CN113064176B - Ultrasonic mapping system based on field programmable gate array - Google Patents
Ultrasonic mapping system based on field programmable gate array Download PDFInfo
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- CN113064176B CN113064176B CN202110316854.0A CN202110316854A CN113064176B CN 113064176 B CN113064176 B CN 113064176B CN 202110316854 A CN202110316854 A CN 202110316854A CN 113064176 B CN113064176 B CN 113064176B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
- Automation & Control Theory (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
An ultrasonic mapping system based on a Field Programmable Gate Array (FPGA) belongs to the technical field of ultrasonic testing of obstacle shapes. The device consists of an FPGA core board, an ultrasonic ranging module, a steering engine and a PC with a COM interface. The FPGA core board is used as a main control and is connected with the ultrasonic ranging module, the steering engine and the COM interface; under the drive of a rotating shaft on a steering engine, the ultrasonic ranging module performs three ranging on one point of an obstacle, and then performs average value calculation on the echo signal calculation result of the three ranging; the COM interface is connected with the FPGA core board, the distance data obtained by mean value calculation is sent to the computer end through designing a serial port protocol on the FPGA core board, finally the data obtained by the upper computer software of the computer end is imported, and finally the shape of the obstacle is displayed in a graphical mode. The system can improve the mapping precision and display the mapping graph in real time.
Description
Technical Field
The invention belongs to the technical field of ultrasonic testing of obstacle shapes, and particularly relates to an ultrasonic mapping system based on a Field Programmable Gate Array (FPGA).
Background
In the application fields of unmanned aerial vehicles, robots and the like, people generally need to know the shape, the size and the space position of surrounding obstacles, measure and draw a graph, and accordingly, perform operations such as obstacle avoidance, steering and the like; the technologies that are relatively mature and more commonly applied based on sensors are mainly: the infrared detection technology, the laser ranging technology, the radar detection technology and the ultrasonic mapping technology, wherein the infrared detection technology utilizes a sensor to emit infrared rays, and determines the distance of an obstacle according to information received by reflection. The laser ranging technology also judges the condition of the obstacle according to the reflected signal, and has the advantages of high directivity, high precision, high anti-interference capability and the like, but the laser ranging technology is unfavorable for popularization and popularization due to high price, difficult equipment maintenance and the like, and has a narrower application range at present. The radar detection technology is to emit electromagnetic waves through a sensor, but is easy to receive interference of other electromagnetic waves, and has complex circuit structure and high price, so that the radar detection technology is mainly applied to the military industry, and among the mapping technologies, the mapping technology based on ultrasonic ranging is widely focused due to the advantages of good directivity, strong anti-interference capability, low cost and the like. However, most ultrasonic ranging systems today use a single chip microcomputer as a control system, and due to frequency limitation, the accuracy and the instantaneity of the ultrasonic ranging system are affected to some extent. The FPGA is a high-precision logic device with high running speed, abundant internal resources and strong reconstruction capability, has wide application in the technical field of modern electronics, particularly in the aspects of high-speed data acquisition and the like, and can effectively solve the defects of the traditional ultrasonic ranging system in the aspects of reliability, debuggeability, instantaneity, measurement precision and the like. In order to improve the mapping accuracy and display mapping graphs in real time, the invention provides an ultrasonic mapping system based on an FPGA.
Disclosure of Invention
The invention provides an ultrasonic mapping system based on a Field Programmable Gate Array (FPGA), which can realize the purpose of displaying the shape of an obstacle in real time.
The invention discloses an ultrasonic mapping system based on a Field Programmable Gate Array (FPGA), which consists of a Field Programmable Gate Array (FPGA) core board, an ultrasonic ranging module, a steering engine and a PC with a COM interface.
The FPGA core board is used as a main control and is connected with the ultrasonic ranging module, the steering engine and the COM interface; as shown in fig. 3, after the system is initialized, a 50MHz (period is 20 ns) clock signal is sent out from the interior of the FPGA core board, the duration of the high level of the subsequent trigger signal can be 500 clock cycles under the clock signal, and the duration of the low level is 999500 clock cycles, so that the trigger signal with the voltage of 3.3V, the frequency of 50Hz (period is 20 ms) and the pulse width of 10 μs can be sent out from the ultrasonic control pin K15 of the FPGA core board and input to the Trig pin of the ultrasonic ranging module; the steering engine control pin T15 of the FPGA core board is connected with a steering engine control line, and sequentially sends out 100 square wave signals with different duty ratios (each square wave signal takes the duty ratio of 2.5% as a reference and sequentially increases by 0.1%) with the voltage of 3.3V and the frequency of 50Hz (the period of 20 ms); in order to improve the accuracy of a measurement result and meet the requirement of a time sequence, square wave signals with different duty ratios are repeatedly sent for three times, so that an ultrasonic ranging module driven by a rotating shaft on a steering engine can perform three-time ranging at one point (the square wave signals can enable the rotating shaft of the steering engine and the ultrasonic ranging module to stay for 60ms at one point, the ultrasonic ranging module can always perform ranging within the time, 3 trigger signals (cycle 20 ms) can be input in total, and then 3 ranging can be completed, and an FPGA core board can acquire the results of the 3 ranging); the ultrasonic receiving pin J16 of the FPGA core board is connected with the Echo pin of the ultrasonic ranging module and is used for receiving Echo signals sent by the ultrasonic ranging module, the implementation mode is that a high-speed counter is started when the rising edge of the Echo signals is detected, the high-speed counter stops working when the falling edge of the Echo signals is detected, the count of the counter multiplied by a clock period (20 ns) is the high-level duration time of the Echo signals (namely the transit time of the ultrasonic waves), finally, the distance between an obstacle and the ultrasonic ranging module is calculated by utilizing a formula S=vt/2, and therefore the calculation of the Echo signals is completed, wherein v refers to the propagation speed (340 m/S) of the ultrasonic waves in the air, and t refers to the high-level duration time of the Echo signals measured by the high-speed counter; then, carrying out average value calculation on echo signal calculation results of three ranging at the same point, and improving the accuracy of a final distance result;
the ultrasonic ranging module is provided with 4 pins, wherein a Vcc pin is connected with a D3v3 power supply output pin of the FPGA core board and is used for inputting 3.3v voltage; the Trig pin is connected with an ultrasonic control pin K15 of the FPGA core board, and the ultrasonic ranging module is used for acquiring signals with the voltage of 3.3V and the pulse width of more than 10 mu s; the Echo pin is connected with an ultrasonic receiving pin J16 of the FPGA core board and is used for outputting an Echo signal with the voltage of 3.3V and the pulse width in direct proportion to the distance; the Gnd pin is connected with the GND pin of the FPGA core board, after the FPGA core board sends a trigger signal, the interior of the ultrasonic ranging module automatically sends out 8 pulse signals with 25 mu s cycle and 50% duty ratio, the pulse signals drive the ultrasonic piezoelectric crystal 5 on the ultrasonic ranging module to send out ultrasonic waves with the frequency of 40kHz and the sound pressure of more than 117dB, when the ultrasonic waves touch an obstacle, reflection occurs, the reflected signals are received by the ultrasonic piezoelectric crystal 6 on the ultrasonic ranging module, the Echo pin of the ultrasonic ranging module can send out an Echo pulse signal, the pulse width of the Echo pulse signal is in direct proportion to the distance between the ultrasonic ranging module and the obstacle, and the driving time sequence of the ultrasonic ranging module is shown in the attached figure 1.
The steering engine is used for driving the ultrasonic ranging module to rotate (the rotating shaft carried by the steering engine rotates, the ultrasonic ranging module is driven to rotate), the steering engine is used as the center, ranging work of more than 100 points in a range of 180 degrees is completed on an obstacle, 3 wires are shared by the steering engine, wherein a power wire is connected with a 5v power output pin of an FPGA core board, a ground wire is connected with a GND pin of the FPGA core board, a control wire is connected with a steering engine control pin T15 of the FPGA core board and is used for receiving square wave signals with different duty ratios sent by the FPGA core board, each square wave signal is sequentially increased by 0.1% based on the duty ratio of 2.5%, and the steering engine rotating shaft correspondingly rotates by 1.8 degrees.
The COM interface is connected with the FPGA core board, the distance data obtained by mean value calculation is sent to the computer end through designing a serial port protocol on the FPGA core board, finally the data obtained by upper computer software of the computer end is imported, and finally the shape of the obstacle is displayed in a graphical mode. The system can improve the mapping precision and display the mapping graph in real time.
Drawings
FIG. 1 is a timing diagram of the driving of an ultrasonic ranging module provided by the present invention;
FIG. 2 is a schematic diagram of a Field Programmable Gate Array (FPGA) based ultrasound mapping system provided by the present invention;
fig. 3 is a logic flow diagram of the interior of an Field Programmable Gate Array (FPGA) core panel of an FPGA-based ultrasound mapping system provided by the present invention.
In the figure: the ultrasonic distance measuring module 1, the steering engine 2, the FPGA core board 3, the PC end 4 with the COM interface, the transmitting ultrasonic piezoelectric crystal 5 and the receiving ultrasonic piezoelectric crystal 6.
Detailed Description
An FPGA-based ultrasound mapping system of the present invention will be described in further detail with reference to the examples and drawings.
Example 1: referring to fig. 2, which is a schematic diagram of an ultrasonic mapping system based on an FPGA provided by the present invention, as shown in fig. 2 and fig. 3, a Field Programmable Gate Array (FPGA) core board 3 is used as a master control, and is simultaneously connected with an ultrasonic ranging module 1, a steering engine 2 and a PC end 4 with a COM interface; after the system is initialized, a clock signal with the frequency of 50MHz and the period of 20ns is sent out from the inside of the field programmable gate array core plate 3, and a trigger signal with the voltage of 3.3V, the frequency of 50Hz and the pulse width of 10 mu s is sent out from an ultrasonic control pin K15 of the field programmable gate array core plate 3 and is input to a Trig pin of an ultrasonic ranging module; the high level of the trigger signal can be enabled to have the duration of 500 clock cycles under the clock signal, and the low level can have the duration of 999500 clock cycles; the control pin T15 of the steering engine 2 of the field programmable gate array core plate 3 is connected with a control line of the steering engine 2, and sequentially sends out 100 square wave signals with different duty ratios, wherein the voltage is 3.3V, the frequency is 50Hz, and the period is 20ms, and each square wave signal is sequentially increased by 0.1% based on the duty ratio of 2.5%; the square wave signals with different duty ratios are repeatedly sent for three times, so that the ultrasonic ranging module driven by the rotating shaft on the steering engine can perform three ranging at one point; the ultrasonic receiving pin J16 of the field programmable gate array core board 1 is connected with the Echo pin of the ultrasonic ranging module 1 and is used for receiving Echo signals sent by the ultrasonic ranging module 1, the implementation mode is that a high-speed counter is started when the rising edge of the Echo signals is detected, the high-speed counter stops working when the falling edge of the Echo signals is detected, the number count counted by the counter is multiplied by a clock period to obtain the high-level duration time of the Echo signals, then the distance between an obstacle and the ultrasonic ranging module is calculated by using a formula S=vt/2, and therefore Echo signal calculation is completed, wherein v refers to the propagation speed of ultrasonic waves in the air of 340m/S, and t refers to the high-level duration time of the Echo signals measured by the high-speed counter.
According to the invention, the rotation of the steering engine 2 is realized by emitting square wave signals with different duty ratios and 20ms periods through the FPGA, when the pulse width of the square wave signals is changed, the angle of the rotating shaft of the steering engine 2 is correspondingly changed, meanwhile, the ultrasonic ranging module is driven to rotate, according to the high-frequency characteristic of the FPGA, the rotating angle of each point can be minimized, 180-degree scanning of an obstacle is realized, the square wave signals corresponding to the angle of each point are repeatedly arranged, multiple measurement of distance data at the same point can be realized, the average value of the distance data obtained by each measurement is calculated, and the distance data at different points in the range of 180 degrees can be obtained as final distance data of each point. The method carries out mean value calculation on the echo signal calculation result of three ranging at the same point, thereby obtaining the accuracy of the distance result; the COM interface is connected with the field programmable gate array core board 3, distance data obtained by mean value calculation are sent to the PC machine through designing a serial port protocol on the field programmable gate array core board 3, finally data obtained by upper computer software of the PC machine are imported, and finally the shape of the obstacle is displayed in a graphical mode.
The ultrasonic ranging module 1 is provided with 4 pins in total, wherein a Vcc pin is connected with a D3v3 power supply output pin of the field programmable gate array core plate 3 and is used for inputting 3.3v voltage; the Trig pin is connected with an ultrasonic control pin K15 of the field programmable gate array core plate 3 and receives a trigger signal with the voltage of 3.3V and the pulse width of more than 10 mu s; the Echo pin is connected with an ultrasonic receiving pin J16 of the field programmable gate array core plate 3 and is used for outputting an Echo signal with voltage of 3.3V and pulse width in direct proportion to the distance; the Gnd pin is connected with the GND pin of the field programmable gate array core board 3, after the field programmable gate array core board 3 sends a trigger signal, the interior of the ultrasonic ranging module 1 automatically sends 8 pulse signals with 25 mu s cycles and 50% duty ratio, the pulse signals drive the ultrasonic piezoelectric crystal 5 on the ultrasonic ranging module 1 to send out ultrasonic waves with the frequency of 40kHz and the sound pressure of more than 117dB, the ultrasonic waves can be reflected after touching an obstacle, the reflected signals are received by the ultrasonic piezoelectric crystal 6 on the ultrasonic ranging module 1, and the Echo pin of the ultrasonic ranging module can send out an Echo pulse signal, and the pulse width of the Echo pulse signal is in direct proportion to the distance between the ultrasonic ranging module and the obstacle.
The steering engine 2 is used for driving the ultrasonic ranging module 1 to rotate, the steering engine 2 is used for finishing ranging work of more than 100 points within a 180-degree range on an obstacle, the steering engine 2 is provided with 3 wires, a power line is connected with a 5v power output pin of the field programmable gate array core plate 3, a ground wire is connected with a GND pin of the field programmable gate array core plate 3, a control line is connected with a steering engine 1 control pin T15 of the field programmable gate array core plate 3 and is used for receiving square wave signals with different duty ratios sent by the field programmable gate array core plate 3, each square wave signal is sequentially increased by 0.1 percent based on the duty ratio of 2.5 percent, and a steering engine rotating shaft correspondingly rotates by 1.8 degrees.
According to the invention, through a graphical display mode, the data can more intuitively display the space geometric shape of the obstacle on the upper computer. The FPGA core board used in the embodiment is selected from AX309 development boards of Xilinx company, and the FPGA chip used in the board is SPARTAN6 series of Xilinx company, and the model is XC6SLX9-2FTG256C; the ultrasonic ranging module is an HC-SR04 module; the steering engine adopts SG90 type steering engine cradle head; the upper computer is written by MATLAB software.
The foregoing description illustrates the basic principles and advantages of the invention, as well as variations and modifications can be made without departing from the spirit and scope of the invention; variations and modifications thereof will be apparent to those skilled in the art and are intended to be within the scope of the appended claims.
Claims (4)
1. An ultrasonic mapping system based on a field programmable gate array, which is characterized in that: the system consists of a field programmable gate array core board, an ultrasonic ranging module, a steering engine and a PC with a COM interface;
the field programmable gate array core board is used as a main control and is connected with the ultrasonic ranging module, the steering engine and the COM interface; after the system is initialized, a clock signal with the frequency of 50MHz and the period of 20ns is sent out from the inside of the field programmable gate array core board, the duration of the high level of the trigger signal can be 500 clock periods under the clock signal, the duration of the low level is 999500 clock periods, the trigger signal with the voltage of 3.3V, the frequency of 50Hz and the pulse width of 10 mu s is sent out from the ultrasonic control pin K15 of the field programmable gate array core board and is input to the Trig pin of the ultrasonic ranging module; the steering engine control pin T15 of the field programmable gate array core board is connected with a steering engine control line, and sequentially sends out 100 square wave signals with different duty ratios, wherein the voltage is 3.3V, the frequency is 50Hz, and the period is 20ms, and each square wave signal is sequentially increased by 0.1% with the duty ratio of 2.5% as a reference; the square wave signals with different duty ratios are repeatedly sent for three times, so that the ultrasonic ranging module driven by the rotating shaft on the steering engine can perform three ranging at one point; the method comprises the steps that an ultrasonic receiving pin J16 of a field programmable gate array core board is connected with an Echo pin of an ultrasonic ranging module and is used for receiving Echo signals sent by the ultrasonic ranging module, a high-speed counter is started when the rising edge of the Echo signals is detected, the high-speed counter stops working when the falling edge of the Echo signals is detected, the number count counted by the counter is multiplied by a clock period to obtain high-level duration time of the Echo signals, then the distance between an obstacle and the ultrasonic ranging module is calculated by using a formula S=vt/2, so that Echo signal calculation is completed, wherein v refers to the propagation speed of ultrasonic waves in air of 340m/S, and t refers to the high-level duration time of the Echo signals measured by the high-speed counter; then, carrying out average value calculation on echo signal calculation results of three ranging at the same point, and further obtaining accuracy of a distance result; the COM interface is connected with the field programmable gate array core board, the distance data obtained by mean value calculation is sent to the PC machine through designing a serial port protocol on the field programmable gate array core board, finally the data obtained by the upper computer software of the PC machine is imported, and finally the shape of the obstacle is displayed in a graphical mode.
2. An ultrasonic mapping system based on a field programmable gate array as set forth in claim 1, wherein: the ultrasonic ranging module is provided with 4 pins, wherein a Vcc pin is connected with a D3v3 power supply output pin of the field programmable gate array core board and is used for inputting 3.3v voltage; the Trig pin is connected with an ultrasonic control pin K15 of the field programmable gate array core board and receives a trigger signal with the voltage of 3.3V and the pulse width of more than 10 mu s; the Echo pin is connected with an ultrasonic receiving pin J16 of the field programmable gate array core board and is used for outputting an Echo signal with the voltage of 3.3V and the pulse width in direct proportion to the distance; the Gnd pin is connected with the GND pin of the field programmable gate array core board, after the field programmable gate array core board sends a trigger signal, the interior of the ultrasonic ranging module automatically sends out 8 pulse signals with 25 mu s cycles and 50% duty ratio, the pulse signals drive the ultrasonic piezoelectric crystal on the ultrasonic ranging module to emit ultrasonic waves with the frequency of 40kHz and the sound pressure of more than 117dB, the ultrasonic waves can be reflected after touching an obstacle, the reflected signals are received by the ultrasonic piezoelectric crystal on the ultrasonic ranging module, and the Echo pin of the ultrasonic ranging module emits an Echo pulse signal, and the pulse width of the Echo pulse signal is in direct proportion to the distance between the ultrasonic ranging module and the obstacle.
3. An ultrasonic mapping system based on a field programmable gate array as set forth in claim 1, wherein: the steering engine is used for driving the ultrasonic ranging module to rotate, the steering engine is used for finishing ranging work of more than 100 points in a 180-degree range on an obstacle, the steering engine is provided with 3 wires, a power line is connected with a 5v power output pin of the field programmable gate array core board, a ground wire is connected with a GND pin of the field programmable gate array core board, a control line is connected with a steering engine control pin T15 of the field programmable gate array core board and is used for receiving square wave signals with different duty ratios sent by the field programmable gate array core board, each square wave signal sequentially increases 0.1% based on the duty ratio of 2.5%, and a steering engine rotating shaft correspondingly rotates by 1.8 degrees.
4. An ultrasonic mapping system based on a field programmable gate array as set forth in claim 1, wherein: the field programmable gate array core board adopts a developing board with the model AX309, and the chip used by the board is SPARTAN6 series, and the model is XC6SLX9-2FTG256C; the ultrasonic ranging module is an HC-SR04 module; the steering engine adopts SG90 type steering engine cradle head; the upper computer is written by MATLAB software.
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