基于加速度传感器的智能小车路况自动测量系统

摘要

针对路面平整度的自动测量问题,结合工程实际中路面勘测的需要,设计了一套智能小车系统,实现路面坡度的自动测量和预警.ADXL345加速度传感器用于测量三轴加速度,实现了路面坡度的自动获取；蓝牙模块用于在计算机和小车之间进行数据的传送,实现了智能小车运动的远程控制以及计算机对坡度信号的接收；脉宽调制(PWM)方式用于对电机进行速度闭环控制,实现了智能小车测量路况时的低速运行；Matlab软件用于对坡度值的读取、处理以及绘图,实现了路面坡度坐标图和路面示意图的绘制,直观地反映了路况.通过判断所测坡度值与临界值的大小,实现了大坡度危险路况下的自动预警.研究结果表明,该智能小车路况测量系统能满足实际路况的自动检测、低速运行、示意路面总体状况和预警等功能的要求.%Aiming at the problem of measuring road condition automatically, an intelligent small car was designed to measure road's gradient. The accelerometer sensor ADXL345 was used to collect data of road's gradient automatically. The Bluetooth module was adopted to realize the communication between a small car and a personal computer. Thus controlling the car wirelessly and returning the data of road's gradient back to PC. Pulse width modulation (PWM)control was used to realize close—loop speed control and ensure the low speed of a small car. Matlab was used to make graphs of road's condition, which shown the variation of roads' altitude. Warning alarm would be set off if road's gradient was beyond a safe level. The results indicate thai the measuring system can satisfy the requirements of data collecting,low-speed running,graphs making,safety warning and other functions referred to above.