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TELEOPERACIN WITH BLUETOOTH

Juan Guaranga; Karen Moncayo; Jhony Tacuri; Taday, Erika;
gjuanete@yahoo.com, janine_moncayo@hotmail.com, t_jhony_paul@hotmail.com, erika_its_5i@yahoo.com.
Fundamentos de Robtica
Escuela Ingeniera Electrnica Control y Redes Industriales

Abstract .The teleoperacin allows that the human being

could carry out certain tasks in distant places. With this
project is managed to control a vehicle via Bluetooth
communication protocol. As a starting point use the design of
the robot maze (servos, wheels and arduino) and incorporate
the HC06 module. Also we use an app for Android operating
system developed in AppInventor so that the operator can give
orders to the vehicle from a tablet or any device with
Bluetooth.

Index terms Teleoperacin, Bluetooth, HC06

mdule, appinventor.

OBJECTIVES

1. General Objective
Design a vehicle that can move forward, backward ,
left and right , according to the operator commands
sent from any device with Bluetooth

2. Specific objective
To rename the module Bluetooth HC06.
To protect the communication Bluetooth across a
password.

INTRODUCTION

Bluetooth is a technology that provides

mobile communications. It is small-scale, low
cost and uses radio links short range.
Operates in the 2,4 GHz band with ability to
pass through walls, making it ideal for mobile
operations and office. The frequency of work
is in the status of the 2,4 - 2,48 GHz, with up
to 79 jumps of frequency of a 1 Mhz. There
are many Bluetooth modules for use in our
electronics projects, but the most commonly
used are JY-MCU modules that are very
inexpensive and easy to find on the market.
They are small and with a very low
consumption that will allow us to add
Bluetooth functionality to our Arduino
modules. These modules containing the chip
with a development board with pins required
for serial communication. There are two
models of Bluetooth modules: HC -05 that
can be master / slave, and HC -06 can only
act as a slave.
They differ in that slave mode is the device
and who is connected to the module, while in
master mode is the module which connects
to a device. In our case we use the second
HC-06. Specific objective

I.

II. METHODOLOGY
The method used is the experimental one
since the students we realize the assembly
of different electronic pieces to expire with
the assigned task, and this way we extract
our own conclusions about his functioning.
Also the active method is used since we build
our vehicle as the teacher explains the
connections of the module Bluetooth, and
the software that will allow us to form it in
addition to that it helps us with certain
doubts.

II CONSTRUCTION
A.

SYSTEM OF MOVEMENT

It includes servomotors, caster wheel and

tires. And they are the same that was used
for the labyrinth.
B. BATTERY

Because it is necessary to feed the arduino,

the servos, and the module HC06 is
necessary a battery of 5V.
C. BLUETOOH HC06.

The module possesses the following pines:

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FIGURA 1
MDULO HC06

Vcc: Power supply module between 3.6V and

6V.
GND: The mass of the module.
TXD: Data transmission.
RXD: Reception of information to a voltage of
3,3V.
To rename it and to code it we realize the
following connection:
FIGURA 3
COMANDOS AT

D. INTERFACE USER - VEHICLE

A variety of applications in the Google play

for the remote control of a vehicle in our
case we use Arduino Control Car.
FIGURA 2
CONNECTION TO FORM I MODULATE BLUETOOTH

Once the connection proceeds to execute the

AT commands that are used to configure the
Bluetooth module via a microcontroller, a
computer
or
any
device
having
a
communication (Tx/Rx) series. They are
instructions that allow us to change the baud
rate of the module PIN, name, etc.
To use the AT command Bluetooth module
must not be connected to any device (red
LED flashing module).
The code of the Arduino for the module HC06 is the following one:

FIGURA 4
APP ARDUINO CONTROL CAR

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Basically this APP sent by the Bluetooth

module:
Up Arrow = Character 'a'
Left Arrow = Character 'b'
Button Square = Character 'c'
Right Arrow = Character d
Down Arrow = Character 'e'
Button ON = Character 'f'
OFF button = Character 'g'
Bluetooth = button is to select the Bluetooth
module to which you are connecting.

With the formed module and the program to

control the vehicle loaded on the arduino one
proceeds to connect them of the following
way.
ARDUINO
0 (RX)
1 (TX)
5V
GND

Bluetooth HC-06
TX
RX
VCC
GND

E. PROGRAMMING ARDUINO

We use the same functions of displacement

forward, behind, left, right. Maze robot
design previously, it was necessary to call
these functions only when the characters
received a, b , c, d, e, f, and g.
As can be seen in Figure 5.

FIGURA

INITIAL DESIGN VEHICLE TELEOPERADO

III RESULTS

FIGURA

TEST RUN
FIGURA 5
PROGRAMME FOR THE CONTROL OF VEHICLE

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IV CONCLUSIONS
The main objective which the project was in
this case a teleoperated vehicle was
achieved.
The standard of communication Bluetooth
allows a wireless communication with a
margin of minor flaw to 10 % for systems in
movement.
In teleoperated systems wirelessly, the delay
times are noticeable in the system with
increasing
distance
and
information
processing.
V RECOMMENDATION
For this type of designs it is recommended to
use the module HC06 since it comes formed
as slave, nevertheless it is possible to use
the HC05 but it would be necessary to form it

as slave and to continue a procedure similar

to the one that appears in this work.
The connections of TX and RX to the module
Bluetooth must be disconnected in the
moment that realizes the load of the code to
the Arduino.
REFERENCES

[1] http://diymakers.es/arduino-bluetooth/
[2] https://www.youtube.com/watch?v=Ei43v93NEMQ
https://play.google.com/store/apps/details?
id=appinventor.ai_el_profe_garcia.Arduino_Control_Car&hl=
es_419.
[3] http://www.instructables.com/id/Carro-Controlado-porBluetooth/
[4] http://btcarrocuenca.blogspot.com/.
[5] dialnet.unirioja.es/descarga/articulo/4835650.pdf.