针对载人潜水器水下作业时需对富钴结壳厚度进行实时原位检测的问题，设计了富钴结壳的超声测厚系统，分析了富钴结壳的物理特性及测厚原理，设计了基于ARM处理器芯片测厚系统硬件的方案，该方案根据富钴结壳采样信号的处理，提出了针对富钴结壳的峰值检测算法；最后，在实验室搭建了模拟测试装置，对样品进行了检测。结果表明，利用峰值检测算法可有效识别富钴结壳样品的顶部回波与底部回波时间，并计算出被测结壳的厚度，且准确性高。

Aiming at the real-time in-situ detection of the thickness of cobalt-rich crusts in manned submersibles, an ultrasonic thickness measurement system of cobalt-rich crusts was designed. The physical characteristics of cobalt-rich crusts and the principle of thickness measurement were analyzed, and the hardware scheme based on ARM chip thickness measurement was designed. Based on the processing of the sampled signals of cobalt-rich crusts, the scheme proposes a peak detection algorithm for cobalt-rich crusts. Finally, a simulation test device was set up in the laboratory to test the sample. Experiments show that the peak detection algorithm can effectively identify the top echo and bottom echo time of the cobalt-rich crust samples, the thickness of the measured crust can be calculated, and the accuracy is high.