Câmera de vigilância remota móvel

Ferramentas e máquinas necessárias

	USB para adaptador FTDI serial FT232RL
	Arduino IDE
	Drill
	Serra de lâmina fina
	Chaves de fenda
	Ferro de soldar (genérico)
	Cortador de fio

Sobre este projeto

Etapa 1:Coisas necessárias

Etapa 2:Construindo a plataforma do robô

Etapa 3:Construindo a Eletrônica

Pinagem (arduino):

Construindo o PCB, montagem

Etapa 4:Código Arduino

  // fonte para TextMotorCommandsInterpretter:"https://github.com/danionescu0/arduino/tree/master/libraries/TextMotorCommandsInterpretter" #include  #include  const MOTOR_CANDM> const char ='M'; const char LIGHT_COMMAND ='L'; / ** * quanto tempo o comando do motor terá efeito em ms * um comando do motor incomming durará para maxDurationForMottorCommand * se não for reinicializado por outro comando do motor * / const long maxDurationForMottorCommand =300; // ajuste este valor para limitar a velocidade do robô const byte maxPwmValue =230; // Quanto tempo entre as transmissões de distância sucessivas em ms const long transmitingInterval =500; const int maxObstacleDetection =1000; // valor de detecção máximo de leitura analógica const int minObstacleDetection =500; // valor mínimo de detecção de leitura analógica const byte FLASH_PIN =3; byte const RIGHT_MOTOR_PWM_PIN =5; byte const RIGHT_MOTOR_EN1_PIN =A4; const byte RIGHT_MOTOR_EN2_PIN =A5; const byte LEFT_MOTOR_PWM_PIN =6; const byte LEFT_MOTOR_EN1_PIN =A3; const byte LEFT_MOTOR_EN2_PIN =A2; const byte FRONT_DISTANCE_SENSOR =A0; const byte BACK_DISTANCE_SENSOR =A1; SoftwareSerial masterComm (11, 10); // RX, TX TextMotorCommandsInterpretter motorCommandsInterpretter (-50, 50, -50, 50); String currentCommand; long lastCheckedTime; long lastTransmitTime; boolean inMotion =false; void setup () {Serial.begin (9600); masterComm.begin (9600); masterComm.setTimeout (10); pinMode (FLASH_PIN, OUTPUT); pinMode (LEFT_MOTOR_PWM_PIN, OUTPUT); pinMode (LEFT_MOTOR_EN1_PIN, OUTPUT); pinMode (LEFT_MOTOR_EN2_PIN, OUTPUT); pinMode (RIGHT_MOTOR_PWM_PIN, OUTPUT); pinMode (RIGHT_MOTOR_EN1_PIN, OUTPUT); pinMode (RIGHT_MOTOR_EN2_PIN, OUTPUT); lastCheckedTime =millis (); lastTransmitTime =millis (); } void loop () {if (masterComm.available ()> 0) {currentCommand =masterComm.readString (); processCommand (); } if (inMotion &&millis () - lastCheckedTime> maxDurationForMottorCommand) {stopMotors (); } if (millis () - lastTransmitTime> transmitingInterval) {lastTransmitTime =millis (); masterComm.print (getObstacleData ()); Serial.print (analogRead (BACK_DISTANCE_SENSOR)); Serial.print ("---"); Serial.println (getObstacleData ()); } / * PARA DEBUG motorCommandsInterpretter.analizeText ("M:-14:40;"); Serial.write ("Left =="); Serial.println (motorCommandsInterpretter.getPercentLeft ()); Serial.write ("Right =="); Serial.println (motorCommandsInterpretter.getPercentRight ()); delay (10000); * /} String getObstacleData () {int frontDistance =analogRead (FRONT_DISTANCE_SENSOR); int backDistace =analogRead (BACK_DISTANCE_SENSOR); frontDistance =map (frontDistance, maxObstacleDetection, minObstacleDetection, 0, 10); backDistace =map (backDistace, maxObstacleDetection, minObstacleDetection, 0, 10); return String ("F =" + String (frontDistance) + ":B =" + String (backDistace) + ";"); } void processCommand () {switch (currentCommand.charAt (0)) {case (MOTOR_COMMAND):steerCar (); pausa; case (LIGHT_COMMAND):toggleLight (currentCommand.charAt (2)); pausa; }} void steerCar () {motorCommandsInterpretter.analizeText (currentCommand); float percentLeftMotor =motorCommandsInterpretter.getPercentLeft (); float percentRightMotor =motorCommandsInterpretter.getPercentRight (); Serial.write ("Left ="); Serial.println (percentLeftMotor); Serial.write ("Right ="); Serial.println (percentRightMotor); setMotorsDirection (motorCommandsInterpretter.getDirection ()); analogWrite (LEFT_MOTOR_PWM_PIN, percentLeftMotor * maxPwmValue); analogWrite (RIGHT_MOTOR_PWM_PIN, percentRightMotor * maxPwmValue); inMotion =verdadeiro; lastCheckedTime =millis (); } void setMotorsDirection (boolean forward) {if (forward) {digitalWrite (LEFT_MOTOR_EN1_PIN, HIGH); digitalWrite (LEFT_MOTOR_EN2_PIN, LOW); digitalWrite (RIGHT_MOTOR_EN1_PIN, HIGH); digitalWrite (RIGHT_MOTOR_EN2_PIN, LOW); } else {digitalWrite (LEFT_MOTOR_EN1_PIN, LOW); digitalWrite (LEFT_MOTOR_EN2_PIN, HIGH); digitalWrite (RIGHT_MOTOR_EN1_PIN, LOW); digitalWrite (RIGHT_MOTOR_EN2_PIN, HIGH); }} void stopMotors () {Serial.println ("Parando motores"); analogWrite (LEFT_MOTOR_PWM_PIN, 0); analogWrite (RIGHT_MOTOR_PWM_PIN, 0); inMotion =falso; } void toggleLight (comando char) {Serial.println ("Alternar luz"); if (comando =='1') {digitalWrite (FLASH_PIN, HIGH); } else {digitalWrite (FLASH_PIN, LOW); }}  

Etapa 5:Instalando e configurando o projeto Raspberry Pi e dependências

  ifconfig ......... eth0 Link encap:Ethernet HWaddr b8:27:eb:16:e7:ff inet6 addr:fe80 ::ff00:f22f:9258:b92b / 64 Escopo:Link UP BROADCAST MULTICAST MTU:1500 Métrica:1 pacotes RX:0 erros:0 descartados:0 overruns:0 frame:0 pacotes TX:0 erros:0 descartados:0 overruns:0 portadora:0 colisões:0 txqueuelen:1000 RX bytes :0 (0,0 B) bytes TX:0 (0,0 B) ........ wlan0 Link encap:Ethernet HWaddr 00:c1:41:00:10:f6 inet addr:192.168.0.102 Bcast:192.168.0.255 Máscara:255.255.255.0 inet6 addr:fe80 ::e1f4:5112:9cb2:3839/64 Escopo:Link UP BROADCAST RUNNING MULTICAST MTU:1500 Métrica:1 pacotes RX:1678396 erros:0 descartados:0 overruns:0 frame:0 TX pacotes:381859 erros:0 descartados:0 ultrapassagens:0 operadora:0 colisões:0 txqueuelen:1000 RX bytes:259428527 (247,4 MiB) bytes de TX:187573084 (178,8 MiB) .....  

Pré-requisitos:

  clone git https://github.com/danionescu0/robot-camera-platform.git  

Instale o streaming Uv4l:

  chmod + x uv4l / install.sh chmod + x uv4l / start.sh sh ./uv4l/install.sh  

Configuração:

  EXECUTAR mosquitto_passwd -b / etc / mosquitto / pwfile user sua_password  

  sh ./uv4l/start.sh  

  sudo pkill uv4l  

Instale docker e docker-compose

Serviços de inicialização automática na reinicialização / inicialização

  sudo systemctl enable robot-camera.service sudo systemctl enable robot-camera-video.service  

  sudo systemctl status robot-camera.service sudo systemctl status robot-camera-video.service  

Etapa 6:Configurar e construir o aplicativo Android

git clone https://github.com/danionescu0/android-robot-camera  

Step 7:Using the Robot and Debugging

Using the app

Debugging can be done on multiple layers:

pi@raspberrypi:~ $ docker ps CONTAINER ID IMAGE COMMAND CREATED STATUS PORTS NAMES 473a56da2230 dockercontainer_python-server "python /root/debu..." 9 months ago Up 4 hours dockercontainer_python-server_1 3e0b1933d310 robot-camera-mosquitto "/usr/bin/entry.sh..." 9 months ago Up 4 hours 0.0.0.0:1883->1883/tcp dockercontainer_mosquitto_1  

pi@raspberrypi:~ $ netstat -nltp (Not all processes could be identified, non-owned process info will not be shown, you would have to be root to see it all.) Active Internet connections (only servers) Proto Recv-Q Send-Q Local Address Foreign Address State PID/Program name tcp 0 0 0.0.0.0:9090 0.0.0.0:* LISTEN - tcp 0 0 0.0.0.0:5900 0.0.0.0:* LISTEN - tcp 0 0 0.0.0.0:8080 0.0.0.0:* LISTEN - tcp 0 0 0.0.0.0:22 0.0.0.0:* LISTEN - tcp6 0 0 :::1883 :::* LISTEN - tcp6 0 0 :::5900 :::* LISTEN - tcp6 0 0 :::22 :::* LISTEN -  

pi@raspberrypi:~ $ ls -l /dev/ttyS0 crw-rw---- 1 root dialout 4, 64 Jan 14 19:59 /dev/ttyS0  

sudo systemctl start robot-camera.service picocom -b 9600 /dev/ttyS0 # now issue motor and light commands to test the robot  

Step 8:Other Use Cases, Extending the Code

sudo pip3 install -r /home/pi/robot-camera-platform/navigation/requirements.txt 

 hsv_bounds =( (24, 86, 6), (77, 255, 255) ) object_size_threshold =(10, 100)  

python3 object_tracking.py colored-object --show-video  

python3 object_tracking.py colored-object 

Código

Android application

Main repository for arduino, python code

Esquemas

Main repository for arduino, python code

Android application