CN205484791U - High accuracy ultrasonic ranging appearance system - Google Patents
High accuracy ultrasonic ranging appearance system Download PDFInfo
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- CN205484791U CN205484791U CN201521046391.7U CN201521046391U CN205484791U CN 205484791 U CN205484791 U CN 205484791U CN 201521046391 U CN201521046391 U CN 201521046391U CN 205484791 U CN205484791 U CN 205484791U
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- Prior art keywords
- controller
- ultrasonic
- pin
- state machine
- enumerator
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Abstract
The utility model provides a high accuracy ultrasonic ranging appearance system, including controller unit, processor unit, storage location, temperature compensation circuit and bus, the storage location with controller unit connects, controller unit, processor unit, temperature compensation circuit respectively with bus connection, controller unit includes ultrasonic ranging module, ultrasonic ranging module includes ultrasonic controller and ultrasonic wave receiving and transmitting module, ultrasonic controller with ultrasonic wave receiving and transmitting module connects. The beneficial effects of the utility model are that: have that reliability height, integrated level are high, response speed is fast, the precision is high and characteristics such as low cost.
Description
Technical field
This utility model relates to ultrasonic ranging, particularly relates to a kind of high-precision ultrasonic range-finding system.
Background technology
Ultrasonic range finder, is the contactless distance measurement tools of one utilizing ultrasonic measurement distance.Because of ultrasound wave
There is the advantages such as directionality is good, easy to use, with low cost, capacity of resisting disturbance is strong, so ultrasound instrument is at commercial measurement, car
The fields such as the damage inspection of avoidance, safe early warning, level gauging, machine internal, vehicle automatic navigation and robot obtain extensively
Ground application.But, current most of ultrasonic range finders typically use MCS-5 1 single-chip microcomputer as controller, its certainty of measurement,
Owing to being limited by timer clock frequency, it is difficult to satisfactory.
Summary of the invention
In order to solve the problems of the prior art, this utility model provides a kind of high-precision ultrasonic range-finding system.
This utility model provides a kind of high-precision ultrasonic range-finding system, including controller unit, processor unit,
Memory cell, temperature-compensation circuit and bus, described memory cell is connected with described controller unit, described controller list
Unit, processor unit, temperature-compensation circuit are connected with described bus respectively, and described controller unit includes ultrasonic ranging list
Unit, described ultrasonic ranging unit includes ultrasonic wave controller and ultrasonic transceiver module, and described ultrasonic wave controller is with described
Ultrasonic transceiver module connects.
As further improvement of the utility model, described ultrasonic wave controller includes interface unit circuit, Status register
Device, start depositor, counter register, state machine, enumerator and doubler, wherein, the outfan of described doubler respectively with
Described state machine, enumerator connect, and the outfan of described state machine is connected with described status register, enumerator respectively, described
The outfan of enumerator is connected with described counter register, and the outfan of described counter register is with described interface unit circuit even
Connecing, the outfan of described status register is connected with described interface unit circuit, and described interface unit circuit is with described bus even
Connecing, the outfan of described interface unit circuit is connected with described startup depositor, and described startup depositor is with described state machine even
Connect.
As further improvement of the utility model, described state machine is provided with TRIG pin and ECHO pin, described state
Machine is connected with described ultrasonic transceiver module by described TRIG pin, ECHO pin respectively, and described ultrasonic wave controller passes through
Described TRIG pin sends to described ultrasonic transceiver module and triggers signal, and described ultrasonic transceiver module is drawn by described ECHO
Foot sends the reception of ultrasonic reflections ripple to described ultrasonic wave controller and judges input signal.
As further improvement of the utility model, described state machine is provided with CLR pin, H pin and ST pin, described shape
State machine is connected with described enumerator by described CLR pin, H pin, ST pin respectively, and described state machine is drawn by described CLR
Foot sends high electricity by described H pin to described enumerator to described enumerator transmitting counter reset signal, described state machine
Flat, described state machine by described ST pin to described enumerator transmitting counter enabling signal.
As further improvement of the utility model, described controller unit also include jtag controller, UART controller,
EPCS controller, lcd controller, sdram controller, wherein, described lcd controller connects LCD display, and described JTAG is controlled
Device processed, UART controller, EPCS controller, lcd controller, sdram controller are connected with described bus respectively.
As further improvement of the utility model, described bus is Avalon-MM bus.
As further improvement of the utility model, described high-precision ultrasonic range-finding system also includes PC, described
Jtag controller, UART controller are connected with described PC respectively.
As further improvement of the utility model, described memory cell includes EPCS4 memorizer, SDRAM memory,
Described sdram controller is connected with described SDRAM memory, and described EPCS controller is connected with described EPCS4 memorizer.
As further improvement of the utility model, described processor unit includes NiosII processor, described NiosII
Processor is connected with described bus.
As further improvement of the utility model, described temperature-compensation circuit includes universal input/output interface and temperature
Sensor, described temperature sensor is connected with described bus by described universal input/output interface.
The beneficial effects of the utility model are: ultrasonic wave controller is the electric spy according to outside ultrasonic transceiver module
Property and the User Defined controller that designs, it is connected with outside ultrasonic transceiver module, and control ultrasonic transceiver module enters
Row range finding；The spread speed of ultrasound wave is affected relatively big by temperature, improves certainty of measurement by temperature-compensation circuit, has reliable
The feature such as property height, integrated level height, fast response time, precision are high and with low cost.
Accompanying drawing explanation
Fig. 1 is the system block diagram of this utility model a kind of high-precision ultrasonic range-finding system.
Fig. 2 is the hardware block diagram of the ultrasonic wave controller of this utility model a kind of high-precision ultrasonic range-finding system.
Fig. 3 is the state transition graph of the state machine of this utility model a kind of high-precision ultrasonic range-finding system.
Fig. 4 is the control flow chart of this utility model a kind of high-precision ultrasonic range-finding system.
Detailed description of the invention
This utility model is further illustrated by explanation and detailed description of the invention below in conjunction with the accompanying drawings.
Drawing reference numeral in Fig. 1 to Fig. 4 is: ultrasonic wave controller 1；Interface unit circuit 11；Status register 12；Start
Depositor 13；Counter register 14；State machine 15；Enumerator 16；Doubler 17；EPCS controller 2；NiosII processor 3；
PIO4；Ultrasonic transceiver module 5；EPCS4 memorizer 6；Temperature sensor 7；Bus 8；Sdram controller 9；LCD makees controller
10；Jtag controller 11；UART controller 12；SDRAM memory 13；LCD display 14.
As it is shown in figure 1, a kind of high-precision ultrasonic range-finding system, including controller unit, processor unit, memorizer
Unit, temperature-compensation circuit and bus 8, described memory cell is connected with described controller unit, described controller unit, place
Reason device unit, temperature-compensation circuit are connected with described bus 8 respectively, and described controller unit includes ultrasonic ranging unit, institute
Stating ultrasonic ranging unit and include ultrasonic wave controller 1 and ultrasonic transceiver module 5, described ultrasonic wave controller 1 is super with described
Sound wave transceiver module 5 connects.
As it is shown in figure 1, described ultrasonic transceiver module 5 is preferably HC-SR04 ultrasonic transceiver module.
As in figure 2 it is shown, described ultrasonic wave controller 1 includes interface unit circuit 11, status register 12, starts depositor
13, counter register 14, state machine 15, enumerator 16 and doubler 17, wherein, the outfan of described doubler 17 respectively with institute
State state machine 15, enumerator 16 connects, and the outfan of described state machine 15 is respectively with described status register 12, enumerator 16 even
Connecing, the outfan of described enumerator 16 is connected with described counter register 14, and the outfan of described counter register 14 is with described
Interface unit circuit 11 connects, and the outfan of described status register 12 is connected with described interface unit circuit 11, described interface
Element circuit 11 is connected with described bus 8, and the outfan of described interface unit circuit 11 is connected with described startup depositor 13, institute
State startup depositor 13 to be connected with described state machine 15.
As shown in Figure 1 to Figure 2, described state machine 15 is provided with TRIG pin and ECHO pin, and described state machine 15 leads to respectively
Cross described TRIG pin, ECHO pin is connected with described ultrasonic transceiver module 5, and described ultrasonic wave controller 1 is by described
TRIG pin sends to described ultrasonic transceiver module 5 and triggers signal, and described ultrasonic transceiver module 5 is by described ECHO pin
Send the reception of ultrasonic reflections ripple to described ultrasonic wave controller 1 and judge input signal.
As it is shown in figure 1, described state machine 15 is provided with CLR pin, H pin and ST pin, described state machine 15 passes through respectively
Described CLR pin, H pin, ST pin are connected with described enumerator 16, and described state machine 15 passes through described CLR pin to described
Enumerator 16 transmitting counter reset signal, described state machine 15 sends high level by described H pin to described enumerator 16,
Described state machine 15 by described ST pin to described enumerator 16 transmitting counter enabling signal.
As it is shown in figure 1, described controller unit also include jtag controller 11, UART controller 12, EPCS controller 2,
Lcd controller 10, sdram controller 9, wherein, described lcd controller 10 connects LCD display 14, described jtag controller
11, UART controller 12, EPCS controller 2, lcd controller 10, sdram controller 9 are connected with described bus 8 respectively.
As shown in Figure 1 to Figure 2, described bus 8 is preferably Avalon-MM bus.
As it is shown in figure 1, described high-precision ultrasonic range-finding system also includes PC, described jtag controller 11, UART
Controller 12 is connected with described PC respectively.
As it is shown in figure 1, described memory cell includes EPCS4 memorizer 6, SDRAM memory 13, described SDRAM controls
Device 9 is connected with described SDRAM memory 13, and described EPCS controller 2 is connected with described EPCS4 memorizer 6.
As it is shown in figure 1, described processor unit includes NiosII processor 3, described NiosII processor 3 and described bus
8 connect.
As it is shown in figure 1, described temperature-compensation circuit includes universal input/output interface and temperature sensor 7, described temperature
Sensor 7 is connected with described bus 8 by described universal input/output interface, and described universal input/output interface is referred to as PIO4
(parallel i/o controller).
As it is shown in figure 1, temperature sensor 7 is preferably DS18B20 digital temperature sensor.
On hardware system, this utility model have employed a piece of highdensity FPGA gate array (FPGA) as hard
Part design platform, in order to realize the control of complexity, in FPGA gate array (FPGA) embedded one 32
NiosII processor 3.NiosII processor 3 is 32 soft-core processors that altera corp provides.When system designs, design
Person, according to the requirement of project, is embedded in Nios II soft nucleus CPU gratis in the FPGA that altera corp produces.SDRAM controls
Device 9 controls the SDRAM memory 13 of periphery, is used for depositing data.Jtag controller 11, UART controller 12 can realize program
Download and on-line debugging function；EPSC controller 2 controls EPSC4 memorizer 6, is used for storing FPGA and prepares file；LCD is controlled
Device 10 processed controls LCD display 14, the data recorded for display.Ultrasonic wave controller 1 is to receive according to outside ultrasound wave
The User Defined controller sending out the electrical characteristic of module 5 and design, its output pin TRIG and ECHO and outside ultrasound wave
Transceiver module is connected, and controls ultrasonic transceiver module 5 and finds range.The spread speed of ultrasound wave is affected relatively big by temperature, and this is
System design temperature compensates circuit and improves certainty of measurement.Native system is connected by PIO4 with DS18B20 digital temperature sensor.
As in figure 2 it is shown, interface unit circuit 11, play a part to connect Avalo-MM bus and ultrasonic wave controller 1.Cause
For having address decoder inside interface unit circuit 11, so NiosII processor 3 can pass through address decoder, access control
All depositors in device processed.The effect of doubler 17 is to 100MHz the system clock frequency multiplication of 50MHz, thus improves system
Certainty of measurement.The work that in state machine 15 control, modules is coordinated, by producing what various clock signals realized.TRIG
It it is the triggering signal of ultrasonic transceiver module；ECHO is that the reception of ultrasonic reflections ripple judges input signal；ST is that enumerator starts
Signal, high level enumerator starts counting up；CLR is counter O reset signal, and when CLR is high level, the value to enumerator resets；H
Being that Counter Value preserves control signal, when H is high level, the currency of enumerator is stored in counter register.Ultrasonic
In wave controller 1, also three depositors of definition, these three register definitions and Address Allocation's Situation are as shown in table 1.
Table 1 register definitions is distributed with address
The SOPC hardware designs of ultrasonic range finder, employing is that the SOPC Builder developing instrument of altera corp is carried out
Exploitation.SOPC Builder is the powerful system development tool that an altera corp provides, Embedded System Design
Teacher can utilize this instrument very easily to design a SOC(system on a chip) based on NiosII processor.SOPC Builder's
In graphic user interface, designer can add in system functional module in SOPC Builder storehouse, in addition, and SOPC
Builder also allows for designer to be added User-defined logic unit in SOPC Builder storehouse to.Table 2, is to utilize SOPC
The hardware system of Builder developing instrument definition, wherein, ultrasonc is ultrasonic wave controller, is User-defined logic control
Unit processed.
The definition of table 2 hardware system module
As it is shown on figure 3, state machine 15 is the key modules of ultrasonic wave controller 1, when its effect is to produce various control
Sequence.Fig. 3 is the state transition graph of state machine, be provided with altogether the free time, start, count, data preserve sum counter and reset five shapes
State.When powering up, state machine is in idle condition, once NiosII soft nucleus CPU to controlling depositor write enabled instruction, shape
State machine 15 enters starting state.In starting state, state machine 15 1 aspect is zeroed out operation to starting depositor 13, another
Aspect, produces ultrasonic ranging enabling signal TRIG, starts ultrasonic distance measuring module and produces ultrasound wave, and these tasks complete it
After, state machine 15 enters count status.In count status, 100MHz clock is counted by enumerator 16, when ultrasound wave is received
Sending out module 5 when receiving the ultrasound wave reflected by barrier, ECHO becomes low level, and enumerator 16 stops counting, state machine
15 carry out data preserves state.In several preservation states, count number 16 is according to being stored in counter register 14.Data are saved
Afterwards, state machine 15 enters enumerator 16 zeros data state, and the value in this hour counter 16 is cleared, and carries out for counting next time
Prepare.
The spread speed of ultrasound wave is highly prone to the impact of temperature.Ultrasound wave spread speed at normal temperatures is about 340
Meter per second, but when the temperature varies, the spread speed of ultrasound wave can change, such as, when temperature often raises 1 DEG C, super
The spread speed of sound wave can increase by 0.6 meter per second, therefore, when utilizing ultrasonic measurement distance, it is necessary to considers that temperature is to ultrasound wave
The impact of spread speed.
In order to improve certainty of measurement, native system design temperature compensates circuit.The temperature-compensation circuit of native system is mainly adopted
Measuring ambient temperature with the digital temperature sensor of DS18B20, recycling formula (1) carries out temperature to ultrasonic propagation velocity
Degree compensates.
V=331.4+0.61T (1)
In formula (1), V is the spread speed after ultrasound wave compensates, and T is actual celsius temperature scale.
As shown in Figure 4, in order to allow this tester normally work, in addition it is also necessary to the control program of design native system.System program
System program is developed by Nios II EDS 8.0 IDE using altera corp.Fig. 4 is native system program
Algorithm flow chart.After program starts, first Nios II mastery routine carries out initialization operation to the relevant equipment of system, such as,
The initialization of LCD liquid crystal display screen, temperature sensor DS18B20 initialization and serial ports initialization etc..After system initialization completes, Nios
II soft nucleus CPU reads DS18B20 temperature value, obtains the temperature value of preset test environment.After completing temperature reading, Nios II
Startup depositor in ultrasound wave control sends enabled instruction, starts ultrasonic distance measuring module and finds range.Then, Nios
The value of II read status register, understands the duty of controller.If controller is in " doing " duty, control
Device time delay a period of time, again reading off status information, if recognizing when controller is in " not busy " duty, reading counting
Value in depositor, is modified the spread speed of ultrasound wave by formula (1).Recycle corrected spread speed, meter
Calculate range finding display distance.
In order to further assess this precision of ultrasonic ranging, we are according to above method for designing, utilize one piece highly dense
The FPGA gate array (FPGA) of degree and ultrasonic transceiver module, devise an experimental prototype, and to this experimental prototype
Carry out performance test.FPGA gate array (FPGA) uses the EP1C6Q240C8 that altera corp produces, ultrasonic transmission/reception
Module 5 have employed HC-SR04 module.Table 3 is one group of test result of experimental prototype, from test result it can be seen that utilize this
When distance is measured in test, in addition to the in-plant relative error of measurement is 2%, the relative error measuring middle and long distance is maintained at
Within 1%, therefore, this tester has higher certainty of measurement.
Table 3 test result
As shown in Figures 1 to 4, a kind of high-precision ultrasonic range-finding system that this utility model provides, ultrasonic ranging
Instrument is a kind of contactless distance measurement tools, has a lot of advantages, and this utility model is for conventional one-piece machine ultrasound
The shortcoming that distance meter measurement error is big, uses software and hardware cooperating design method and self-defined User IP nuclear technology, design a set of based on
The high-precision ultrasonic Range Measurement System of NiosII, native system has reliability height, integrated level height, fast response time, precision
The advantage such as high and with low cost, therefore has certain practical value and promotional value.
Above content is to combine concrete preferred implementation further detailed description of the utility model, it is impossible to
Assert that of the present utility model being embodied as is confined to these explanations.Ordinary skill for this utility model art
For personnel, without departing from the concept of the premise utility, it is also possible to make some simple deduction or replace, all should regard
For belonging to protection domain of the present utility model.
Claims (10)
1. a high-precision ultrasonic range-finding system, it is characterised in that: include controller unit, processor unit, memorizer
Unit, temperature-compensation circuit and bus, described memory cell is connected with described controller unit, described controller unit, place
Reason device unit, temperature-compensation circuit are connected with described bus respectively, and described controller unit includes ultrasonic ranging unit, described
Ultrasonic ranging unit includes that ultrasonic wave controller and ultrasonic transceiver module, described ultrasonic wave controller are received with described ultrasound wave
Send out module to connect.
High-precision ultrasonic range-finding system the most according to claim 1, it is characterised in that: described ultrasonic wave controller bag
Include interface unit circuit, status register, startup depositor, counter register, state machine, enumerator and doubler, wherein, institute
The outfan stating doubler is connected with described state machine, enumerator respectively, the outfan of described state machine respectively with described state
Depositor, enumerator connect, and the outfan of described enumerator is connected with described counter register, the output of described counter register
End be connected with described interface unit circuit, the outfan of described status register is connected with described interface unit circuit, described in connect
Mouthful element circuit is connected with described bus, and the outfan of described interface unit circuit is connected with described startup depositor, described in open
Dynamic register file is connected with described state machine.
High-precision ultrasonic range-finding system the most according to claim 2, it is characterised in that: described state machine is provided with TRIG
Pin and ECHO pin, described state machine is respectively by described TRIG pin, ECHO pin with described ultrasonic transceiver module even
Connecing, described ultrasonic wave controller sends triggering signal by described TRIG pin to described ultrasonic transceiver module, described ultrasonic
Ripple transceiver module sends the reception of ultrasonic reflections ripple by described ECHO pin to described ultrasonic wave controller and judges input signal.
High-precision ultrasonic range-finding system the most according to claim 2, it is characterised in that: described state machine is provided with CLR
Pin, H pin and ST pin, described state machine is respectively by described CLR pin, H pin, ST pin with described enumerator even
Connecing, described state machine is by described CLR pin to described enumerator transmitting counter reset signal, and described state machine is by described
H pin sends high level to described enumerator, and described state machine is opened to described enumerator transmitting counter by described ST pin
Dynamic signal.
High-precision ultrasonic range-finding system the most according to claim 1, it is characterised in that: described controller unit also wraps
Including jtag controller, UART controller, EPCS controller, lcd controller, sdram controller, wherein, described lcd controller is even
Being connected to LCD display, described jtag controller, UART controller, EPCS controller, lcd controller, sdram controller are respectively
It is connected with described bus.
High-precision ultrasonic range-finding system the most according to claim 5, it is characterised in that: described bus is Avalon-
MM bus.
High-precision ultrasonic range-finding system the most according to claim 5, it is characterised in that: described high-precision ultrasonic is surveyed
Distance meter system also includes that PC, described jtag controller, UART controller are connected with described PC respectively.
High-precision ultrasonic range-finding system the most according to claim 5, it is characterised in that: described memory cell includes
EPCS4 memorizer, SDRAM memory, described sdram controller is connected with described SDRAM memory, described EPCS controller with
Described EPCS4 memorizer connects.
High-precision ultrasonic range-finding system the most according to claim 1, it is characterised in that: described processor unit includes
NiosII processor, described NiosII processor is connected with described bus.
High-precision ultrasonic range-finding system the most according to claim 1, it is characterised in that: described temperature-compensation circuit
Including universal input/output interface and temperature sensor, described temperature sensor passes through described universal input/output interface with described
Bus connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521046391.7U CN205484791U (en) | 2015-12-15 | 2015-12-15 | High accuracy ultrasonic ranging appearance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521046391.7U CN205484791U (en) | 2015-12-15 | 2015-12-15 | High accuracy ultrasonic ranging appearance system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205484791U true CN205484791U (en) | 2016-08-17 |
Family
ID=56661528
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521046391.7U Expired - Fee Related CN205484791U (en) | 2015-12-15 | 2015-12-15 | High accuracy ultrasonic ranging appearance system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205484791U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105334516A (en) * | 2015-12-15 | 2016-02-17 | 广西民族师范学院 | High-precision ultrasonic range finder system |
| CN110310416A (en) * | 2018-03-20 | 2019-10-08 | 上海雨展网络科技有限公司 | A kind of unmanned cargo path shipment detection method based on ultrasound |
-
2015
- 2015-12-15 CN CN201521046391.7U patent/CN205484791U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105334516A (en) * | 2015-12-15 | 2016-02-17 | 广西民族师范学院 | High-precision ultrasonic range finder system |
| CN110310416A (en) * | 2018-03-20 | 2019-10-08 | 上海雨展网络科技有限公司 | A kind of unmanned cargo path shipment detection method based on ultrasound |
| CN110310416B (en) * | 2018-03-20 | 2021-09-28 | 上海雨展网络科技有限公司 | Unmanned cargo channel shipment detection method based on ultrasonic waves |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20161215 |
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| CF01 | Termination of patent right due to non-payment of annual fee |