Development Of Spraying Robot Controlling System

Based on the working requirement for spraying robot to complete field spraying task automatically totally, we successfully developed a set of single-chip measuring and controlling system for the spraying robot. The controlling system includes function modules such as man-machine interface, A/D conversion, electromotor driving, sensor signal collection and so on.Single-chip controlling precept makes the whole system has tight structure and high stability.To insure the spraying robot apperceiving position signs in field reliably and exactly while move in field, we select magnetic sensing mode, and develop a kind of position sensor that can apperceive magnetism signs from long distance.In order to make the spraying robot's structure tight, we select linear actuator and decelerated electromotor as the driving device. We bring forward a new base-poll driving method for gigantic transistors in H-type PWM converter and by adopting PWM method, successfully complete rotate speed controlling for the walking electromotor.During the development of single-chip system, for the sake of reliability, we take a DC/DC converter as its power supply and all output are light-electricity insulated.Finally the operating experiment indicate that the controlling system works stably and reliably. It satisfies the spraying robot's function requirement and has practical worthiness.