基于ARM的车载式路面平整度检测系统设计

发布时间：2018-02-26 20:24

本文关键词： 路面平整度 uC/OS-II CAN TCP/IP 路面特征　出处：《江苏科技大学》2015年硕士论文　论文类型：学位论文

【摘要】：路面平整度是公路及城市道路路面评价及路面施工验收中的一个重要指标,直接反映了车辆行驶的舒适度、路面的安全性及使用状态,对路面的维修、养护及翻修等方面提供重要参考依据,因此如何快速便捷的测量路面平整度已成为一个具有现实意义的课题。随着嵌入式技术及传感器技术的快速发展,非接触式检测法采集路面平整度已成为该领域的研究趋势。因此,本文结合激光位移传感器和加速度传感器设计开发了一套基于ARM的路面平整度采集系统。本文构建了由激光位移传感器、加速度传感器、旋转编码器为主的路面平整度检测系统,在深入地研究了系统总体方案可行性的基础上,设计了以飞思卡尔ARM Cortex-M4内核的MK60DN512ZVLQ10微处理器为主传输卡,以C8051F040单片机的传感器采集卡;在研究CAN协议和TCP/IP协议的特点及实现原理的基础上,开发了一种高效的嵌入式CAN转以太网网关,移植实时操作系统u C/OS-II,实现多路传感器数据的采集与传输;然后结合C#.NET设计了系统上位机界面,根据CAN数据帧格式制定了上位机与下位机通信协议,最后对系统试验采集的数据进行拟合滤波,由垂直加速度二次积分得到的车体振动位移,用激光传感器测得的路面高程减去该位移得到路面实际的高程,根据高程信号分析路面特征。测试结果表明,所设计的路面平整度检测系统合理、可行,具有很好的实用价值。本文完成的主要内容包括:1.基于C8051F040的数据采集卡的设计;2.基于飞思卡尔K60的CAN转以太网网关的设计;3.基于.NET平台开发了一套针对下位机的上位机数据采集系统;4.对试验原始数据进行去噪处理并进行结果分析,依据国际道路平整度指数(IRI)来判断路面的平整度等级,并验证系统测量结果。
[Abstract]:Pavement smoothness is an important index in highway and urban road pavement evaluation and pavement construction acceptance, which directly reflects the comfort of the vehicle, the safety and service state of the road surface, and the maintenance of the road surface. Maintenance and renovation provide important reference basis, so how to measure pavement smoothness quickly and conveniently has become a practical topic. With the rapid development of embedded technology and sensor technology, Non-contact detection method has become the research trend in this field. In this paper, a road roughness acquisition system based on ARM is designed and developed based on laser displacement sensor and acceleration sensor. On the basis of deeply studying the feasibility of the overall scheme of the pavement flatness detection system based on rotary encoder, the paper designs a transmission card based on MK60DN512ZVLQ10 microprocessor based on ARM Cortex-M4 kernel and a sensor acquisition card based on C8051F040 single chip microcomputer. On the basis of studying the characteristics and realization principle of CAN protocol and TCP/IP protocol, an efficient embedded CAN to Ethernet gateway is developed, and the real-time operating system u C / OS-IIs is transplanted to realize the data acquisition and transmission of multiple sensors. Then the system upper computer interface is designed based on C#.NET, and the communication protocol between the upper computer and the lower computer is established according to the CAN data frame format. Finally, the data collected by the system test is fitted and filtered. The vibration displacement of the car body obtained from the quadratic integration of vertical acceleration is subtracted from the road height measured by laser sensor to obtain the actual height of the road surface. The road surface characteristics are analyzed according to the elevation signal. The test results show that, The designed pavement smoothness detection system is reasonable and feasible. The main contents of this paper include: 1. The design of data acquisition card based on C8051F040. The design of CAN to Ethernet gateway based on Freescale K60. The data acquisition system of the upper computer 4. The original data of the test are de-noised and the results are analyzed. According to the international road smoothness index (IRI), the pavement smoothness grade is judged, and the system measurement results are verified.
【学位授予单位】：江苏科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U416.2

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