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【OpenBuild-永續】aquaBot – 雙體船型

Posted2025 年 2 月 21 日
Updated2025 年 2 月 23 日
Byzerovoyager

前言

【Wow..想再將垃圾由水裡撈回來，竟是如此困難!!】

這是每回課後，學員們經常有的共同感受。

台灣四面環洋，水域環境變化性大。我們能否善用科技工具協助探查、維護美麗的水域環境呢? 如此的科技永續思維，或許值得我們佇腳一探。水域機器人型態豐富，本專題提供一種趣味也容易執行的水域機器人(aquaBot)，其產出的教學方案期望達到：

  • 👉 科技融入：善用學校既有教學設備(我們提供STL、雷切檔案…等自造檔案。)
  • 👉 SDGs融入：運用回收再造(upcycling)的概念、水域清理偵測為目標。
  • 👉 情境興趣：簡單可行、饒富互動，可擴展為團體合作趣味競賽的學習方案。
  • 👉 挑戰體驗：設計打撈水面物體(垃圾)的小機構。

btw, 設計船體時，水線(吃水深度)，為何重要? 如何計算呢? 🤔🤔

材料與工具

  1. dual2s-mini 或 dual2s控制器、防水盒
  2. 馬達：N20-1000rpm * 2、TT馬達 * 1 (或伺服馬達)
  3. 全浸槳 *2、延伸桿、連接器
  4. 雷切板件、3D列印件、M3螺釘
  5. 回收寶特瓶*2、束帶*2

工具：

  • 十字起子、白膠、熱熔膠槍
  • 鑽頭
  • Android手機或平板

控制器介紹

dual2s-mini運動控制器

開源檔案

程式範例 – Android模式

控制模式

yesioBlockly積木程式

宣告區塊：

主程式區塊：

Arduino C語言

Android – BT範例

#include <dual2s.h>
#include "BluetoothSerial.h"

//DC電機GPIO
#define PIN_MOTO_1A  14
#define PIN_MOTO_1B  32
#define PIN_MOTO_2A  12
#define PIN_MOTO_2B  33
#define PIN_MOTO_3A  25
#define PIN_MOTO_3B  26
#define PIN_MOTO_4A  23
#define PIN_MOTO_4B  22

//蜂鳴器GPIO
#define PIN_BUZZER   15

//供電偵測GPIO
#define PIN_BATTERY    36

//預設使用的PWM通道
#define PWM_CH_BUZZER 7
#define PWM_CH_M1A    8
#define PWM_CH_M1B    9
#define PWM_CH_M2A    10
#define PWM_CH_M2B    11
#define PWM_CH_M3A    12
#define PWM_CH_M3B    13
#define PWM_CH_M4A    14
#define PWM_CH_M4B    15

BluetoothSerial SerialBT;  //藍牙串列物件 
char BTCMD[3] = {0};  //儲存藍牙串列接收到的指令
int PWMspeed = 1000;  //儲存藍牙串列接收到的PWM speed數值
int SeekCnt = 0;

//GoSUMO gs;
Buzzer bz(PIN_BUZZER, PWM_CH_BUZZER);
Power  volt(PIN_BATTERY);

Motor m1(PIN_MOTO_1A, PIN_MOTO_1B, PWM_CH_M1A, PWM_CH_M1B); //馬達接口：MOTO-1
Motor m2(PIN_MOTO_2A, PIN_MOTO_2B, PWM_CH_M2A, PWM_CH_M2B); //馬達接口：MOTO-2
Motor m3(PIN_MOTO_3A, PIN_MOTO_3B, PWM_CH_M3A, PWM_CH_M3B); //馬達接口：MOTO-3

void setup(){
  Serial.begin(115200);
  SerialBT.begin("yesio-20");  //啟動藍牙串列並設定藍牙裝置名稱
  bz.alarm();
}

void loop(){
  if (Serial.available()) { SerialBT.write(Serial.read());  }
  if (SerialBT.available()) {
    int i;
    for (i=0; i<4; i++){ BTCMD[i] = SerialBT.read(); } 
  }
  if(atoi(BTCMD)>1) { PWMspeed = atoi(BTCMD);}
  //BTCMD[0] = 'D';
  if(BTCMD[0] == 'F') {      m1.act(Motor::CW, PWMspeed);  m2.act(Motor::CW, PWMspeed); }           
  else if(BTCMD[0] == 'B') { m1.act(Motor::CCW, PWMspeed);  m2.act(Motor::CCW, PWMspeed); }     
  else if(BTCMD[0] == 'L') { m1.act(Motor::CCW, PWMspeed);  m2.act(Motor::CW, PWMspeed); }
  else if(BTCMD[0] == 'R') { m1.act(Motor::CW, PWMspeed);  m2.act(Motor::CCW, PWMspeed); }
  else if(BTCMD[0] == 'Z') { m1.stop();  m2.stop(); m3.stop();}
  else if(BTCMD[0] == 'H') { bz.alarm(); }
/*Servo Control, start here. */  
  else if(BTCMD[0] == 'A') { m3.act(Motor::CW, PWMspeed);  }	//ServoBase Rising
  else if(BTCMD[0] == 'a') { m3.act(Motor::CCW, PWMspeed);  }	//ServoBase Declining
  
}

PS2搖桿範例


#include <dual2s.h>
#include <PS2X_lib.h>

//DC電機GPIO
#define PIN_MOTO_1A  14
#define PIN_MOTO_1B  32
#define PIN_MOTO_2A  12
#define PIN_MOTO_2B  33
#define PIN_MOTO_3A  25
#define PIN_MOTO_3B  26
#define PIN_MOTO_4A  23
#define PIN_MOTO_4B  22

//蜂鳴器GPIO
#define PIN_BUZZER   15

//超音波GPIO
#define PIN_USC_FRONT_ECHO 13
#define PIN_USC_FRONT_TRIG 27
#define PIN_USC_RIGHT_ECHO 5
#define PIN_USC_RIGHT_TRIG 4
#define PIN_USC_LEFT_ECHO 19
#define PIN_USC_LEFT_TRIG 18

//短距紅外線GPIO
#define PIN_IR_LEFT    34
#define PIN_IR_MIDDLE  35
#define PIN_IR_RIGHT   39

//供電偵測GPIO
#define PIN_BATTERY    36

//預設使用的PWM通道
#define PWM_CH_BUZZER 7
#define PWM_CH_M1A    8
#define PWM_CH_M1B    9
#define PWM_CH_M2A    10
#define PWM_CH_M2B    11
#define PWM_CH_M3A    12
#define PWM_CH_M3B    13
#define PWM_CH_M4A    14
#define PWM_CH_M4B    15

GoSUMO gs;
Buzzer bz(PIN_BUZZER, PWM_CH_BUZZER);
#define PS2_DAT    4
#define PS2_CMD    17
#define PS2_SEL    16
#define PS2_CLK    21
#define pressures  false
#define rumble     false
PS2X ps2x;
int error = -1;
byte PS2X_type = 0;
byte vibrate = 0;
int tryNum = 1;

Motor m1(PIN_MOTO_1A, PIN_MOTO_1B, PWM_CH_M1A, PWM_CH_M1B); //馬達接口：MOTO-1
Motor m2(PIN_MOTO_2A, PIN_MOTO_2B, PWM_CH_M2A, PWM_CH_M2B); //馬達接口：MOTO-2
Motor m3(PIN_MOTO_3A, PIN_MOTO_3B, PWM_CH_M3A, PWM_CH_M3B); //馬達接口：MOTO-3

void setup()
{
  Serial.begin(115200);
  bz.alarm();
  PS2X_INIT(); //注意，此將占用DUAL右側超音波  
}

void loop()
{
  if(PS2X_type != 2){ 
    ps2x.read_gamepad(false, vibrate);  //讀取PS2命令
    Serial.println(ps2x.Analog(PSS_RY));
    Serial.println(ps2x.Analog(PSS_RX));
    Serial.println(ps2x.Analog(PSS_LY));
    Serial.println(ps2x.Analog(PSS_LX));    

    if(ps2x.Analog(PSS_RY) <= 118){ m1.act(Motor::CW, map(ps2x.Analog(PSS_RY),128,0,150,1023));  m2.act(Motor::CW, map(ps2x.Analog(PSS_RY),128,0,150,1023)); }    //前進 
    if(ps2x.Analog(PSS_RY) >= 138){ m1.act(Motor::CCW, map(ps2x.Analog(PSS_RY),128,255,150,1023));  m2.act(Motor::CCW, map(ps2x.Analog(PSS_RY),128,255,150,1023)); } //後退    
    if(ps2x.Analog(PSS_RX) <= 118){ m1.act(Motor::CCW, map(ps2x.Analog(PSS_RX),128,0,150,1023));  m2.act(Motor::CW, map(ps2x.Analog(PSS_RX),128,0,150,1023)); }    //左旋轉 
    if(ps2x.Analog(PSS_RX) >= 138){ m1.act(Motor::CW, map(ps2x.Analog(PSS_RX),128,255,150,1023));  m2.act(Motor::CCW, map(ps2x.Analog(PSS_RX),128,255,150,1023)); } //右旋轉
    if((ps2x.Analog(PSS_RX) > 125 && ps2x.Analog(PSS_RX) < 130) && (ps2x.Analog(PSS_RY) > 125 && ps2x.Analog(PSS_RY) < 130)) { m1.stop();  m2.stop(); m3.stop(); } 

    if(ps2x.Analog(PSS_LX) <= 118){  }    
    if(ps2x.Analog(PSS_LX) >= 138){  }  
    if(ps2x.Analog(PSS_LY) <= 118){ m3.act(Motor::CW, map(ps2x.Analog(PSS_LY),128,0,150,1023)); }    
    if(ps2x.Analog(PSS_LY) >= 138){ m3.act(Motor::CCW,  map(ps2x.Analog(PSS_LY),128,255,150,1023));   }   

  }  
  delay(15); 
}

/*====== 副程式區，start here. ========*/
void PS2X_INIT(){
 while (error != 0) {
  delay(1000);
  error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
  Serial.print("#try config ");  Serial.println(tryNum);  tryNum ++;
 }
 Serial.println(ps2x.Analog(1), HEX);
 PS2X_type = ps2x.readType();
 switch(PS2X_type) {
   case 0: Serial.printf("Unknown Controller type found, type is %d", PS2X_type);  break;
   case 1: Serial.printf("DualShock Controller found, type is %d", PS2X_type);  break;
   case 2: Serial.printf("GuitarHero Controller found, type is %d", PS2X_type);  break;
   case 3: Serial.printf("Wireless Sony DualShock Controller found, type is %d", PS2X_type);  break;
 }
}

浮力計算

計算寶特瓶所受的浮力

根據阿基米德原理，浮力大小等於物體排開的水的重量：

已知條件

  • 寶特瓶直徑：D=80D = 80D=80 mm = 0.08 m
  • 寶特瓶長度：L=250L = 250L=250 mm = 0.25 m
  • 沒入水中的高度：h=10h = 10h=10 mm = 0.01 m
  • 水的密度：ρ水=1000 kg/m³
  • 重力加速度：g=9.81g = 9.81g=9.81 m/s²

計算沒入水中的體積

寶特瓶的橫截面是圓，沒入水中的部分是圓的弦截面，其面積計算如下：

A 值為 0.0003626 平方公尺（m²）

V值 = 0.0003626（m²） * 0.25m = 9.07×10^−5立方公尺

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