| Automatic spraying is a kind of agricultural advanced technique developing recently to adapt to the request of facilities agriculture. According to characteristics of the medium and small-sized greenhouses inland, we developed a spraying robot guided by electromagnetic induced line to realize automatic spraying in greenhouses, especially achieved remotely controlling and monitoring to the robot in wireless frequency-modulation.The control system of spraying robot comprised three parts: the robot, monitor and induced signal switch-group. They are connected to a wireless communication network in the help of a wireless module, there the robot used the module to exchange real-time data in the spraying time; all of these together finished full automatic spraying. The spraying tasks of the robot could be set flexibly and there are three operation modes, full automatic, semiautomatic and manually operation to choose, so it can adapt to various greenhouses and all users.The robot consists of system of sensors, MCU and driving system. In the system of sensors, there are 8 electromagnetic induction sensors, 2 angle sensors 1 position sensor, and interface circuit. It is adopted DSP chip TMS320LF2407 as robot's MCU. PD control algorithm is used to implement 4-WAD and make all four wheels track the induction wire simultaneously. With the PWM driver improved, driving system can control 4 robot's driving motors and 1 spraying motor.ARM7 (LPC2104) is used as MCU in the monitor. Meeting the requirements of the robot's controlling, 5*8 keyboard is designed. Monitor can control and scout the robot and signal switcher.Signal switcher also makes LPC2104 as MCU. Switching circuit is designed to switch the signal through 71 different induction wire loop.Software is compiled that realizes auto-computing of the robot's route and actions and real time communications among robot, monitor and switcher.Experiments explained that the system worked stably and credibly, it meets the demand of the automatic sprayer.
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