基于蓝牙的履带车遥控技术研究
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摘要
我国为果业大国,种植面积大,果园作业耗工时多,操作人员的劳动强度大、条件差,尤其在炎热的夏季,由于果园中透风性差,劳动者在进行施药时容易发生中毒事件。因此,对智能化果园装备的开发研究受到越来越多的重视。本文对面向果园应用的小型电动履带车为研究对象,利用蓝牙技术结合单片机技术对履带车的运动控制技术进行了相关研究。主要取得的结论归纳如下:
(1)结合果园环境的特点,通过对几种目前比较常用的短距离无线通信技术比较,确定了基于蓝牙的操控方案,选取GC-05蓝牙模块作为通信载体来完成信息的无线传递。
(2)设计了基于单片机的控制系统硬件电路,包括遥控端外围电路和从端外围电路两部分,系统利用单片机自带的A/D转换功能实现了对各传感器信息的采集,减少了元器件个数。
(3)在C语言开发平台ICC AVR下,征对履带车运动控制的要素,制定了遥控端与从端蓝牙通信的控制帧格式,控制帧由行动指令、方向控制指令以及校检位3字节组成,遥控端单片机将定时扫描得到的按键、电位器状态按固定格式打包发送给从端单片机,完成控制指令的传输。
(4)从端单片机与直流电机驱动器之间采用Modbus的远程终端(RTU)模式通信,利用循环冗余码校验查表法保证了从端单片机对两直流伺服电机的控制的准确性。
(5)对履带车接触式导航技术做了相关的研究,设计了增量式PID控制器。从端单片机将采集到的角度传感器角度值与设定值的差作为PID控制器的输入信号,实现了履带车沿预铺设的橡皮管道的自动行走。
(6)实现了遥控和自行走两种运动控制方式之间的切换,极大的扩大了履带车的应用范围。
(7)实验结果表明,在50m范围内能较好的实现对履带车运动的无线遥控,指令传输的延时较小;采用直径为4cm的橡皮管道作为导航路径,履带车以接触式导航方式行走时,横向偏差范围在-9.7~2.4cm之间,在低速条件下能实现沿管道的自行走。
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.
(1)结合果园环境的特点,通过对几种目前比较常用的短距离无线通信技术比较,确定了基于蓝牙的操控方案,选取GC-05蓝牙模块作为通信载体来完成信息的无线传递。
(2)设计了基于单片机的控制系统硬件电路,包括遥控端外围电路和从端外围电路两部分,系统利用单片机自带的A/D转换功能实现了对各传感器信息的采集,减少了元器件个数。
(3)在C语言开发平台ICC AVR下,征对履带车运动控制的要素,制定了遥控端与从端蓝牙通信的控制帧格式,控制帧由行动指令、方向控制指令以及校检位3字节组成,遥控端单片机将定时扫描得到的按键、电位器状态按固定格式打包发送给从端单片机,完成控制指令的传输。
(4)从端单片机与直流电机驱动器之间采用Modbus的远程终端(RTU)模式通信,利用循环冗余码校验查表法保证了从端单片机对两直流伺服电机的控制的准确性。
(5)对履带车接触式导航技术做了相关的研究,设计了增量式PID控制器。从端单片机将采集到的角度传感器角度值与设定值的差作为PID控制器的输入信号,实现了履带车沿预铺设的橡皮管道的自动行走。
(6)实现了遥控和自行走两种运动控制方式之间的切换,极大的扩大了履带车的应用范围。
(7)实验结果表明,在50m范围内能较好的实现对履带车运动的无线遥控,指令传输的延时较小;采用直径为4cm的橡皮管道作为导航路径,履带车以接触式导航方式行走时,横向偏差范围在-9.7~2.4cm之间,在低速条件下能实现沿管道的自行走。
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.
引文
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