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

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.