Self-propelled inspection vehicle on omni wheels

Abstract

In the article design of a self-propelled vehicle for inspecting ventilation ducts and ceiling structures in buildings equipped with omni wheels was presented. Such vehicles are used in places that are hard to reach for people. The vehicle was designed using the vehicle control system – ARDUINO. For this system dedicated program was written, which is used to operate it. The vehicle is remotely controlled by radio waves. Its range is about 100 meters and the power supply is a 12 V battery. The vehicle operator has joysticks (controllers) modelled on those used in game controllers that are used for precise vehicle control. The vehicle is equipped with cameras that allow to view the image in real time. The omni wheels have also been tested for strength by the finite element method (FEM). Carried out FEM analysis as part of the work allowed to determine the strength of omni wheels on the acting forces during vehicle movement.