为了能够实现超声波管道机器人在线实时识别缺陷的要求，本文提出了一种板卡级处理器结构，采用FPGA 和DSP 并行处理超声波数据，并应用小波分析等方法对超声信号滤波以及其它信号处理。关键词：超声波，小波，FPGA，DSPAbstract: To fulfill the task that the Intelligent Pig should recognize defects in the pipeline, this paper proposes a novel architecture that takes advantage of latest FPGA and DSP to process ultrasonic data traces. Wavelet and other algorithms are also implemented in this design to filter ultrasonic signal and other kinds of signal processing.Key Words: Ultrasonic, Wavelet, FPGA, DSP