Study On The Remote Control System Of Tracked Vehicle Based On Bluetooth

Due to the large area for planting, our country is a great nation of fruit industry, but the consumption of working hours in orchard is excessively, the labor intensity of operator is high, and the condition of work is poor, especially in the hot days of summer, laborer has the risk to get poisoned when spraying as the poor ventilation of orchard, therefore, the research of intelligent equipment used in orchard has attract more and more attention. This paper takes a small electric tracked vehicle applying to orchard as the object of research, does some research on the controlling of tracked vehicle using micro-controller technology and Bluetooth technology. The main result of this paper is as the following:(1)Combining with the characteristics of orchard environment, compared some short range wireless communication technology which are frequent used, determine the manipulation of the scheme based on Bluetooth, selected the Bluetooth module of GC-05 as the communicate carrier,completed the wireless transmission of imformation.(2)Designed the hardware circuit of control system based on SCM, including remote control and slave, making use of the A/D function of SCM, realized the collection of digital information of sensor,reduced the number of component.(3)Under the platform of ICC AVR based on C programming language, after considered the control elements of the motion of tracked vehicle, defined the form of communicate frame between remote control and the slave, which is made from basic control instruction, direction control instruction and the frame of checkout. The remote microcontroller will timing send the information of the status of buttons and rheostat to the slave controller after scan to completed the transmission of the control instructions.(4)Using Remote Terminal Unit (RTU) mode of Modbus and querying method of Cyclic Redundancy Yards calibration to achieve and guarantee the accuracy of communication between slave MCU and DC servo motor.(5)Made some correlative research of tracked vehicle based on touch navigation technology, and designed the PID controller which use the deviation of angle sensor and setting value as the input of PID controller, realized the automatic movement along the pre laid pipelines of tracked vehicle.(6)Realized the switch of control mode between remote control and automatic navigation, expand the range of application which tracked vehicle can be used. (7)The test show a good performance of remote control in the scopes of 50m, using a rubber pipeline whose diameter if 4cm as the path of the tracked vehicle, found a lateral deviation range from -9.7cm to 2.4cm when tracked vehicle move in a low speed under the way of touch which is acceptable error in automatic navigation.