To speed up single-pixel imaging at a low cost, solutions are proposed from both hardware and algorithm aspects, so that a single-pixel imaging system with software and hardware cooperation is built. On algorithm, DQN-Hadamard single-pixel imaging is proposed by introducing DQN algorithm into Hadamard single-pixel imaging, to obtain the relatively optimal sampling sequence for specific target objects. On hardware, based on the high-speed and low-cost pattern projection scheme using LED array, ZYNQ 7020, which combines the characteristics of ARM and FPGA, is selected as the controller to build a Hadamard single-pixel imaging system with the cooperation of ARM and FPGA. Finally, combining the algorithm and hardware, the transplantation of DQN-Hadamard single-pixel imaging to the built Hadamard single-pixel imaging system is completed, and then DQN-Hadamard single-pixel imaging system is compared with the single-pixel imaging system using adaptive zig-zag sampling in detail. The imaging results show that as for the proposed imaging system, the target object can be reconstructed at the sampling rate of 30%, so that the feasibility of low-cost single-pixel imaging with software and hardware cooperation is verified.