Software Design of Ultrasonic Ranging System in Agricultural Robot

–The software system of ultrasonic ranging system in agricultural robot was designed. This ultrasonic ranging system has two most components including the transmitter and the receiver. The ultrasonic ranging method was concluded, and ultrasonic ranging system generally calculates distance using the time-of-flight method, and the sound velocity must adjust by temperature compensation method when the precision of the ranging is a little high. The signal of 40 kHz was generated by the single chip microprocessor, and amplified and transmitted by the amplifying circuit and the ultrasonic transmitter respectively. The ultrasonic signal was amplified by the amplifying circuit after the ultrasonic receiver received the signal, and detected by the phaselock loop circuit, and the time t was measured by the interrupt program of the single chip microprocessor, finally, the distance was calculated by software discriminant. Ultrasonic ranging system software module structure mainly included main program module, the ultrasonic transmitting module, the interrupt service module of the comparator, the compensation module at room temperature and the display module. The result showed that the software system of ultrasonic ranging system can satisfy the function requirement of the agricultural robot.