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Cubieboard的第一辆小车[附视频]- first cubieboard car[with video]

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发表于 2014-8-29 10:30:01 | 显示全部楼层 |阅读模式
本帖最后由 cubieboard 于 2014-8-29 10:50 编辑

2013-4-4 更新为双语版。 见笑
Red text for english speaker

2013-4-7:更新一些细节,见8楼
2013-4-7: some update for detail, goto floor 8

2013-5-24更新:升级了下下车车身,马力更加强劲,而且省去了L298N驱动板,改为使用原小车自带的电路板,直接将驱动信号线焊接其Rx-2芯片的针脚。外形看起来不那么骨感了,温湿度传感器和超声波测距也启用了。图片见文末。
2013-5-24:upgrade the body. See Pics at the end.


第一次的架构
1st arch



第二次的架构,隔断用的泡沫,增大摩擦力,防止移动电源或cubie滑动,去掉了透明胶,只用橡皮筋
2nd arch, add  foam, increasing friction, to prevent mobile power or cubieboard sliding; remove the tape; only with a rubber band




Web 控制端(tornado+motion), 滑动条控制摄像头方向
下面的箭头控制小车运动
Web control panel(tornado+motion), slider to move video
The following arrows are used to control the car's movement




2013-4-6更新:增加了温湿度传感器,超声波测距
2013-4-6 update: add SR04 & DTH11

视频:




功能简介:
Features:
cubieboard作为上位机,职责:
As a host computer,the responsibilities of cubieboard:
        通过串口和arduino通信,usb摄像头视频捕捉,wifi连接到局域网,web环境用于人机交互;
        后期我再加上图像识别,再加上一个mic,再实现简单的语音识别,再加两个小喇叭,实现TTS。然后运行数据库,保存收集到的历史数据,以及从数据库提供一些网络抓取到的信息,比如播报天气预报、讲笑话等。
       Communicate with arduino via a TTL serial line; capture video via USB cam; connect to a wireless lan via USB wifi card; create a website for  Human-Computer Interaction;
        In the future, I add the following features: image recognition, simple speech recognition, TTS, save sensor data to database, crawl infomation from internet and save to database (eg. weather forecasts, jokes... ) then TTS that.


arduino作为下位机,职责:
       通过l298n电机驱动板控制小车运动;控制两个舵机转动摄像头;通过温湿度传感器回传温湿度数据给cubie;收集各种传感缩小编辑框器的数据……
As a lower machine, the responsibilities of arduino:
       dirve the motor on the car via L289N board; Control 2 servos to move the cam; Collecting data from sensor (eg.temperature and humidity from DTH11) for cubieboard.


组装配件以及成本:
Accessories and cost:
  • cubieboard          ¥360 +
  • arduino nano          ¥45 +
  • nano扩展板- Expansion board for arduino nano    ¥26 +  (这个便宜货不建议购买,供电有问题,只能勉强使用,各位买个好一点的吧)
  • 云台(和两个舵机)- Nylon head & 2 servos   ¥40 +
  • 摄像头(随便买的,然后拆开) - usb cam   ¥20  +
  • 1W毫安移动电源 -  Mobile Power 10Ah   ¥100 +
  • 小车底盘(玩具遥控车里拆出来的)- Car chassis( hacked out from a toy car )   ¥50 +
  • L298N电机驱动版 - L289N motor driver board  ¥18 +
  • 杜邦线等杂物  - DuPont line and so on      ¥10 +
  • 无线网卡 - USB WIFI card      ¥30+

[color=rgb(46, 166, 255) !important]复制代码

加上各种运费,一共约¥750+,主要是cubieboard和 移动电源 比较贵,还有就是小车底盘。
另外还买了一些传感器(比如超声波测距,温湿度,光环境,人体热感应),还没接上去,就不算在内了
Include freight, costs about  ¥ 750.
In addtion,I  bought some of the sensors(such as SR04, DTH11, Light Sensor...),haven't connect yet.


关于电源:我买1W毫安双输出移动电源的目的就是想小车持续运行久一点,只用一套供电系统供电,目前测试在小车(电机)完全不运动的情况下,可以支撑24小时。希望能把cubie在空闲时的功耗降到更低,能像ipad一样待机N天的话,就完美了。以后更深入的发展就是(目前只还在设想):把移动电源内部的电量检测引出来通过arduino收集,当检测到电量不足时,它自己开去充电(在家里的固定位置,采用mac book那样的磁性接头,只要位置基本准确,就能连上),充满之后再自己开走。
(目前的供电方案,5v 1A给cubieboard,cubieboard只带usb摄像头和wifi;5V 2.1A给扩展板供电,扩展板带Arduino,舵机,电机)
about the power:The purpose of my purchasing 10Ah power is that I hope the system last longer with only one power suplying.But less than ideal. I want a lower-power solution on cubieboard,at least when it is idle.
(now the power provide 5V 1A to cubieboard(with cam and wifi), 5V 2.1A to extension board(with arduino & 2 servo & l289n & 2 motor) )


目前存在的问题:移动电源太重,而且输出的是5v电压,装在小车上面带小车电机很吃力,如果额外再加7v或12v电池给电机独立供电的话,小车负重就更重了. 还有,我买这个arduino nano扩展板没有独立的对外供电,而是和arduino共用的,电机要是用电量过大,可能导致arduino供电不足而重启。
issue: the mobile power is too heavy for my motors which is feed by 5V 2A. Since the rated voltage of my motor is more than 6V. But I don't want to add separate power for motor. so the car moved so slowly. other problem is , the nano extension board did not provide separate power-pin for servo or motor. It may cause a rebooting of arduino when excessive current is going.

2013-4-7:更新一些细节,见8楼
2013-4-7: some update for detail, goto floor 8

2013-5-24更新附图:
2013-5-24 update pic:







更新一些细节:

硬件部分:



小车+驱动板


arduino+扩展板+云台舵机摄像头


移动电源+Cubieboard+usb无线网卡 (cubie和arduino通过uart进行针脚连接,串口通信)


原文作者:WindLand
原文链接:http://forum.cubietech.com/forum.php?mod=viewthread&tid=219
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