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本帖最后由 WindLand 于 2015-6-16 22:12 编辑
相关贴：Cubieboard 智能小车 2.0 版
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
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
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 client 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+
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:
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