Research And Implementation On Key Technology Of Intelligent Omni-directional Vehicle On Venue For Performance

In modern art performances, it was frequently necessary to make actors, scenery or props perform specific movement on planes, such as driving, boating or other special effects, or move them. Aiming at the demand of venues in performing arts activities, mobile stage vehicle and related control system was designed and implemented; the remote monitoring software was implemented, including planning of walking path, display of state parameter and human intervention. The combination of the omni-directional moving of the whole vehicle and the rotating of turntable was realized, and the foundation of jointing multiple vehicle platforms or dispatching a group of vehicles was laid.The main content of this paper is as follows:1. The motion model of omni-directional vehicle was established.In view of the running environment, the characteristics of different wheels structure and practical application situation were analyzed, and suitable driving wheels for chassis were chosen. According to the combination style of the wheels, the motion constraints of the chassis were analyzed. The kinematics model and dynamics model of four omni-directional wheels chassis was established, the motion relationship of the whole vehicle and driving components had be known. According to the results of investigation, the overall design scheme was determined, vehicle system was divided into function modules.2. The mechanical structure of the universal vehicle was implemented.On the basis of synthesize function, mechanical properties and manufacturing cost, by using 3 dimensional modeling software SolidWorks, the mechanical structure of chassis was designed, mainly including the chassis frame, the structure of the wheels system, the structure of the rotary table drive and support. The parts were processed on the basis of engineering drawing and were assembled later. The vehicle was equipped with chassis based on omni-directional wheels, and an independent rotating platform was inset in the center. The question that the traditional vehicle could only move on orbits as a style of one dimensional motion was solved.3. The hardware circuit of lower computer system and wireless remote controlbased on embedded processing chip was developed.By using Atium Designer, as software for circuit designing, the hardware circuit system and wireless remote controller based on STM32 embedded processor was developed and implemented. By using C language in Keil μVison, as integrated development environment, the program codes of the lower computer and the remote controller was compiled and debugged.4. The PC wireless monitoring software system was developed.In the platform of Microsoft Visual Studio.NET, C# programming language was adopted to develop the remote monitoring system based on windows PC, including the interactive interface of man-machine and C# codes of each function module, the functions such as wireless communication, path planning, manual remote control and real-time display of motion parameters were realized.