CN103676959B - A kind of intelligent spraying machine device people based on WiFi controlled in wireless - Google Patents

Abstract

The invention provides an intelligent spraying robot based on WiFi wireless control, including a video acquisition device, a mobile device terminal, a system control part and a spray device, wherein: the system control part includes a car module, a WiFi module, a single-chip microcomputer module, and a drive module and an obstacle avoidance module; the trolley module includes a four-drive crawler belt, an aluminum alloy body shell, and two sets of two parallel motors located on the left and right sides of the trolley to drive the trolley. The intelligent spraying robot based on WiFi wireless control of the present invention triggers and sends control instructions through the touch buttons of the smart phone software, accurately controls the robot to walk along the correct route, and sprays the crops. The use of spraying robots for spraying reduces the direct contact of pesticides with the human body during the spraying process, reduces the harm of pesticides to people, reduces the physical labor of sprayers, and improves work efficiency.

Description

An intelligent spraying robot based on WiFi wireless control

technical field

The invention relates to the field of spraying devices, in particular to an intelligent spraying robot based on WiFi wireless control.

Background technique

At present, the spraying method in my country is still dominated by knapsack-type manual sprayers, which requires a lot of physical labor, and the pesticides are in direct contact with the human body, and small droplets of pesticides are inhaled into the respiratory tract, causing serious harm to people. During the spraying process, it is easy to leak and drop pesticides, the spraying is uneven, the pesticides are wasted, the environment and land are polluted, and the work efficiency is low.

With the continuous acceleration of the modernization process and the continuous development of agricultural modernization, small and medium-sized vehicle-mounted spraying technology has gradually been applied to agricultural production, and pesticides are sprayed in large farmlands and orchards. In the use of small and medium-sized trucks to load the liquid medicine, the diesel engine is used as the power to spray the liquid medicine, and the staff controls the direction of the spray, thus improving the work efficiency, but it does not solve the isolation of the pesticide and the human body during the spraying process; now there are also large sprayers, which can realize Large-scale spraying, but bulky, complicated equipment, requires professional technicians; new spraying technologies such as electrostatic spraying have not been promoted at present.

It can be seen that there are many deficiencies and defects in the spraying technology at present, and further improvement is urgently needed. It is urgent to invent a robot for spraying medicine based on wireless control.

Contents of the invention

The purpose of the present invention is to provide an intelligent spraying robot based on WiFi wireless control, so that it can remotely and accurately control spraying, reduce the harm of pesticides to people during the spraying process, reduce the physical labor of spraying personnel, and improve work efficiency, thereby overcoming the existing Insufficient technology.

In order to solve the above technical problems, the present invention provides an intelligent spraying robot based on WiFi wireless control, including a video acquisition device, a mobile device terminal, a system control part and a spray device, wherein: the system control part includes a car module, a WiFi module, SCM module, driver module and obstacle avoidance module;

The trolley module includes four-drive crawlers, an aluminum alloy body shell, and two sets of parallel motors located on the left and right sides of the trolley to drive the trolley;

The single-chip microcomputer module is used to receive control instructions, and execute the program according to the corresponding instructions to control the WiFi module, the drive module, the obstacle avoidance module and the car module to complete corresponding actions;

The drive module includes a drive circuit composed of a motor drive chip L298, which controls the output state of the motor drive circuit through a single-chip microcomputer to realize the movement of the car around;

The obstacle avoidance module includes a NE555 circuit, an infrared pair tube composed of an infrared emitting tube and an infrared receiving tube, and the infrared light of the infrared emitting tube is emitted by loading the 38KHz square wave signal generated by the NE555 circuit. The receiving tube receives the reflected infrared light with sufficient intensity;

The video acquisition device is located at the front end of the car body and is used to collect video data of the surrounding environment of the spraying robot;

The video acquisition device is communicatively connected with the mobile device terminal through a system control part located inside the vehicle body;

The mobile device terminal adopts a smart phone, and the smart phone communicates with the WiFi module of the system control part. After receiving the control command from the smart phone, the WiFi module sends the control command to the single-chip microcomputer module, and the control of the single-chip microcomputer module is located at The spraying device at the rear end of the vehicle body performs corresponding actions.

The video acquisition device includes a camera and a steering gear, the camera is connected to the base of the camera through a stainless steel metal hose, and the base of the camera is fixedly connected to the steering gear.

The spray device includes a spray water pump, a lifting device and a spray head, wherein: the lifting device includes a DC motor, a connecting bearing, a screw mandrel, a sliding screw nut, a sliding bearing, a fixed rod and a steering gear;

The DC motor and the fixed rod parallel to the screw rod are fixedly connected to the fixed iron sheet by bolts or welding, and the fixed iron sheet is fixedly connected to the trolley by bolts or welding;

The rotating shaft of the DC motor is connected to the screw rod through the connecting shaft;

The nut is fixedly connected with the sliding bearing;

The sliding bearing is connected to the screw rod through the nut;

The steering gear is fixedly connected with the sliding bearing;

The spray head is fixedly connected with the steering gear disc through the fixed iron sheet;

The disc of the steering gear is meshed with the rotating shaft of the steering gear through a gear;

The spray water pump is installed on the trolley and communicates with the spray head through a pipeline provided with a control device, and the spray water pump is controlled by a relay switch.

The spray device is 16.5cm long, 6cm wide and 45cm high.

Described WiFi module adopts wireless router, brushes into an open source OpenWrt system in it;

The wireless router implements a communication connection with the mobile device terminal through the TCP/UDP communication mode.

The drive module adopts a drive circuit composed of a high-voltage, high-current motor drive chip L298.

The body length of the trolley module is 30cm, the width is 22cm, and the height is 16.5cm.

The smart phone sends control instructions through the touch buttons of the robot controller application program.

The smart phone uses Android smart phone software touch keys to trigger and send control commands. The control commands pass through the WiFi network, and the wireless router extracts the control commands from the channel, and transmits the extracted control commands to the said control command through the TTL serial port. MCU module.

After adopting the above design, the present invention has the following beneficial effects compared with the prior art:

The intelligent spraying robot based on WiFi wireless control of the present invention uses a camera to collect the video information of the surrounding environment of the robot, and sends it to the smart phone control terminal through the wireless WiFi network, and monitors the environment around the robot in real time at the smart phone control terminal to understand and grasp the distribution of crops And the characteristics of the terrain, the touch buttons of the smartphone software trigger and send control commands, accurately control the robot to walk along the correct route, and spray the crops. The use of spraying robots for spraying reduces the direct contact of pesticides with the human body during the spraying process, reduces the harm of pesticides to people, reduces the physical labor of sprayers, and improves work efficiency.

The technical solutions of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

Description of drawings

The above is only an overview of the technical solution of the present invention. In order to understand the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Fig. 1 is a schematic diagram of the composition of the intelligent spraying robot based on WiFi wireless control of the present invention.

Fig. 2 is a schematic structural diagram of an intelligent spraying robot based on WiFi wireless control of the present invention.

Fig. 3 is a schematic structural view of the spraying device of the present invention.

Fig. 4 is a schematic structural diagram of the video capture device of the present invention.

Fig. 5 is a flowchart of the interrupt service function of the present invention.

detailed description

Please refer to shown in Fig. 1, a kind of intelligent spraying robot based on WiFi wireless control of the present invention includes video acquisition device, mobile device terminal, system control part and spraying device, wherein, system control part includes dolly module, WiFi module, single-chip microcomputer module, driver module and obstacle avoidance module.

Among them, the trolley module includes a four-drive crawler trolley and an aluminum alloy body shell. Two motors are installed in parallel on the left side of the trolley, and two motors are connected in parallel on the right side to improve the driving capability and control synchronization of the trolley. The body length of the trolley module is 30cm, the width is 22cm, and the height is 16.5cm.

The WiFi module uses a wireless router, and the wireless router sends the video data collected by the camera to the smartphone, which is displayed on the screen of the smartphone, and the WiFi module-wireless router is brushed into an open source OpenWrt system. OpenWrt is a highly modular and highly automated embedded Linux system with powerful network components and scalability, and is often used in industrial control equipment, phones, small robots, smart homes, routers, and VOIP devices. OpenWrt's package manager provides a fully writable file system, with options and configurations from application vendors, allowing customization of the device to suit any application.

The single-chip microcomputer module adopts the enhanced 51 single-chip microcomputer of STC series, uses the serial port interrupt to receive the instruction sent by the wireless router, and controls the corresponding module according to the instruction. The single-chip microcomputer module is the control core of the system, receives control instructions and executes corresponding programs according to the control instructions, and controls other modules to complete corresponding actions. The communication between the wireless router and the mobile device terminal is realized through TCP/UDP, the video data volume is large, and the real-time performance is high. For the accuracy and real-time performance of video transmission, the WiFi module compresses and encodes the video data collected by the camera, and then sends it to the mobile device terminal-Android smartphone through the WiFi network, and displays the video data on the screen of the mobile phone after data decompression and decoding. The mobile phone control terminal triggers and sends the corresponding control instruction packet through the button, and transmits it to the wireless router through the WiFi network. The wireless router extracts the instruction from the channel and sends it to the TTL serial port. The received data instructions control the corresponding modules to complete the specified actions. The WiFi network realizes the two-way data transmission between the wireless router and the mobile device terminal, which is simple to use, high-speed, and low power consumption.

The drive module is a drive circuit composed of a high-voltage, high-current motor drive chip L298. It contains two H-bridge high-voltage and high-current full-bridge drivers. It adopts standard logic level signal control, two enable terminals, and strong anti-interference ability. , has the function of overvoltage and overcurrent protection. 1 power input terminal, 4 power output terminals, and 4 signal control terminals respectively control 4 power output terminals. The 4 power supply output terminals are connected to the 4 input terminals of two sets of parallel motors, the 4 signal control terminals of the motor drive circuit are controlled by the I/O of the single-chip microcomputer module, and the output of the corresponding 4 I/O ports is controlled by the program The level controls the output state of the motor drive circuit, so as to realize the control of the front, rear, left, and right movements of the spraying robot car.

The obstacle avoidance module includes an infrared pair tube and a NE555 circuit. The infrared pair tube is composed of an infrared emitting tube and an infrared receiving tube on the same plane. The infrared receiving tube receives 38KHz infrared light, and the NE555 circuit generates a 38KHz frequency square wave signal. The infrared emitting tube The infrared light is transmitted with a square wave signal of 38KHz frequency as the carrier wave, and the infrared light is reflected back when it encounters obstacles. When the receiving tube receives infrared light with sufficient energy, the output pin outputs a low level, which is passed through the I of the microcontroller module. The /O port detects the level change of the output pin of the infrared receiving tube to determine whether an obstacle is encountered. When the car encounters an obstacle, the infrared receiving tube outputs a low level, and the I/O port of the corresponding microcontroller detects a low level, and the car is controlled to retreat a small distance, and then the car stops waiting to receive control commands.

Please refer to Fig. 2 and shown in Fig. 3, the spraying device includes a spraying water pump 22, a lifting device and a spraying head 11. Wherein, the power supply of spray water pump 22 is controlled by electromagnetic relay, and spray device is fixed on the vehicle body back, and spray device is long 16.5cm, wide 6cm, high 45cm; The water pump 22 transports the pesticide in the medicine bottle to the spray head 11 through the rubber hose, and the liquid medicine is sprayed out by the spray head 11.

The power supply of the spray water pump 22 is controlled by a relay, and the relay needs 5V voltage and suitable current to make the iron core wound with a coil inside the relay generate enough magnetic force to attract the moving point of the relay to contact with the normally open contact. The moving point is connected to the power supply, and the normally open contact is connected to the power line of the water pump. When the moving point and the normally open contact are connected, the power supply of the water pump is turned on, and the water pump starts to work. Under the thrust inside the water pump, the pesticide in the medicine bottle passes through the spray Head squirts. The output current of the I/O port of the single-chip microcomputer is relatively small, which cannot meet the working current requirements of the relay, and the adsorption force is smaller than the tension of the internal spring, so the moving point cannot be adsorbed. The relay is driven by the switching function of the NPN transistor. The I/O port of the microcontroller is connected to the base of the NPN transistor through a current-limiting resistor, the collector of the transistor is connected to the 5V power supply, and the emitter is connected to a control terminal of the internal coil of the relay. The other control terminal is grounded. The triode acts as a switch. When the I/O port of the microcontroller outputs a high level, the base voltage of the triode is greater than the conduction voltage, the triode enters the conduction state, the emitter outputs 5V voltage, and the coil inside the relay is energized, and the coil has The current flows through, thereby producing electromagnetic effect, the armature overcomes the pulling force of the spring and attracts to the iron core under the attraction of the electromagnetic force, so that the moving point and the normally open contact are connected, and the spray water pump 22 is powered on and starts to work. When the I/O port of the microcontroller module outputs a low voltage, the base voltage of the triode is lower than the conduction voltage, the triode is in a cut-off state, and the emitter outputs a low level.

Lifting device comprises DC motor 2, connecting bearing 3, screw mandrel 5, slide screw nut 6, slide bearing 7, fixed rod 4 and steering gear 8. The function of the lifting device is to convert the rotary motion of the screw rod 5 into the linear motion of the screw nut 6, so as to realize the transfer of energy and the conversion of the motion form. It is characterized by large axial force, self-locking, continuous work and high precision high. The rotating shaft of the DC motor 2 is connected with the screw mandrel 5 through the connecting bearing 3, the sliding screw nut 6 is fixedly connected with the sliding bearing 7, the fixed rod 4 passes through the journal of the sliding bearing 7, and the bottom end of the fixed rod 4 is fixed on the screw rod Next to the fixed rod and the screw rod 5 keep parallel, the top of the fixed rod 4 is connected with the screw rod 5 through a smooth ring 12, the screw rod 5 keeps the circular motion parallel to the fixed rod 4, the spray head 11 and the steering gear The steering wheel 8 is fixed, and the steering wheel is fixed on the toothed rotating shaft of the steering gear.

The fixed iron piece 1 has a certain bearing capacity, and its shape can be set as a right-angle fixed iron piece or a sheet-shaped fixed iron piece, which is used to fix the DC motor 2 and the fixed rod 4, and fix the lifting device on the aluminum alloy frame of the trolley The back of the fixed iron sheet is fixedly connected to the vehicle frame by welding or nuts, and the rotating shaft of the DC motor is connected with the screw rod 5 through the connecting bearing 3, so that the rotation of the rotating bearing of the DC motor drives the screw rod 5 to rotate together, and the sliding screw nut 6 With the rotation of the screw rod 4, it moves upwards or downwards in a straight line, the sliding screw nut 6 is fixedly connected with the sliding bearing 7, the sliding bearing 3 moves with the sliding screw nut 6, and the steering gear 8 is fixed on the sliding bearing 7 , the steering gear disc 9 is set on the rotation shaft of the steering gear, and the rotation shafts of the steering gear disc 9 and the steering gear 8 are locked together through gears so that the steering gear disc 9 rotates together with the rotation shaft of the steering gear 8, and the steering gear The disc 9 is fixedly connected with the right-angle fixed iron sheet 10, the spray head 11 is fixed on the right-angle fixed iron sheet 1, and the topmost ring 12 connects the screw rod 5 and the fixed rod 4, the screw rod 5 can rotate freely, and the screw rod 5 By controlling the rotation of the steering gear 8, the spray head 11 is rotated together.

The connecting bearing 3 connects the rotation shaft of the DC motor 2 and the screw rod 5 together, and the rotation of the rotation shaft of the DC motor drives the screw rod to rotate, and the sliding screw nut 6 realizes the conversion of the rotation motion of the screw rod 5 into the rotation motion of the screw rod 5 . When the sliding screw nut 6 moves upward or downward, the sliding bearing 7 moves upward or downward along with the sliding screw nut 6 . The fixed rod 4 passes through the journal of the sliding bearing 7, the bottom end of the fixed rod 4 is fixed beside the screw rod, and the smooth ring 12 at the top is set on the top of the screw rod 5, and the screw rod 5 can rotate in the smooth ring , the fixed rod 4 and the screw rod 5 are kept parallel to each other, and the sliding bearing can do vertical linear motion. The rotary motion of the screw mandrel 5 is converted into the upward or downward movement of the sliding screw nut 6 and the sliding bearing 7 slides up and down relative to the fixed rod.

The spray head device includes a steering gear 8 and a spray head 11. The steering wheel supporting the steering gear is fixed on the toothed rotating shaft of the steering gear with screws, and the spray head 11 and the steering gear disc 9 are fixedly connected by a right-angle fixing iron plate 10. The spray head 11 moves with the movement of the steering gear disc.

It has been verified by experiments that the spraying area of the spray head is 0.8m ² , the farthest spraying distance is 1.3 meters, and the widest distance is 1.3 meters. Around 60 degrees. The height adjustment range of the spray head is 0-35cm. The device is installed at the rear of the car with a height of 16.5cm. The height of the DC motor, connecting shaft and steering gear control platform is 14cm. The minimum spray height is 30.5cm and the maximum spray height is 65.5cm. In the spray test in the flowerbed, the width of the walking route between the flowerbeds is about 30cm, and the height of the flower seedlings is about 25cm. The spray results show that the water sprayed in the flower seedlings is even, the top leaves are completely wet, and the leaves in the middle are mostly wet. The wet part of the bottom layer is less lost to the ground. The spray head takes the positive direction of the X-axis as the reference direction, and the left or right deflection adjusts the range of 60 degrees. The spray head deflects 60 degrees to the left or right, the spray range just falls on the flower seedlings, spray one side, stop spraying, adjust to the other side and continue spraying. The filling capacity of the medicine bottle is 1.8L, and the spray time is 3 minutes and 7 seconds under the full capacity of the medicine bottle.

Please refer to Fig. 4, the video capture device is fixed in front of the vehicle body, the environment around the video capture device robot and the distribution of crops. The base of the camera is connected to the camera with a stainless steel metal hose. The stainless steel metal hose can be adjusted and swung freely so that the camera is in a suitable position for capturing video. Steering gear 13 is fixed on the fixed mount 14 of video acquisition device, and fixed mount 14 is fixedly connected with car body by screw, and steering gear disc 15 is enclosed within on the rotating shaft of steering gear, and disc 16 is fixedly connected with the base of camera, through The rotation shaft of steering gear drives the base of camera to rotate, and base is connected with camera 18 by metal hose 17, and metal hose 16 can swing freely. The video acquisition device collects the environment around the robot and the distribution of crops through the camera, encodes and compresses the collected video data through the WiFi module, and sends it through the robot’s WiFi network. The Android smartphone receives the video data and decompresses and decodes the video data. and displayed on the phone screen. According to the collected environmental video and the distribution of crops, the control command is triggered by the touch button of the smart phone software, and the control command is sent through the WiFi network. The WiFi module extracts the control command from the WiFi channel and outputs it to the TTL serial port, TTL serial port and microcontroller. The serial port communicates, and sends the control command to the single-chip microcomputer, and the single-chip microcomputer controls the robot to perform corresponding actions and complete the spraying work according to the received control command.

The mobile device terminal adopts an Android smart phone, and the smart phone is installed with a robot software controller application program. The software controller application program is written in the Eclipse development environment, and the software controller sends out control instructions through touch buttons. Different buttons on the mobile phone controller trigger and send corresponding instructions. The touch slider on the mobile phone screen controls the direction of the camera’s video capture. The slider is divided into 180 positions. Read the position of the slider and send the numerical command at the corresponding position. For the system control part of the robot, touch the slider to make it slide up and down to adjust the direction of the camera. On the lower left corner of the mobile phone screen, there are touch buttons in four directions, front, rear, left, and right. Control commands are sent to the main control part of the robot through the touch buttons to control the robot to walk forward, backward, left, and right. The "left turn" and "right turn" touch buttons on the smartphone software control the horizontal rotation of the spray head, and the spray direction can be adjusted according to the distribution of spray objects within the horizontal range of 30-150°, and the height of the spray head can be adjusted Controlled by the two touch buttons "up" and "down" on the smartphone software, the spray head can be adjusted up and down within the range of 30-65cm according to the height of the crop. On the left side of the mobile phone screen, there are touch buttons for adjusting the sliding bearing and the rise and fall of the spray head, touch buttons for adjusting the direction of the spray head in the lower right corner, touch buttons for turning on/off the spray water pump and water pump at the top, and touch buttons on the controller. The buttons have text display, touch the button to trigger sending a control command packet to control the robot, release the button and send another command packet to release the control.

Please refer to FIG. 5, the flowchart of the interrupt service function of the present invention. When the serial port of the MCU module receives data, it requests a serial port interrupt from the CPU, and the CPU responds to the interrupt request. After executing the current instruction, it pushes the current program and flags into the stack, and jumps to the serial port interrupt service function for execution. Enter the serial port interrupt service function, clear the receiving flag, and wait for the next reception; judge whether it is waiting to receive, if it is waiting to receive, start receiving data, and store the received data in the array. If it is in the receiving state, check whether the receiving is completed. After the receiving is completed, execute the program according to the received control command, otherwise continue to receive the command. Execution of the interrupt service function is completed, the original program and flags are popped out of the stack, and the original program continues to be executed, and the use of serial port interrupts improves the execution efficiency of the program.

The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Those skilled in the art make some simple modifications, equivalent changes or modifications by using the technical content disclosed above, all of which fall within the scope of the present invention. within the scope of protection of the invention.

Claims (8)

1. An intelligent spraying robot based on WiFi wireless control is characterized in that it comprises a video acquisition device, a mobile device terminal, a system control part and a spraying device, wherein: the system control part comprises a dolly module, a WiFi module, a single-chip microcomputer module, Drive module and obstacle avoidance module; The trolley module includes four-drive crawlers, an aluminum alloy body shell, and two sets of parallel motors located on the left and right sides of the trolley to drive the trolley; The single-chip microcomputer module is used to receive control instructions, and execute the program according to the corresponding instructions to control the WiFi module, the drive module, the obstacle avoidance module and the car module to complete corresponding actions; The drive module includes a drive circuit composed of a motor drive chip L298, which controls the output state of the motor drive circuit through a single-chip microcomputer to realize the movement of the car around; The obstacle avoidance module includes a NE555 circuit, an infrared pair tube composed of an infrared emitting tube and an infrared receiving tube, and the infrared light of the infrared emitting tube is emitted by loading the 38KHz square wave signal generated by the NE555 circuit. The receiving tube receives the reflected infrared light with sufficient intensity; The video acquisition device is located at the front end of the car body and is used to collect video data of the surrounding environment of the spraying robot; The video acquisition device is communicatively connected with the mobile device terminal through a system control part located inside the vehicle body; The mobile device terminal adopts a smart phone, and the smart phone communicates with the WiFi module of the system control part. After receiving the control command from the smart phone, the WiFi module sends the control command to the single-chip microcomputer module, and the control of the single-chip microcomputer module is located at The spray device at the rear end of the car body performs corresponding actions; The spray device includes a spray water pump, a lifting device and a spray head, wherein: the lifting device includes a DC motor, a connecting bearing, a screw mandrel, a sliding screw nut, a sliding bearing, a fixed rod and a steering gear; The DC motor and the fixed rod parallel to the screw rod are fixedly connected to the fixed iron sheet by bolts or welding, and the fixed iron sheet is fixedly connected to the trolley by bolts or welding; The rotating shaft of the DC motor is connected to the screw rod through the connecting shaft; The nut is fixedly connected with the sliding bearing; The sliding bearing is connected to the screw rod through the nut; The steering gear is fixedly connected with the sliding bearing; The spray head is fixedly connected with the steering gear disc through a right-angle fixed iron piece; The disc of the steering gear is meshed with the rotating shaft of the steering gear through a gear; The spray water pump is installed on the trolley and communicates with the spray head through a pipeline provided with a control device, and the spray water pump is controlled by a relay switch. 2. A kind of intelligent spraying robot based on WiFi wireless control according to claim 1, characterized in that: The video acquisition device includes a camera and a steering gear, the camera is connected to the base of the camera through a stainless steel metal hose, and the base of the camera is fixedly connected to the steering gear. 3. A kind of intelligent spraying robot based on WiFi wireless control according to claim 1, characterized in that: The spray device is 16.5cm long, 6cm wide and 45cm high. 4. A kind of intelligent spraying robot based on WiFi wireless control according to claim 1, characterized in that: Described WiFi module adopts wireless router, brushes into an open source OpenWrt system in it; The wireless router implements a communication connection with the mobile device terminal through the TCP/UDP communication mode. 5. A kind of intelligent spraying robot based on WiFi wireless control according to claim 1, characterized in that: The drive module adopts a drive circuit composed of a high-voltage, high-current motor drive chip L298. 6. A kind of intelligent spraying robot based on WiFi wireless control according to claim 1, characterized in that: The body length of the trolley module is 30cm, the width is 22cm, and the height is 16.5cm. 7. A kind of intelligent spraying robot based on WiFi wireless control according to claim 1, characterized in that: The smart phone sends control instructions through the touch buttons of the robot controller application program. 8. A kind of intelligent spraying robot based on WiFi wireless control according to claim 7, characterized in that: The smart phone uses Android smart phone software touch keys to trigger and send control commands. The control commands pass through the WiFi network, and the wireless router extracts the control commands from the channel, and transmits the extracted control commands to the said control command through the TTL serial port. MCU module.