose and match according to their own needs to achieve personalized customization, or they can purchase the mobile device 200 after purchasing it. The insect suppression device 100 is simple to install, so that product upgrades can be easily realized.

虫抑制装置100可安装于自移动设备200主体3的多个位置，包括主体3的上表面或侧面。并且，自移动设备200的主体3可包括多个虫抑制装置100的安装位置，用于安装一个或多个虫抑制装置100。如图4至图7所示，虫抑制装置100可设置在自移动设备200位于主工作模块7以上的任意区域。上述设计原因在于，蚊虫一般不会位于自移动设备200的底部；另外，如果虫抑制装置100安装在自移动设备200的底部，会影响自移动设备200执行主工作任务时的通过性。The insect suppression device 100 can be installed in a plurality of positions of the main body 3 of the mobile device 200, including the upper surface or the side surface of the main body 3. In addition, the main body 3 of the mobile device 200 may include a plurality of installation positions of the insect suppression device 100 for installing one or more insect suppression devices 100. As shown in FIGS. 4 to 7, the insect suppression device 100 can be installed in any area above the main working module 7 from the mobile device 200. The reason for the above design is that mosquitoes are generally not located at the bottom of the self-mobile device 200; in addition, if the insect suppression device 100 is installed at the bottom of the self-mobile device 200, the passage of the self-mobile device 200 when performing the main work task will be affected.

例如，结合图4和图5所示，在一个可行的实施例中，虫抑制装置100可设置在自移动设备200的顶部，具体可以为，设置在主体3的顶盖上，可整体凸出设于主体3，且高于主体3的上表面。进一步地，结合图3所示，虫抑制装置100可设于主体3的顶盖前部，虫抑制装置100的灭杀单元103b可以包括灭虫电网、或风机、或红外发热装置、或诱捕灯等，还可以包括集虫装置，自移动设备200移动的过程中，虫抑制装置100迎面灭杀或捕获移动路径上的虫类。或者，结合图1和图2所示，虫抑制装置100可设于主体3的顶盖后部，虫抑制装置100例如是喷洒装置，向自移动设备200驶过的区域喷洒虫抑制物质。或者，结合图6和图7所示，在另一个可行的实施例中，虫抑制装置100可部分嵌入在自移动设备200内，具体可以为，虫抑制装置100一部分位于主体3 内，另一部分露出主体3的顶盖。虫抑制装置100设于顶部，便于虫抑制物质的释放/虫抑制装置100与虫类的接触，从而能够更好的起到虫抑制的效果。For example, as shown in FIG. 4 and FIG. 5, in a feasible embodiment, the insect suppression device 100 can be arranged on the top of the self-moving device 200, specifically, it can be arranged on the top cover of the main body 3, and can protrude as a whole. It is set on the main body 3 and is higher than the upper surface of the main body 3. Furthermore, as shown in FIG. 3, the insect suppression device 100 can be provided at the front of the top cover of the main body 3. The killing unit 103b of the insect suppression device 100 can include a pest control grid, or a fan, or an infrared heating device, or a trap lamp. In the process of moving from the mobile device 200, the insect suppression device 100 kills or catches the insects on the moving path. Alternatively, as shown in FIG. 1 and FIG. 2, the insect suppression device 100 may be provided at the rear of the top cover of the main body 3. The insect suppression device 100 is, for example, a spraying device that sprays the insect suppression substance to the area driven by the mobile device 200. Alternatively, as shown in FIG. 6 and FIG. 7, in another feasible embodiment, the insect suppression device 100 may be partially embedded in the self-moving device 200. Specifically, it may be that a part of the insect suppression device 100 is located in the main body 3, and the other part is located in the main body 3. The top cover of the main body 3 is exposed. The insect suppression device 100 is arranged on the top to facilitate the release of the insect suppression substance/the contact between the insect suppression device 100 and the insects, so that the insect suppression effect can be better achieved.

亦或者，在再一个可行的实施例中，虫抑制装置100可设在自移动设备200的侧边(未示出)。例如，虫抑制装置100沿自移动设备200的行走方向，设在自移动设备200的一侧或者两侧。Or, in still another feasible embodiment, the insect suppression device 100 may be provided on the side of the mobile device 200 (not shown). For example, the insect suppression device 100 is provided on one side or both sides of the self-mobile device 200 along the walking direction of the self-mobile device 200.

当虫抑制装置100处于第一工作状态时，自移动设备200的主体3能被行走模块203带动而承载虫抑制装置100在预设区域内或沿预设路径移动；或者主体3承载虫抑制装置100在预设工作区域停留。具体的，如图8所示，在自移动设备200为自动割草机的工作场景中，自移动设备200在割草工作区域C内移动。A区域为用户活动区域，B区域为自动割草机执行虫抑制任务的虫抑制区域，或者，自动割草机也可以沿路径S移动来执行虫抑制任务。自动割草机可以在区域B内移动或沿路径S移动的同时执行虫抑制任务，也可以选择区域B内或路径S上的一个或多个工作位置，定点执行虫抑制任务。When the insect suppression device 100 is in the first working state, the main body 3 of the self-mobile device 200 can be driven by the walking module 203 to carry the insect suppression device 100 to move in a preset area or along a preset path; or the main body 3 carries the insect suppression device 100 stays in the preset working area. Specifically, as shown in FIG. 8, in a work scene where the self-moving device 200 is an automatic lawn mower, the self-moving device 200 moves in the mowing work area C. Area A is the user activity area, and area B is the insect suppression area where the automatic lawn mower performs the insect suppression task, or the automatic lawn mower can also move along the path S to perform the insect suppression task. The automatic lawn mower can perform the pest suppression task while moving in the area B or along the path S, or it can select one or more working positions in the area B or on the path S to perform the insect suppression task at a fixed point.

虫抑制区域B或路径S可以由用户引导自动割草机学习获得。具体的，自动割草机上安装有推杆，用户可推动自动割草机移动。或者，用户遥控自动割草机移动，移动轨迹形成为预设区域的边界或预设路径。The insect suppression area B or path S can be learned by the user guided by the automatic lawn mower. Specifically, a push rod is installed on the automatic lawn mower, and the user can push the automatic lawn mower to move. Or, the user remotely controls the movement of the automatic lawn mower, and the movement track forms the boundary of the preset area or the preset path.

或者，在另一个可行的实施例中，自动割草机可以将上述通过用户引导或者遥控获得的预设区域或预设路径信息通过通信单元传送给用户的外部设备(例如，智能手机)上与自动割草机匹配的应用程序(APP)中。用户可基于自动割草机提供来的预设区域或预设路径信号，在APP上设置需要定点停留的区域或者位置点、或者上述的虫抑制区域B、或者灭虫路径S。从而，用户可通过外部设备APP远程操控自动割草机在虫抑制区域B内预先设置的某个区域或某个或某些位置点停留，以实现定点式灭虫。或者，操控自动割草机沿预先设定的灭虫路径S进行缓慢的移动，以实现移动式灭虫。Or, in another feasible embodiment, the automatic lawn mower may transmit the above-mentioned preset area or preset path information obtained through user guidance or remote control to the user's external device (for example, smart phone) through the communication unit and The matching application (APP) of the automatic lawn mower. Based on the preset area or preset path signal provided by the automatic lawn mower, the user can set the area or location point that needs to stay at a fixed point, or the above-mentioned insect suppression area B, or the insect elimination path S on the APP. Therefore, the user can remotely control the automatic lawn mower through the external device APP to stay in a certain area or a certain position or points in the insect suppression area B to achieve fixed-point pest control. Or, the automatic lawn mower is controlled to move slowly along the preset pest-killing path S to achieve mobile pest-killing.

其中，所述“缓慢移动”具体可以为，自移动设备200的移动速度低于其正常工作时的速度，所述“正常工作”可以为自移动设备200执行主工作任务时的状态，亦即主工作模块7操作时的工作状态。举例为，自移动设备200为割草机，其在执行割草(刀盘运转)任务时，行走速度为V。那么，当割草机承载虫抑制装置100进行缓慢移动式灭虫时的速度可以为(0.01-0.5)V。当然，实际中，自移动设备200的“缓慢移动”的具体速度，并不限于上述所列。在其他可行的实施例中，该“缓慢移动”的速度可以为一定值，该定值可根据实际情况进行设定，但只要小于自移动设备200正常工作时的速度即可，本实施例对此不作限定。Wherein, the “slow movement” may specifically be that the moving speed of the self-mobile device 200 is lower than its normal working speed, and the “normal work” may be the state when the self-mobile device 200 performs the main work task, that is, The working state of the main working module 7 during operation. For example, the self-moving device 200 is a lawn mower, and its walking speed is V when it performs the task of mowing (cutter head operation). Then, when the lawn mower carries the insect suppression device 100 for slow-moving insect extermination, the speed may be (0.01-0.5)V. Of course, in practice, the specific speed of the "slow movement" of the mobile device 200 is not limited to the above list. In other feasible embodiments, the speed of the "slow movement" can be a certain value, which can be set according to actual conditions, but only needs to be less than the speed of the mobile device 200 during normal operation. This is not limited.

同样的，通过自移动设备200承载虫抑制装置100缓慢移动进行移动式灭虫，可降低自移动设备200在移动过程中的声音，最大限度的降低甚至避免对蚊虫的惊扰，降低蚊虫由于受到声响的惊吓而飞离或逃离的概率，保证灭杀效果。相似的，自移动设备200承载着虫抑制装置100进行定点式灭虫，也具有上述效果，甚至效果更佳。Similarly, by slowly moving the self-mobile device 200 carrying the insect suppression device 100 for mobile pest control, the sound of the self-mobile device 200 during the movement can be reduced, the disturbance to the mosquitoes can be minimized or even avoided, and the noise caused by the mosquitoes can be reduced. The probability of flying away or escaping from the shock, guarantees the killing effect. Similarly, the self-mobile device 200 carrying the insect suppression device 100 to perform fixed-point extermination also has the above-mentioned effects, and the effect is even better.

结合图12所示，而当虫抑制装置100处于与自移动设备200分离的第二工作状态时，虫抑制装置100可与外部供电电源400连接，从外部供电电源400供电。外部供电电源400被配置为可选择性的与虫抑制装置100或者其他电动工具连接，以为虫抑制装置100或者其他电动工具供电。在本实施例中，外部供电电源400可以包括充电宝、电池包中的任意一种。尤其，当外部供电电源400采用电池包时，其可配置为能够与其他诸如冲击钻、电钻、电镐、电锤、角磨机、吹风机等手持式电动工具可拆卸连接。也就是，电池包为标准部件，其不仅可以安装在虫抑制装置100上，用于给虫抑制装置100供电，还可以设置在其他电动工具上，用于为电动工具供电。从而，当处于第二工作状态时，虫抑制装置100仍可以与其他电动工具之间实现供电电源的共享。需要说明的是，充电宝也是一种电池包形式的供电电源，该充电宝式电池包具有一标准的电源输出端口，一般只要待充电电器(例如虫抑制装置)的电源输入端口能够与该电源输出端匹配，即可进行电力的传输。具体地，可以通过一充电线/数据线连通虫抑制装置100的电源输入端与充电宝的电源输出端，从而通过充电宝为虫抑制装置100供电。As shown in FIG. 12, when the insect suppression device 100 is in the second working state separated from the mobile device 200, the insect suppression device 100 can be connected to an external power supply 400 and powered from the external power supply 400. The external power supply 400 is configured to be selectively connected to the insect suppression device 100 or other electric tools to supply power to the insect suppression device 100 or other electric tools. In this embodiment, the external power supply 400 may include any one of a power bank and a battery pack. In particular, when the external power supply 400 adopts a battery pack, it can be configured to be detachably connected with other hand-held electric tools such as hammer drills, electric drills, electric picks, electric hammers, angle grinders, hair dryers and the like. That is, the battery pack is a standard component, which can not only be installed on the insect suppression device 100 to supply power to the insect suppression device 100, but also can be installed on other electric tools to supply power to the power tool. Therefore, when in the second working state, the insect suppression device 100 can still share the power supply with other electric tools. It should be noted that the power bank is also a power supply in the form of a battery pack. The power bank battery pack has a standard power output port. Generally, as long as the power input port of the electrical appliance to be charged (such as the insect suppression device) can be connected to the power supply The output terminal is matched, and the power transmission can be carried out. Specifically, the power input terminal of the insect suppression device 100 and the power output terminal of the power bank can be connected through a charging cable/data cable, so that the power bank can supply power to the insect suppression device 100.

虫抑制装置100与外部供电电源400的连接可以为拖曳式，也可以为嵌入式，还可以是接合式。拖曳式连接可以为：虫抑制装置100上设有连接线，连接线的一端与虫抑制装置100的控制模块101连接，另一端与外部供电电源400可拆卸连接。例如，连接线的端部可设有插接头，外部供电电源400可设有插接孔，插接头可***或拔出插接孔，籍此实现连接线与外部供电电源400的可拆卸连接。嵌入式连接可以为：虫抑制装置100中设有插接槽，具体可以为壳体9的表面向内凹陷形成，插接槽供外部供电电源400***以使外部供电电源400嵌入虫抑制装置100。该方式实现外部供电电源400与虫抑制装置100的控制模块101连接的具体方式可以为，插接槽中设有与控制模块101连接的配接部件，外部供电电源400设有与配接部件相对应的接触部件，当外部供电电源400***插接槽中时，配接部件与接触部件导电连接。配接部件可以为导电的插针、弹片等，接触部件可以对应为插槽、导电盘等。接合式连接可以为：虫抑制装置100中设有安装部，外部供电电源400与安装部可拆卸连接。例如，该安装部可以为电池包安装部，外部供电电源400为电池包。电池包通过卡接、滑槽连接等方式可拆卸的安装在电池包安装部上。The connection between the pest suppression device 100 and the external power supply 400 may be a drag type, an embedded type, or a joint type. The drag connection may be: a connecting wire is provided on the insect suppression device 100, one end of the connecting wire is connected to the control module 101 of the insect suppression device 100, and the other end is detachably connected to the external power supply 400. For example, the end of the connecting wire can be provided with a plug connector, the external power supply 400 can be provided with a plug hole, and the plug can be inserted or pulled out of the plug hole, thereby realizing a detachable connection between the connection wire and the external power supply 400. The embedded connection may be: an insertion groove is provided in the insect suppression device 100, specifically, the surface of the housing 9 may be recessed inward, and the insertion groove may be inserted into the external power supply 400 so that the external power supply 400 is embedded in the insect suppression device 100 . The specific method for realizing the connection between the external power supply 400 and the control module 101 of the pest suppression device 100 in this manner may be that the socket is provided with a matching component connected to the control module 101, and the external power supply 400 is provided with a matching component. For the corresponding contact part, when the external power supply 400 is inserted into the socket, the mating part and the contact part are electrically connected. The mating components can be conductive pins, shrapnels, etc., and the contacting components can correspond to sockets, conductive disks, and the like. The joint connection may be: an installation part is provided in the insect suppression device 100, and the external power supply 400 is detachably connected to the installation part. For example, the installation part may be a battery pack installation part, and the external power supply 400 is a battery pack. The battery pack can be detachably installed on the battery pack installation part by means of snap connection, chute connection, etc.

当虫抑制装置100处于第二工作状态时，虫抑制装置100可选择性地被放置在预定的工作点，或者，虫抑制装置100可选择性地在多个工作点之间切换。同样参照图12所示，当虫抑制装置100与自移动设备200分离时，用户可提拎着虫抑制装置100进行迁移，并将其放置在任何合适的工作点。例如，将虫抑制装置100放置在区域B内或者路径S上的任意一点，或者也可以在区域B内或路径S上的其他工作点点之间进行迁移，实现多点切换执行虫抑制任务。When the insect suppression device 100 is in the second operating state, the insect suppression device 100 can be selectively placed at a predetermined operating point, or the insect suppression device 100 can be selectively switched between multiple operating points. Also referring to FIG. 12, when the insect suppression device 100 is separated from the mobile device 200, the user can lift the insect suppression device 100 for migration, and place it at any suitable working point. For example, the insect suppression device 100 is placed at any point in the area B or on the path S, or it can also be moved between other working points in the area B or on the path S, so as to achieve multi-point switching to perform the insect suppression task.

结合图12所示，本实施例通过采用虫抑制装置100与自移动设备200可分离的附接，当虫抑制装置100处于与自移动设备200附接或集成的第一工作状态时，虫抑制装置100可从自移动设备200所配备的能源模块204取电，并可由自移动设备200带动而实现整机式移动虫抑制操作。而当虫抑制装置100处于与自移动设备200分离的第二工作状态时，虫抑制装置100作为一个便携式、独立的构造，可从外部供电电源400取电，并可被用户操作而放置在任意工作点或在工作点之间切换。从而，实现虫抑制装置100整机式移动虫抑制操作和便携式虫抑制操作的结合，为用户提供更多的操作选择，提升用户体验。As shown in FIG. 12, this embodiment adopts the detachable attachment of the insect suppression device 100 and the self-mobile device 200. When the insect suppression device 100 is in the first working state attached to or integrated with the self-mobile device 200, the insect suppression device The device 100 can obtain electricity from the energy module 204 equipped with the mobile device 200, and can be driven by the mobile device 200 to implement a complete mobile insect suppression operation. When the insect suppression device 100 is in the second working state separated from the mobile device 200, the insect suppression device 100 is a portable and independent structure that can be powered from the external power supply 400 and can be operated by the user and placed in any place. Work point or switch between work points. Thus, the combination of the whole-machine mobile insect suppression operation and the portable insect suppression operation of the insect suppression device 100 is realized, which provides users with more operation options and improves user experience.

如图9，图13和图14所示，本发明实施例还提供了一种自移动设备200，该自移动设备200能够与外部设备300通信。在本实施例中，外部设备300可以是任意一种能够为用户提供用户操作界面，并能够接入通信网络的终端设备。例如，外部设备300可以为移动智能电话、便携式计算机(例如笔记本电脑等)、平板电子设备、个人数字助理(PDA)或者智能可穿戴设备等，本实施例对此不作限定。As shown in FIG. 9, FIG. 13, and FIG. 14, an embodiment of the present invention also provides a self-mobile device 200, and the self-mobile device 200 can communicate with an external device 300. In this embodiment, the external device 300 may be any terminal device that can provide a user operation interface for the user and can access a communication network. For example, the external device 300 may be a mobile smart phone, a portable computer (such as a notebook computer, etc.), a tablet electronic device, a personal digital assistant (PDA), or a smart wearable device, etc., which is not limited in this embodiment.

自移动设备200包括的主体3、行走模块203、虫抑制装置100等结构，以及虫抑制装置100所包含的虫抑制模块103、控制模块101、感光元件104等结构，可参照上文的描述，在此不作赘述。进一步地，自移动设备200还包括设在主体3上的第一通讯模块201，用于与外部设备300通讯连接。The structure of the main body 3, the walking module 203, and the insect suppression device 100 included in the mobile device 200, and the insect suppression module 103, the control module 101, and the photosensitive element 104 included in the insect suppression device 100 can be referred to the above description. I will not repeat them here. Further, the mobile device 200 further includes a first communication module 201 provided on the main body 3 for communicating with the external device 300.

第一通讯模块201可包括有线通讯单元或无线通讯单元，以实现与外部设备300之间的有线通讯连接或无线通讯连接。具体的，无线通讯单元可包括Wifi、蜂窝、蓝牙、zigbee等通讯单元。有线通信可通过自移动设备200与外部设备300连接的电连接端子实现。自移动设备200与外部设备300之间的通讯连接，包括：自移动设备200接收外部设备300发送的信息，包括控制指令；或者，自移动设备200向外部设备300送状态信息，等等。The first communication module 201 may include a wired communication unit or a wireless communication unit to realize a wired communication connection or a wireless communication connection with the external device 300. Specifically, the wireless communication unit may include communication units such as Wifi, cellular, Bluetooth, and zigbee. Wired communication can be realized through an electrical connection terminal connected from the mobile device 200 to the external device 300. The communication connection between the mobile device 200 and the external device 300 includes: receiving information sent from the external device 300 from the mobile device 200, including control instructions; or sending status information from the mobile device 200 to the external device 300, and so on.

如图13所示，当虫抑制装置100处于与自移动设备200附接在一起的第一工作状态时，控制模块101可以与第一通讯模块201通讯连接，控制模块101可基于第一通讯模块201提供的触发指令和/或感光元件104感测到的光照强度控制虫抑制模块103操作；由于第一通讯模块201与外部设备300，因此触发指令为外部设备300被用户执行触发操作所产生的电信号。而当虫抑制装置100处于与自移动设备200分离的第二工作状态时，控制模块101可基于感光元件104感测到的光照强度控制虫抑制模块103操作。As shown in FIG. 13, when the insect suppression device 100 is in the first working state attached to the self-mobile device 200, the control module 101 may be communicatively connected with the first communication module 201, and the control module 101 may be based on the first communication module The trigger instruction provided by 201 and/or the light intensity sensed by the photosensitive element 104 controls the operation of the insect suppression module 103; since the first communication module 201 and the external device 300, the trigger instruction is generated by the external device 300 being triggered by the user electric signal. When the insect suppression device 100 is in the second working state separated from the mobile device 200, the control module 101 can control the operation of the insect suppression module 103 based on the light intensity sensed by the photosensitive element 104.

控制模块101与第一通讯模块201通讯连接的方式可以为，结合图10和图11所示，对接接口19还可以包括电连接接口，电连接接口包括通信端子。当对接接口19与自移动设备200插接时，实现控制模块101与第一通讯模块201的通讯连接。The communication connection between the control module 101 and the first communication module 201 may be as shown in conjunction with FIG. 10 and FIG. 11, the docking interface 19 may further include an electrical connection interface, and the electrical connection interface includes a communication terminal. When the docking interface 19 is plugged into the mobile device 200, the communication connection between the control module 101 and the first communication module 201 is realized.

如此，通过虫抑制装置100处于不同的工作状态时，采用不同的控制方式来对其进行控制，从而可提升虫抑制装置100以及配置该虫抑制装置100的自移动设备200的智能性，尽量降低用户的介入，提升用户的使用体验。In this way, when the insect suppression device 100 is in different working states, different control methods are used to control it, so that the intelligence of the insect suppression device 100 and the self-moving device 200 equipped with the insect suppression device 100 can be improved, and the intelligence of the insect suppression device 100 can be reduced as much as possible. The user’s intervention enhances the user’s experience.

举例为，当虫抑制装置100处于与自移动设备200附接在一起的第一工作状态时，虫抑制装置100通过自移动设备200与外部设备300之间实现通讯互连。从而，虫抑制装置100可通过自移动设备200接收外部设备300基于用户的触发操作而产生的控制指令，进而执行相应的操作。此时，用户可通过外部设备300对虫抑制装置100以及自移动设备200进行控制。具体而言，可以包括但不限于：虫抑制装置100的开启/关闭控制、开启时间和工作时长设定、预约时段设定等，自移动设备200的开启/关闭控制、工作区域和行走路径设置，等等。For example, when the insect suppression device 100 is in the first working state attached to the self-mobile device 200, the insect suppression device 100 realizes the communication interconnection between the self-mobile device 200 and the external device 300. Therefore, the insect suppression apparatus 100 can receive the control instruction generated by the external device 300 based on the user's trigger operation from the mobile device 200, and then perform the corresponding operation. At this time, the user can control the insect suppression device 100 and the mobile device 200 through the external device 300. Specifically, it may include, but is not limited to: the on/off control of the insect suppression device 100, the on time and working duration setting, the reservation time period setting, etc., the on/off control of the mobile device 200, the working area and the walking path setting ,and many more.

而当虫抑制装置100处于与自移动设备200分离的第二工作状态时，虫抑制装置100的控制模块101可基于感光元件104感测到的光照强度控制虫抑制模块103操作。从而，当虫抑制装置100与自移动设备200分离而不与外部设备300通讯连接时，仍可由控制模块101基于感光元件104感测到的光照强度对虫抑制模块103实现自动控制，继而虫抑制装置100仍可实现自动化和智能化操作。When the insect suppression device 100 is in the second working state separated from the mobile device 200, the control module 101 of the insect suppression device 100 can control the operation of the insect suppression module 103 based on the light intensity sensed by the photosensitive element 104. Therefore, when the insect suppression device 100 is separated from the mobile device 200 and is not in communication with the external device 300, the control module 101 can still automatically control the insect suppression module 103 based on the light intensity sensed by the photosensitive element 104, and then the insect suppression The device 100 can still realize automation and intelligent operation.

当然，当处于与第二工作状态时，虫抑制装置100也可以由外部设备300直接进行控制。也就是说，虫抑制装置100也可以直接与外部设备300之间进行通讯连接。具体的，承接上文描述，虫抑制装置100可包括第二通讯模块102。则进一步地，虫抑制装置100可实现与自移动设备200或外部的外部设备300之间的通信。也就是说，在本实施例中，虫抑制装置100既可通过自移动设备200与外部设备300间接通讯连接，也可与外部设备300直接通讯连接。Of course, when in the second working state, the insect suppression device 100 can also be directly controlled by the external device 300. In other words, the insect suppression device 100 can also directly communicate with the external device 300. Specifically, following the above description, the insect suppression device 100 may include a second communication module 102. Furthermore, the insect suppression device 100 can realize communication with the mobile device 200 or an external external device 300. That is to say, in this embodiment, the insect suppression device 100 can be indirectly connected to the external device 300 through the mobile device 200, or can be directly connected to the external device 300 through the communication connection.

具体的，如图13所示，当处于第一工作状态时，虫抑制装置100的控制模块101先与自移动设备200的第一通讯模块201连接之后，再通过第一通讯模块201与外部设备300通讯连接。而当处于第二工作状态时，虫抑制装置100的控制模块101通过其自身配备的第二通讯模块102直接与外部设备300通讯连接。Specifically, as shown in FIG. 13, when in the first working state, the control module 101 of the insect suppression device 100 is first connected to the first communication module 201 of the mobile device 200, and then communicates with the external device through the first communication module 201 300 communication connections. When in the second working state, the control module 101 of the insect suppression device 100 directly communicates with the external device 300 through the second communication module 102 equipped by itself.

由于虫抑制装置100处于第二工作状态时，控制模块101基于感光元件104感测到的光照强度对虫抑制模块103实现自动控制。因此，当虫抑制装置100与外部设备300直接通讯连接时，控制模块101可基于第二通讯模块102提供的触发指令控制虫抑制模块103调节或修改工作模式。具体的，第二通讯模块102向控制模块101提供的触发指令为外部设备300基于用户的触发操作而产生的。同上文描述，第二通讯模块102向控制模块101提供的触发指令的优先级高于感光元件104感测到外界环境的光照强度低于设定阈值时感光元件104提供给控制模块101的触发指令信号。因此，控制模块101可基于第二通讯模块102提供的触发指令，对感光元件104感测到外界环境的光照强度低于设定阈值时感光元件104提供给控制模块101的触发指令信号而控制虫抑制模块103的原有操作或工作行为进行调节或修改。Since the insect suppression device 100 is in the second working state, the control module 101 automatically controls the insect suppression module 103 based on the light intensity sensed by the photosensitive element 104. Therefore, when the insect suppression device 100 is in a direct communication connection with the external device 300, the control module 101 can control the insect suppression module 103 to adjust or modify the working mode based on the trigger command provided by the second communication module 102. Specifically, the trigger instruction provided by the second communication module 102 to the control module 101 is generated by the external device 300 based on a user's trigger operation. As described above, the trigger instruction provided by the second communication module 102 to the control module 101 has a higher priority than the trigger instruction provided by the photosensitive element 104 to the control module 101 when the photosensitive element 104 senses that the light intensity of the external environment is lower than the set threshold. Signal. Therefore, the control module 101 can control the insect by the trigger instruction signal provided by the photosensitive element 104 to the control module 101 when the photosensitive element 104 senses that the light intensity of the external environment is lower than the set threshold value based on the trigger instruction provided by the second communication module 102. The original operation or work behavior of the suppression module 103 is adjusted or modified.

举例为，感光元件104感测到外界环境的光照强度低于设定阈值时，控制模块101即会控制虫抑制模块103开启操作。但用户在晚上不去户外活动，虫抑制模块103可以不开启，以避免电能浪费。则用户可以通过外部设备300远程操作，向虫抑制装置100的控制模块101发送停止工作或硬停止的触发控制指令，以控制虫抑制模块103强制停止工作。For example, when the photosensitive element 104 senses that the light intensity of the external environment is lower than the set threshold, the control module 101 will control the insect suppression module 103 to start the operation. However, if the user does not go outdoors at night, the insect suppression module 103 may not be turned on to avoid waste of electric energy. Then, the user can remotely operate through the external device 300 to send a stop or hard stop trigger control instruction to the control module 101 of the insect suppression device 100 to control the insect suppression module 103 to forcibly stop working.

当处于第一工作状态时，虫抑制装置100与自移动设备200可以为有线通讯连接。如图13所示，具体可以为，第二通讯模块102可包括有线通讯单元102a。当虫抑制装置100处于第一工作状态时，有线通讯单元102a与第一通讯模块201通过有线的方式实现通信连接。则控制模块101可依次通过有线通讯单元102a、第一通讯模块201与外部设备300间接建立通信连接。When in the first working state, the insect suppression device 100 and the mobile device 200 may be connected by wired communication. As shown in FIG. 13, specifically, the second communication module 102 may include a wired communication unit 102a. When the insect suppression device 100 is in the first working state, the wired communication unit 102a and the first communication module 201 realize a communication connection in a wired manner. Then the control module 101 can indirectly establish a communication connection with the external device 300 through the wired communication unit 102a and the first communication module 201 in turn.

相应的，当处于第二工作状态时，虫抑制装置100与外部设备300之间可以为无线通讯连接。如图14所示，具体可以为，第二通讯模块102包括无线通讯单元102b。当虫抑制装置100处于第二工作状态时，无线通讯单元102b与外部设备300通信连接，控制模块101可通过无线通讯单元102b与外部设备300直接建立通信连接。Correspondingly, when in the second working state, the insect suppression device 100 and the external device 300 may be connected by wireless communication. As shown in FIG. 14, specifically, the second communication module 102 includes a wireless communication unit 102b. When the insect suppression device 100 is in the second working state, the wireless communication unit 102b is in a communication connection with the external device 300, and the control module 101 can directly establish a communication connection with the external device 300 through the wireless communication unit 102b.

当然，在第二通讯模块102包括无线通讯单元102b的实施例中，当处于第一工作状态时，虫抑制装置100也可通过无线的方式与自移动设备200实现通讯连接。具体为，当虫抑制装置100处于第一工作状态时，无线通讯单元102b与第一通讯模块201通过无线的方式实现通信连接。并且，控制模块101可依次通过无线通讯单元102b、第一通讯模块201与外部设备300间接建立通信连接。Of course, in the embodiment where the second communication module 102 includes the wireless communication unit 102b, when in the first working state, the insect suppression device 100 can also communicate with the mobile device 200 in a wireless manner. Specifically, when the insect suppression device 100 is in the first working state, the wireless communication unit 102b and the first communication module 201 realize a communication connection in a wireless manner. In addition, the control module 101 can indirectly establish a communication connection with the external device 300 through the wireless communication unit 102b and the first communication module 201 in sequence.

当然，在控制模块101依次通过无线通讯单元102b、第一通讯模块201与外部设备300间接建立通信连接的实施例中，可以并不限于虫抑制装置100所处的工作状态。也就是说，当虫抑制装置100处于第二工作状态时，控制模块101也可以依次通过无线通讯单元102b、第一通讯模块201与外部设备300间接建立通信连接。Of course, in the embodiment in which the control module 101 indirectly establishes a communication connection with the external device 300 through the wireless communication unit 102b and the first communication module 201 in turn, it may not be limited to the working state of the pest suppression apparatus 100. That is to say, when the insect suppression device 100 is in the second working state, the control module 101 may also establish a communication connection with the external device 300 indirectly through the wireless communication unit 102b and the first communication module 201 in turn.

在一些实施例中，自移动设备200的充电站可设置在蚊虫聚集程度严重的区域。其中，蚊虫聚集程度严重的区域可以是工作区域边界线处的区域，例如可以是工作区域边界处的多叶植物聚集区域，也可以是用户活动频繁的区域，安装时用户可根据实际情况选择充电站的位置。可以理解的是，用户还可以选择在用户活动频繁的区域的***区域设置充电站，避免影响用户活动。在一些实施例中，自移动设备200的充电站设置在前述蚊虫聚集程度严重的区域，当虫抑制装置100处于第一工作状态时，虫抑制装置100可在自移动设备200与充电站对接充电时，仍保持开启状态，以对充电站附近的区域实现定点驱蚊，从而对工作区域实现持续性保护；当虫抑制装置100处于第二工作状态时，虫抑制装置100可安装于充电站，控制模块101可基于第二通讯模块102提供的触发指令控制虫抑制模块103开启，虫抑制装置100便可对充电站附近的区域实现定点驱蚊，从而对工作区域实现持续性保护。In some embodiments, the charging station of the self-mobile device 200 may be set in an area where mosquitoes are highly concentrated. Among them, the area where the mosquito concentration is serious can be the area at the boundary of the work area, for example, the leafy plant gathering area at the boundary of the work area, or the area with frequent user activities. The user can choose to charge according to the actual situation during installation. The location of the station. It is understandable that the user can also choose to set up charging stations in the peripheral area of the area where user activities are frequent, so as to avoid affecting user activities. In some embodiments, the charging station of the self-mobile device 200 is set in an area where the concentration of mosquitoes is severe. When the insect suppression device 100 is in the first working state, the insect suppression device 100 can be charged when the self-mobile device 200 is docked with the charging station. When the insect suppression device 100 is in the second working state, the insect suppression device 100 can be installed in the charging station to achieve fixed-point mosquito repellent to the area near the charging station, thereby realizing continuous protection of the work area; when the insect suppression device 100 is in the second working state, The control module 101 can control the insect suppression module 103 to be turned on based on the trigger instruction provided by the second communication module 102, and the insect suppression device 100 can achieve fixed-point mosquito repellent to the area near the charging station, thereby achieving continuous protection of the work area.

在本发明实施例中，控制装置(包括工作机控制模块202和虫抑制装置100的控制模块101)可以按任何适当的方式实现。具体的，例如，控制模块101可以采取例如微处理器或处理器以及存储可由该微处理器或处理器执行的计算机可读程序代码(例如软件或固件)的计算机可读介质、逻辑门、开关、专用集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑控制器(Programmable Logic Controller，PLC)和嵌入微控制单元(Microcontroller Unit，MCU)的形式，上述模块的例子包括但不限于以下微控制单元：ARC 625D、Atmel AT91SAM、Microchip PIC18F26K20以及Silicone Labs C8051F320。本领域技术人员也应当知道，除了以纯计算机可读程序代码方式实现所述控制装置的功能以外，完全可以通过将方法步骤进行逻辑编程来使得控制单元以逻辑门、开关、专用集成电路、可编程逻辑控制器和嵌入微控制单元等形式来实现相同功能。In the embodiment of the present invention, the control device (including the working machine control module 202 and the control module 101 of the insect suppression device 100) can be implemented in any suitable manner. Specifically, for example, the control module 101 may adopt, for example, a microprocessor or a processor, and a computer-readable medium, logic gates, and switches that store computer-readable program codes (for example, software or firmware) that can be executed by the microprocessor or the processor. , Application Specific Integrated Circuit (ASIC), Programmable Logic Controller (PLC) and Embedded Microcontroller Unit (MCU). Examples of the above modules include but are not limited to the following micro control Units: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. Those skilled in the art should also know that, in addition to implementing the functions of the control device in a purely computer-readable program code manner, it is completely possible to program the method steps to make the control unit use logic gates, switches, application specific integrated circuits, and programmable Logic controller and embedded micro-control unit can realize the same function.

需要说明的是，在本发明的描述中，术语“第一”、“第二”等仅用于描述目的和区别类似的对象，两者之间并不存在先后顺序，也不能理解为指示或暗示相对重要性。此外，在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。It should be noted that in the description of the present invention, the terms "first", "second", etc. are only used to describe the purpose and distinguish similar objects. Imply relative importance. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

本文引用的任何数字值都包括从下限值到上限值之间以一个单位递增的下值和上值的所有值，在任何下值和任何更高值之间存在至少两个单位的间隔即可。举例来说，如果阐述了一个部件的数量或过程变量(例如温度、压力、时间等)的值是从1到90，优选从21到80，更优选从30到70，则目的是为了说明该说明书中也明确地列举了诸如15到85、22到68、43到51、30到32等值。对于小于1的值，适当地认为一个单位是0.0001、0.001、0.01、0.1。这些仅仅是想要明确表达的示例，可以认为在最低值和最高值之间列举的数值的所有可能组合都是以类似方式在该说明书明确地阐述了的。Any numerical value quoted herein includes all values of the lower value and the upper value in increments of one unit from the lower limit value to the upper limit value, and there is a gap of at least two units between any lower value and any higher value. That's it. For example, if it is stated that the number of a component or the value of a process variable (such as temperature, pressure, time, etc.) is from 1 to 90, preferably from 21 to 80, and more preferably from 30 to 70, the purpose is to illustrate the The specification also explicitly lists values such as 15 to 85, 22 to 68, 43 to 51, and 30 to 32. For values less than 1, one unit is appropriately considered to be 0.0001, 0.001, 0.01, 0.1. These are only examples intended to be clearly expressed, and it can be considered that all possible combinations of numerical values listed between the lowest value and the highest value are clearly set forth in this specification in a similar manner.

除非另有说明，所有范围都包括端点以及端点之间的所有数字。与范围一起使用的“大约”或“近似”适合于该范围的两个端点。因而，“大约20到30”旨在覆盖“大约20到大约30”，至少包括指明的端点。Unless otherwise stated, all ranges include endpoints and all numbers between endpoints. The use of "about" or "approximately" with a range applies to both end points of the range. Thus, "about 20 to 30" is intended to cover "about 20 to about 30", including at least the indicated endpoints.

以上所述仅为本发明的几个实施例，本领域的技术人员依据申请文件公开的内容，可以对本发明实施例进行各种改动或变型而不脱离本发明的精神和范围。The above are only a few embodiments of the present invention, and those skilled in the art can make various changes or modifications to the embodiments of the present invention based on the content disclosed in the application documents without departing from the spirit and scope of the present invention.

Claims

一种自移动设备，其特征在于，包括：A self-moving device, characterized in that it comprises:

主体；main body;

行走模块，安装于所述主体的底部，用于带动所述自移动设备移动；The walking module is installed at the bottom of the main body and is used to drive the self-moving device to move;

虫抑制装置，与所述主体可分离的附接，具有与所述主体附接在一起的第一工作状态以及与所述主体分离的第二工作状态；The insect suppression device, which is detachably attached to the main body, has a first working state attached to the main body and a second working state separated from the main body;

当处于第一工作状态时，所述虫抑制装置与所述主体上配置的能源模块连接，由所述能源模块为其供电；当处于第二工作状态时，所述虫抑制装置与外部供电电源连接，由所述外部供电电源为其供电；其中，所述外部供电电源被配置为可选择性的与所述虫抑制装置或者其他电动工具连接，以为所述虫抑制装置或者其他电动工具供电。When in the first working state, the insect suppression device is connected to the energy module configured on the main body, and the energy module is powered; when in the second working state, the insect suppression device is connected to an external power supply Is connected to the external power supply; wherein, the external power supply is configured to be selectively connected to the insect suppression device or other electric tools to supply power to the insect suppression device or other electric tools.
如权利要求1所述的自移动设备，其特征在于，所述其他电动工具包括：冲击钻、电钻、电镐、电锤、角磨机、吹风机的至少其中一种。The self-moving device according to claim 1, wherein the other electric tools include at least one of a percussion drill, an electric drill, an electric pick, an electric hammer, an angle grinder, and a hair dryer.
如权利要求1所述的自移动设备，其特征在于，所述虫抑制装置中设有安装部，所述外部供电电源与所述安装部可拆卸连接。The self-moving device according to claim 1, wherein the insect suppression device is provided with a mounting part, and the external power supply is detachably connected to the mounting part.
如权利要求1所述的自移动设备，其特征在于，所述主体上设有主工作模块，用于执行不同于所述虫抑制装置的主工作任务；当所述虫抑制装置处于第一工作状态时，所述主体被所述行走模块带动而承载所述虫抑制装置在预设工作区域内或沿预设路径以低于所述自移动设备执行主工作任务时的速度移动；或者，所述主体承载所述虫抑制装置在预设工作区域停留。The self-moving device according to claim 1, wherein the main body is provided with a main work module for performing main work tasks different from the main work tasks of the insect suppression device; when the insect suppression device is in the first work In the state, the main body is driven by the walking module to carry the insect suppression device to move in a preset working area or along a preset path at a speed lower than when the self-moving device performs the main work task; or, so The main body carries the insect suppression device and stays in a preset working area.
如权利要求4所述的自移动设备，其特征在于，所述预设工作区域由用户预先设置或由所述自移动设备自动获取。The self-mobile device according to claim 4, wherein the preset working area is preset by a user or automatically acquired by the self-mobile device.
如权利要求5所述的自移动设备，其特征在于，所述预设工作区域由用户预先设置包括用户预先在预设工作区域和/或预设工作区域的附近铺设导线，所述自移动设备识别导线传输的电信号以控制所述主体承载所述虫抑制装置沿着导线移动到预设工作区域；或，The self-moving device according to claim 5, wherein the preset working area is preset by the user including the user pre-laying a wire in the preset working area and/or the vicinity of the preset working area, and the self-moving device Identify the electrical signal transmitted by the wire to control the main body to carry the insect suppression device to move along the wire to the preset working area; or,

用户预先在预设工作区域和/或预设工作区域的附近设置标记物，所述自移动设备识别所述标记物以控制所述主体承载所述虫抑制装置进入到所述预设工作区域；或，The user sets a marker in the preset work area and/or the vicinity of the preset work area in advance, and the self-mobile device recognizes the marker to control the main body to carry the insect suppression device into the preset work area; or,

用户在交互设备上设置预设工作区域，并将其传输至自移动设备的控制模块，所述控制模块计算自移动设备至预设工作区域的移动路径，并控制所述主体承载所述虫抑制装置沿所述移动路径进入到所述预设工作区域。The user sets a preset work area on the interactive device and transmits it to the control module of the mobile device. The control module calculates the movement path from the mobile device to the preset work area, and controls the main body to carry the insect control The device enters the preset working area along the moving path.
如权利要求5所述的自移动设备，其特征在于，所述预设工作区域由自移动设备自动获取包括自移动设备通过定位其自身与预设工作区域的相对坐标/绝对坐标，或自动识别表征用户的特征，或自动探索用户携带的信号源的位置以获取预设工作区域。The self-mobile device according to claim 5, wherein the automatic acquisition of the preset working area by the self-mobile device includes the self-mobile device locating the relative coordinate/absolute coordinate between itself and the preset working area, or automatically identifying Characterize the characteristics of the user, or automatically explore the location of the signal source carried by the user to obtain the preset working area.
如权利要求4所述的自移动设备，其特征在于，当处于第一工作状态时，所述主工作模块与所述虫抑制装置中的一个操作时，另一个不操作。The self-moving device according to claim 4, wherein when in the first working state, when one of the main working module and the insect suppression device is operating, the other is not operating.
如权利要求1所述的自移动设备，其特征在于，当处于第二工作状态时，所述虫抑制装置可选择性被放置在不同的工作区域；或者，所述虫抑制装置可选择性地在多个不同的工作区域之间切换。The self-moving device according to claim 1, wherein when in the second working state, the insect suppression device can be selectively placed in a different work area; or, the insect suppression device can be selectively Switch between multiple different work areas.
一种自移动设备，其特征在于，包括：A self-moving device, characterized in that it comprises:

主体；main body;

行走模块，安装于所述主体的底部，用于带动所述自移动设备移动；The walking module is installed at the bottom of the main body and is used to drive the self-moving device to move;

与所述主体附接的虫抑制装置，所述虫抑制装置容置有诱捕剂，所述诱捕剂用于产生模拟人体散发的气味及CO2的引诱气体。An insect suppression device attached to the main body, the insect suppression device contains a trap, and the trap is used to generate an attracting gas that mimics the smell and CO2 emitted by the human body.
如权利要求10所述的自移动设备，其特征在于，所述主体上设有主工作模块，用于执行不同于所述虫抑制装置的主工作任务；当所述虫抑制装置与所述主体附接时，所述主体被所述行走模块带动而承载所述虫抑制装置在预设工作区域内或沿预设路径以低于所述自移动设备执行主工作任务时的速度移动；或者，所述主体承载所述虫抑制装置进入预设区域停留。The self-moving device of claim 10, wherein the main body is provided with a main work module for performing main work tasks different from the main work task of the insect suppression device; when the insect suppression device and the main body When attached, the main body is driven by the walking module to carry the insect suppression device to move in a preset working area or along a preset path at a speed lower than when the self-moving device performs the main work task; or, The main body carries the insect suppression device to enter a preset area and stay.
如权利要求11所述的自移动设备，其特征在于，所述预设工作区域由用户预先设置或由所述自移动设备自动获取。The self-mobile device according to claim 11, wherein the preset working area is preset by a user or automatically acquired by the self-mobile device.
如权利要求12所述的自移动设备，其特征在于，所述预设工作区域由用户预先设置包括用户预先在预设工作区域和/或预设工作区域的附近铺设导线，所述自移动设备识别导线传输的电信号以控制所述主体承载所述虫抑制装置沿着导线移动到预设工作区域；或，The self-moving device according to claim 12, wherein the preset working area is preset by the user including the user pre-laying a wire in the preset working area and/or the vicinity of the preset working area, and the self-moving device Identify the electrical signal transmitted by the wire to control the main body to carry the insect suppression device to move along the wire to the preset working area; or,

用户预先在预设工作区域和/或预设工作区域的附近设置标记物，所述自移动设备识别所述标记物以控制所述主体承载所述虫抑制装置进入到所述预设工作区域；或，The user sets a marker in the preset work area and/or the vicinity of the preset work area in advance, and the self-mobile device recognizes the marker to control the main body to carry the insect suppression device into the preset work area; or,

用户在交互设备上设置预设工作区域，并将其传输至自移动设备的控制模块，所述控制模块计算自移动设备至预设工作区域的移动路径，并控制所述主体承载所述虫抑制装置沿所述移动路径进入到所述预设工作区域。The user sets a preset work area on the interactive device and transmits it to the control module of the mobile device. The control module calculates the movement path from the mobile device to the preset work area, and controls the main body to carry the insect control The device enters the preset working area along the moving path.
如权利要求13所述的自移动设备，其特征在于，所述标记物包括磁性组件。The self-moving device of claim 13, wherein the marker includes a magnetic component.
如权利要求12所述的自移动设备，其特征在于，所述预设工作区域由自移动设备自动获取包括自移动设备通过定位其自身与预设工作区域的相对坐标/绝对坐标，或自动识别表征用户的特征，或自动探索用户携带的信号源的位置以获取预设工作区域。The self-mobile device according to claim 12, wherein the automatic acquisition of the preset working area by the self-mobile device includes the self-mobile device locating the relative coordinates/absolute coordinates of itself and the preset working area, or automatically identifying Characterize the characteristics of the user, or automatically explore the location of the signal source carried by the user to obtain the preset working area.
如权利要求10所述的自移动设备，其特征在于，所述虫抑制装置包括用于容置诱捕剂的容腔，所述容腔设有连通外界的开口端；所述诱捕剂用于产生模拟人体散发的气味及CO ₂的引诱气体，所述引诱气体经由所述开口端扩散至外界环境中。 The self-moving device according to claim 10, wherein the insect suppression device comprises a cavity for accommodating a trapping agent, and the cavity is provided with an open end communicating with the outside; the trapping agent is used to produce The attracting gas simulating the smell and CO ₂ emitted by the human body, the attracting gas diffuses into the external environment through the open end.
一种虫抑制装置，其特征在于，所述虫抑制装置可拆卸的安装在自移动设备上，具有安装在所述自移动设备上的第一工作状态以及从所述自移动设备拆卸下来的第二工作状态；An insect suppression device, characterized in that the insect suppression device is detachably installed on a self-moving device, has a first working state installed on the self-moving device and a first working state detached from the self-moving device 2. Working status;

当处于第一工作状态时，所述虫抑制装置与所述自移动设备配置的能源模块连接，由所述能源模块为其供电；当处于第二工作状态时，所述虫抑制装置与外部供电电源连接，由所述外部供电电源为其供电；其中，所述外部供电电源被配置为可选择性的与所述虫抑制装置或者其他电动工具连接，以为所述虫抑制装置或者其他电动工具供电。When in the first working state, the insect suppression device is connected to the energy module configured by the self-moving device, and the energy module is powered by it; when in the second working state, the insect suppression device is connected to an external power supply Power connection, powered by the external power supply; wherein the external power supply is configured to be selectively connected to the insect suppression device or other electric tools to supply power to the insect suppression device or other electric tools .
一种自移动设备，其特征在于，所述自移动设备能够与外部设备通讯外部设备；A self-moving device, characterized in that the self-moving device can communicate with an external device with an external device;

所述自移动设备包括：The self-moving device includes:

主体；main body;

第一通讯模块，设在所述主体上，与所述外部设备通讯连接；The first communication module is arranged on the main body and is in communication connection with the external device;

行走模块，安装于所述主体的底部，能够带动所述自移动设备移动；The walking module is installed at the bottom of the main body and can drive the self-moving device to move;

虫抑制装置，与所述主体可分离的附接，具有与所述主体附接在一起的第一工作状态及与所述主体分离的第二工作状态；所述虫抑制装置包括：虫抑制模块、与所述虫抑制模块连接的控制模块、与所述控制模块连接的第二通讯模块；An insect suppression device, which is detachably attached to the main body, has a first working state attached to the main body and a second working state separated from the main body; the insect suppression device includes: an insect suppression module , A control module connected to the insect suppression module, and a second communication module connected to the control module;

当所述虫抑制装置处于第一工作状态时，所述控制模块与所述第一通讯模块连接，所述控制模块基于所述第一通讯模块提供的触发指令控制所述虫抑制模块操作；所述触发指令为所述外部设备被用户执行触发操作所产生的电信号；When the insect suppression device is in the first working state, the control module is connected to the first communication module, and the control module controls the operation of the insect suppression module based on the trigger instruction provided by the first communication module; The trigger instruction is an electrical signal generated by a user performing a trigger operation on the external device;

当所述虫抑制装置处于第二工作状态时，所述第二通讯模块与所述外部设备通讯连接，所述控制模块通过所述第二通讯模块接收所述外部设备提供的触发指令。When the insect suppression device is in the second working state, the second communication module is in communication connection with the external device, and the control module receives the trigger instruction provided by the external device through the second communication module.
如权利要求18所述的自移动设备，其特征在于，所述第二通讯模块包括有线通讯单元；当所述虫抑制装置处于第一工作状态时，所述有线通讯单元与所述第一通讯模块通过有线的方式实现通信连接；所述控制模块通过所述有线通讯单元、第一通讯模块与所述外部设备间接建立通信连接。The self-mobile device according to claim 18, wherein the second communication module comprises a wired communication unit; when the insect suppression device is in the first working state, the wired communication unit communicates with the first communication unit The module realizes the communication connection in a wired manner; the control module indirectly establishes a communication connection with the external device through the wired communication unit and the first communication module.
如权利要求18所述的自移动设备，其特征在于，所述第二通讯模块包括无线通讯单元；当所述虫抑制装置处于第二工作状态时，所述无线通讯单元与所述外部设备通信连接；所述控制模块通过所述无线通讯单元与所述外部设备直接建立通信连接。The self-mobile device of claim 18, wherein the second communication module comprises a wireless communication unit; when the insect suppression device is in the second working state, the wireless communication unit communicates with the external device Connection; the control module directly establishes a communication connection with the external device through the wireless communication unit.