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Abstract— .The teleoperación 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 — Teleoperación, Bluetooth, HC06 módule, appinventor.

I. 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

II. 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.

III. 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.

IV. 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:

TELEOPERACIÓN WITH BLUETOOTHJuan 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 Robótica

Escuela Ingeniería Electrónica Control y Redes Industriales

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FIGURA 1MÓDULO 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 2CONNECTION 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 HC-06 is the following one:

FIGURA 3COMANDOS 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 4APP 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.

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 5PROGRAMME FOR THE CONTROL OF VEHICLE

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 Bluetooth HC-060 (RX) TX1 (TX) RX

5V VCC GND GND

FIGURA 6INITIAL DESIGN VEHICLE TELEOPERADO

V. RESULTS

FIGURA 7TEST RUN

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VI. 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.

VII. 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=Ei43v93NEMQhttps://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-por-Bluetooth/[4] http://btcarrocuenca.blogspot.com/.[5] dialnet.unirioja.es/descarga/articulo/4835650.pdf.

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