Research On Intelligent Planar Garage Omnidirectional Mobile Platform Based On Mecanum Wheel

With the development of social economy and the popularity of automobiles,parking difficulties have seriously restricted the development of urban construction.In order to alleviate the parking difficulty,this paper proposes an intelligent planar garage using the omnidirectional mobile platform as delivery vehicle based on Mecanum wheel.When using the intelligent garage,the parking of the automobiles is completed by the Mecanum wheel omni-directional mobile platform as an automatic delivery tool and placed in a predetermined parking space.Compared to traditional garages,intelligent garages have the following advantages:First,the intelligent garage can greatly reduce the number of staff and save garage operating costs;Second,the parking of the automobiles is automatically realized by the Mecanum wheel omnidirectional mobile platform,which greatly shortens the access time and improves the access efficiency.Third,due to the use of automatic parking technology,the intelligent garage can accurately park the automobiles,reduce the parking space,achieve dense parking,and improve the utilization of garage space.In this context,the narrow space in the garage places high demands on the ability of the Mecanum wheel omnidirectional mobile platform to freely adjust the posture.In this paper,the Mecanum wheel omnidirectional mobile platform for intelligent planar garage was researched and designed,and the garage dispatching system was analyzed.The main work is as follows:(1)The basic theory of the Mecanum wheel omnidirectional mobile platform was introduced.On the basis of previous studies,the geometric structure and parameter design method of Mecanum wheel were introduced,and the motion characteristics of Mecanum wheel omnidirectional mobile platform were analyzed theoretically.(2)The Mecanum wheel omnidirectional mobile platform was designed.Combined with the operation requirements of intelligent planar garage,the design scheme of Mecanum wheel omnidirectional mobile platform was given.The design and parameter calculation of the motor drive system of the platform were carried out,and the control system was designed and selected.(3)The motion simulation analysis of the Mecanum wheel omnidirectional mobile platform was carried out.The three-dimensional modeling of the designed Mecanum wheel omnidirectional mobile platform was carried out.For the three cases of no-load,uniform load and partial load,the motion simulation of the platform model was carried out.By comparing the simulation analysis results with the theoretical analysis results,The motion accuracy of the platform was verified,which proved the applicability of the platform to the intelligent flat garage.(4)The intelligent planar garage dispatching system was designed.In order to improve the operation efficiency of the garage,combined with the layout of the intelligent planar garage,the architecture of the Mecanum wheel omnidirectional mobile platform garage dispatching system was designed.The process of depositing/taking the automobiles was given,and the scheduling program was designed and written.