Original Climbing Building Temperature Measuring Machine Giraffe

I am an amateur in mechanical design, and I am new to embedded design.

If the hardware is not good, I will tell the story !

Video 1 Demonstration of epidemic prevention scenes https://b23.tv/dwr4vds

This project is based on the current epidemic prevention and control scenario, and has been expanded to door-to-door body temperature measurement for people with limited mobility (requiring climbing stairs and obstacle climbing structures, and lifting platform structures).

Now that the project content is in place, let’s give it a cool name – the building-climbing and obstacle-climbing machine giraffe (originally I wanted to gain some popularity and call it JLC deer... for fear of being disliked).

Back to business!

My ability is limited, my time is tight, and the project is quite rough. I mainly want to show my ideas, so I should use poems to make friends.

This project is divided into mechanical design part (the original design drawing has been uploaded), stm32 underlying driver, and python artificial intelligence. The general framework diagram is as follows:

Due to my limited ability, I mainly completed the mechanical structure part of the project and the stm32 underlying driver part in this project (I summarized it as using remote control to complete intelligent artificial intelligence); I left the artificial intelligence visual part to the help of experts to study together.

Also, my language skills are really bad, and I don’t even listen to my instructions on punctuation!

Then I'll change my thinking. If I can't express it, I'll post it in a video.

Mechanical part  

It adopts a wheel-leg structure (the wheel-type is quieter, more efficient, and can carry a higher load than the leg-type). Its main structure is as follows:

• A Stair-climbing/obstacle-crossing structure.

This case uses an 8-wheel, 2-axis design. 2 wheels in one set, 2 sets share one axis;

When climbing stairs, one set of supports drives the body, and the other set rotates to the standby position. The two sets alternate to quickly overcome obstacles. (Inspired by the automobile dual-clutch gearbox: one set is working and the other is standby, which has been patented). This project Used for door-to-door temperature measurement, code scanning, and disinfection in residential areas.

Go directly to the video:

Video 2 Stair climbing demonstration https://b23.tv/Frj6VDG

• B steering structure

1.The steering structure includes two sets, as follows:

2.The wheel is used on relatively flat and clean indoor roads.

Steering mechanism + ordinary wheels, waist twist of plus or minus 15 degrees, used for outdoor complex roads, including cross-protruding roads.

Video 3 Turning demonstration https://b23.tv/ujG9QA2

• C Lifting platform structure/elevator structure

This case uses a two-chain interlocking structure, which can be simply described as a motor controlling its contraction and linear expansion like a spring. (Inspired by clothing zippers, patented)

This model is used as a lifting platform this time to support the brain of the robotic giraffe and adapt to temperature measurement and visual recognition requirements at different heights.

Video 4 Lifting platform demonstration https://b23.tv/DNkxSix

• Concept of robot deer control system:

Video 5 Control system related https://b23.tv/6Twt5qO

STM32F407 Underlying Driver Part (open source)

Main control board + interface board two-layer design.

The main control uses STM32407VET6. The on-chip resources mainly use 5 serial ports, 6 timers, 1 SPI (hardware), 2 IICs (hardware), 4 IO inputs, 8 pull-up resistors IO expansion (two IO+5V+ GND, 4pin interface output).

Main on-chip resource uses:

• USART1 TYPC interface automatic download/485 Raspberry Pi communication
• USART2 Feite servo
• USART3 Front distance sensor
• UART4 WBUS receiver
• UART5 Rear distance sensor

------------------------------

• TIM3 4 encoder motor PWM
• TIM1, TIM2, TIM4, TIM5 encoder data collection
• TIM9 servo PWM
• SPI1 (hardware available) 0.96 LCD/others
• I2C1 (hardware available) 6050 body attitude feedback
• I2C2 (hardware capable) EFFROM status saving
• IO input infrared switch encoding motor encoder zero position calibration ()
• ADC Power detection
• 8 IO extensions with pull-up resistors

Programming:

Mainly introduce:

1. Encoded motor control (simple closed-loop control) is used to control encoder drift at low cost.

2. Serial servo control

Feite steering gear analysis.

Refer to my former friend Liu Yuwei and see the procedure.

The rest I pieced together here and there, see the program for details ...

There is only one day left until the project submission deadline !

No matter how I look at it, I feel like I’ve screwed up!

Summary: This is not a project that I can complete alone. I hope that all the experts can help contribute.

Finally, I would like to thank all netizens for their open source projects, which allowed me to refer to cases, and thank Lichuang EDA for their considerate service in completing the PCB with zero basics!

Updated December 2, 2012:

Main supplementary information:

1. 3D model of the giraffe, a machine for climbing stairs and obstacles (the lifting platform model will not be made public for the time being because it overlaps with the currently applied for patent).

The original image of the whole vehicle Sloidwork 2017 model, you can directly change the size of the image.

2. Access to the full set of models (including purchase links and production methods)

3. The information used by me on the underlying driver board:

4. Please explain the reasons for selecting the steering gear and encoder motor drive board:

• Steering gear

The serial port Feite STS3215 servo is used. The circuit refers to the information provided by Feite, and the driver is written according to its information.

Reason for selection: The serial port saves IO ports; supports 360-degree rotation and metal servos.

• Encoding motor driver board

Use the information provided by Lunqu Technology.

Reason for selection: One motor only requires one channel of PWM, saving timers.

Updated on December 14, 2022:

Temporarily delete the 3D design drawing (the attention is too low, the number of downloads is only 4)