Electromagnetic navigation system design of the green house spraying robot

Compared to spraying pesticides manually outdoors, the environment is more closed, and has a high temperature, humidity and so on for operating the spray work in the greenhouse. In order to protect laborer and reduce labor intensity, we develop a prototype of pesticide spraying robot specially used in the greenhouse. This paper emphatically describes the structural design, the robot control system design and the results of navigation experiment. The experiment shows that this robot can track a signal wire well which is set on the ground for navigation, and it obtains a nice steering ability even for short turns with the speed less than 0.5 m/s. Although the productivity of the prototype is not quite efficient, the robot still meets the requirements of pesticide spraying in the greenhouse without human operators.