智能小车坡度采集与避障模块的设计研究  

The Design and Research of Slope Collection and Obstacle Avoidance Module of Intelligent Car

作　　者：陶磊[1] 龚博 Tao Lei;Gong Bo(Anhui Industry&Trade Vocational and Technical College,Department of Mechanical and Automotive Engineering,Anhui Huainan 232001)

机构地区：[1]安徽工贸职业技术学院机械与汽车工程系,安徽淮南232001

出　　处：《汽车实用技术》2020年第4期89-91,共3页Automobile Applied Technology

基　　金：安徽省高等职业教育创新发展行动计划骨干专业建设项目(XM-01);安徽省自然科学研究项目(KJ2018GM03)。

摘　　要：本设计以STC89C51单片机为控制核心,小车速度和方向的控制通过PWM脉宽调制完成。利用控制系统中的超声波检测模块来测量距前方坡道的长度,同时由单片机计算出斜坡角度,并自主判断采取爬坡或者避障动作。若障碍物的坡度超出智能小车的爬坡能力范围,则由红外避障模块检测障碍物的外形尺寸参数,采用绕行方式来躲避障碍物。The design takes the STC89 C51 single chip as the control core, and the control of the speed and direction of the trolley is completed by the PWM pulse width modulation. The length of the front ramp is measured by the ultrasonic detection module in the control system, and the slope angle is calculated by the single-chip microcomputer, and the climbing or obstacle avoidance action is automatically judged. If the slope of the obstacle exceeds the climbing capacity range of the intelligent trolley, the infrared obstacle avoidance module detects the dimension parameter of the obstacle, and uses the bypass mode to avoid the obstacle.

关 键 词：坡道信息检测 STC89C51 超声波 红外避障 

分 类 号：U467[机械工程—车辆工程]