基于FPGA的水下超声波测距系统设计

Design of Underwater Ultrasonic Ranging Based on FPGA

针对水下机器人在污浊水域自动避障困难的问题,设计了一款基于FPGA的水下超声波测距系统,用于水下机器人的避障和水下目标的定距检测。采用渡越时间的测距方法,通过超声波到障碍物的时间计算距离;使用Intel公司的CycloneIV E系列FPGA作为控制和数据处理中心,完成声波发射、声波采集、数据处理和结果显示等任务。实验结果表明,测距结果的相对误差小于4%。对误差产生的原因进行了分析,验证了系统的可行性。

Aiming at the problem of the difficulty of automatic obstacle avoidance of underwater robots in dirty waters,an underwater ultrasonic ranging system based on FPGA is designed and implemented,which is used for obstacle avoidance of underwater robots and distance detection of underwater targets.It adopts the ranging method of transit time and calculates the distance from ultrasonic waves to obstacles.CycloneIV E series FPGA of Intel Company is used as the control and data processing center to carry out tasks such as sound wave transmission,acoustic wave acquisition,data processing,data display and transmission.The experimental results show that the relative error of the ranging results is less than 4%,and the causes of error are analyzed to verify the feasibility of the system.