目的 为了解决传统物流行业机器人避障系统中存在的测距精度低、抗干扰性差等问题。方法 提出一种基于DSP的温补与小波阈值滤噪的高精度超声测距系统，包括DSP最小系统、超声波传感器、LCD显示模块、温度补偿电路和报警电路等。超声波测距系统通过实时采集环境温度来修正声速值，采用小波阈值变换算法对回波信号进行处理，以提升回波信号的信噪比和起始点锐度。结果 应用CCS4.2软件与DSP芯片进行调试、实验，实验表明在距离0～1200 mm内，系统的测量误差为±4 mm。结论 采用小波阈值变换算法和温补电路，提高了传统物流机器人避障系统的测距精度。

The work aims to solve the problems of low ranging accuracy and poor anti-interference in the traditional logistics industry robot obstacle avoidance system. A high precision ultrasonic ranging system based on DSP temperature compensation and wavelet threshold noise filtering was proposed, including the minimum system of DSP, ultrasonic sensor, LCD display module, temperature compensation circuit and alarm circuit. The ultrasonic ranging system corrected the sound velocity by collecting the ambient temperature in real time, and used the wavelet threshold transform algorithm to process the echo signal, which improved the signal-to-noise ratio and the starting point sharpness of the echo signal. CCS4.2 software and DSP chip were used for debug and experiment. The experiment showed that within the distance of 0~1200 mm, the measurement error of the system was ±4 mm. Wavelet threshold transform algorithm and temperature compensation circuit are used to improve the ranging accuracy of traditional logistics robot obstacle avoidance system.