CN219007829U - Underground sensing positioning circuit and positioning device - Google Patents

Abstract

The utility model provides an underground sensing positioning circuit and a positioning device, wherein the underground sensing positioning circuit comprises a processor, an acceleration module, an image acquisition module, a display output module, a voice output module and a power supply module; the acceleration module is arranged on the railway vehicle and used for acquiring digital quantities of at least three axial acceleration signals of the railway vehicle under the ground and sending the digital quantities of the acceleration signals to the processor; the image acquisition module is arranged at one side of the running direction of the railway vehicle, is in communication connection with the processor, and is used for acquiring an image of the running direction of the vehicle under the ground and sending the image to the processor; the display output module is arranged in the railway vehicle and is used for receiving the image acquired by the image acquisition module forwarded by the processor; the voice output module selectively outputs voice prompts or alarm information; the power module is electrically connected with the processor, the acceleration module, the image acquisition module or the voice output module, and the power module is used for selectively supplying power to the display output module.

Description

Underground sensing positioning circuit and positioning device

Technical Field

The utility model relates to the technical field of vehicle position detection, in particular to an underground sensing positioning circuit and an underground sensing positioning device.

Background

Along with the continuous acceleration of the urban mass transit, the contradiction between urban infrastructure, particularly urban traffic and urban development is gradually revealed, and urban rail traffic plays a positive role in overall planning of the whole city, promoting and guiding construction and economic development along the line, improving urban public traffic conditions, optimizing urban traffic structures and the like. The location information of the underground railway transportation vehicles plays a very important role in traffic safety. The ground traffic can acquire the information of the geographic position, speed, direction and the like of the current vehicle by using navigation equipment such as a GPS or Beidou terminal. In underground space at the moment, signal attenuation is large, and the relative position and the absolute position of underground rail transit cannot be acquired by using navigation equipment reliably.

The chinese patent application publication No. CN217649430U discloses an apparatus for detecting an under-vehicle device, a vehicle body and a railway vehicle, which has an image acquisition component with adjustable posture, and can acquire the under-vehicle image information so as to generate monitoring information, but has no display output and voice broadcasting functions, and does not disclose a specific implementation circuit. It would be desirable to provide an underground sensing and positioning circuit and positioning device that can obtain rail vehicle operating information, and optionally, voice or video output.

Disclosure of Invention

In view of this, the present utility model proposes an underground sensing positioning circuit and positioning device capable of realizing voice or audio output.

The technical scheme of the utility model is realized as follows: in one aspect, the present utility model provides an underground sensing positioning circuit comprising

A processor;

the acceleration module is arranged on the railway vehicle, is in communication connection with the processor, and is used for acquiring digital quantities of at least three axial acceleration signals of the railway vehicle under the ground and transmitting the digital quantities of the acceleration signals to the processor;

the image acquisition module is arranged at one side of the running direction of the railway vehicle, is in communication connection with the processor, works in a main output mode, and is used for acquiring an image of the running direction of the vehicle in the underground and sending the image to the processor;

the display output module is arranged in the railway vehicle, is in communication connection with the processor, works in an input mode and is used for receiving the image acquired by the image acquisition module forwarded by the processor;

the voice output module is arranged in the railway vehicle and is in communication connection with the processor, and selectively outputs voice prompts or alarm information;

the power module is electrically connected with the processor, the acceleration module, the image acquisition module, the display output module or the voice output module, and the power module is used for selectively supplying power to the display output module.

On the basis of the above technical solution, preferably, the voice output module includes an audio decoder U1300, an audio power amplifier chip U1301, a first interface J1202, a second interface J1302, and a speaker; the processor is provided with a plurality of MIPI interfaces, a plurality of serial interfaces and a general input/output interface;

the audio decoder U1300 is provided with at least two different serial interfaces, and the at least two different serial interfaces of the audio decoder U1300 are in one-to-one corresponding communication connection with the two serial interfaces of the processor; the output end of the audio decoder U1300 is electrically connected with the input end of the first interface J1202 correspondingly, and the first interface J1202 is electrically connected with a loudspeaker through an RCA audio line;

the non-inverting input end of the audio power amplifier chip U1301 is electrically connected with the negative electrode of the polar capacitor C1319 and one end of the resistor R1332, the positive electrode of the polar capacitor C1319 is electrically connected with one end of the resistor R1331, and the other end of the resistor R1331 is electrically connected with a general input/output interface of the processor; the inverting input end of the audio power amplifier chip U1301 and the other end of the resistor R1332 are grounded; the output end of the audio power amplifier chip U1301 is electrically connected with one end of the second interface J1302 and the positive electrode of the polar capacitor C1321, the negative electrode of the polar capacitor C1321 and the other end of the second interface J1302 are grounded, and the second interface J1302 is electrically connected with a loudspeaker.

Preferably, the acceleration module comprises an acceleration sensor U1201, wherein the acceleration sensor U1201 is provided with one path of SPI interface which is in one-to-one correspondence communication connection with one path of serial interface of the processor; the power input end of the acceleration sensor U1201 is electrically connected with the power supply VDDIO_QSPi1; acceleration sensor U1201 is a product of the SCHA6XX series of village and field company.

Preferably, the image acquisition module comprises a data transmission chip U1000, a camera mounting seat J1001 and a binocular camera; the data transmission chip U1000 is provided with one path of MIPI interface, at least one path of serial interface and a power-down input end; the binocular camera is electrically connected with the camera mounting seat J1001, and the output end of the camera mounting seat J1001 is electrically connected with each input end of the data transmission chip U1000 in a one-to-one correspondence manner; the MIPI interface of the data transmission chip U1000 is in one-to-one corresponding communication connection with the MIPI interface of the processor; one serial interface of the data transmission chip U1000 is in one-to-one corresponding communication connection with one serial interface of the processor; one general input/output interface of the processor is electrically connected with the power-down port of the data transmission chip U1000, and the general input/output interface pulls up or pulls down the level of the power-down port of the data transmission chip U1000; the data transmission chip U1000 is used for forming a data transmission link between the output end of the binocular camera and the MIPI interface of the processor.

Further preferably, the display output module comprises a bridge serializer U800, a third interface J800 and a display screen; the bridge serializer U800 comprises one path of MIPI interface, at least one path of serial interface and two paths of output interfaces; one path of MIPI interface of the bridge serializer U800 is in one-to-one corresponding communication connection with the MIPI interface of the processor, and one path of serial interface of the bridge serializer U800 is in corresponding communication connection with the other path of serial interface of the processor; the two output interfaces of the bridge serializer U800 are respectively and correspondingly and electrically connected with the input end of the third interface J800 through common mode inductance, and the third interface J800 is also electrically connected with the display screen.

Preferably, the power module includes a fourth interface J400, a first transient suppression diode D401, a schottky diode D400, a DC converter U400, a first MOS transistor Q402A, and a second MOS transistor Q402B; the fourth interface J400 is electrically connected to the DC input power, the pin 1 of the fourth interface J400 is electrically connected to the cathode of the first transient suppression diode D401, one end of the capacitor C400, one end of the capacitor C401, the anode of the polarity capacitor C402, one end of the capacitor C403, and the anode of the schottky diode D400, and the cathode of the schottky diode D400 is used as the first power output terminal vdcin2_12v; the pin 2 of the fourth interface J400 is grounded to the anode of the first transient suppression diode D401, the other end of the capacitor C400, the other end of the capacitor C401, the negative electrode of the polar capacitor C402 and the other end of the capacitor C403;

the first power output end VDCIN2_12V is also electrically connected with the input end of the DC converter U400 and one end of the resistor R402, the other end of the resistor R402 is electrically connected with the enabling end of the DC converter U400, one end of the resistor R406 and one end of the capacitor C425 respectively, and the other end of the resistor R406 and the other end of the capacitor C425 are grounded; the high-side driving end of the DC converter U400 is electrically connected with the grid electrode of the first MOS tube Q402A, the low-side driving end of the DC converter U400 is electrically connected with the grid electrode of the second MOS tube Q402B, the source electrode of the second MOS tube Q402B is grounded, the drain electrode of the second MOS tube Q402B is respectively electrically connected with the source electrode of the first MOS tube Q402A, the output end of the DC converter U400 and one end of the inductor L400, the other end of the inductor L400 is used as a VAP_5V output end, the other end of the inductor L400 is also electrically connected with the input end of a potentiometer, the output end of the potentiometer is electrically connected with the feedback end of the DC converter U400, and the other end of the potentiometer is grounded; the drain electrode of the first MOS transistor Q402A is electrically connected to one end of the low-side detection resistor R404 and the first current detection input end of the DC converter U400, and the other end of the low-side detection resistor R404 is electrically connected to one end of the high-side detection resistor R403 and the first power output end vdcin2—12v, and the other end of the high-side detection resistor R403 is electrically connected to the second current detection input end of the DC converter U400.

Further preferably, the power module further includes a fifth interface J401, a second transient suppression diode D402, a third MOS transistor Q400, and a fourth MOS transistor Q401; pin 1 of the fifth interface J401 is electrically connected with the first power output terminal vdcin2_12v, the cathode of the second transient suppression diode D402, one end of the resistor R400 and the drain of the third MOS transistor Q400, and both pin 2 and pin 3 of the fifth interface J401 and the anode of the second transient suppression diode D402 are grounded; the other end of the resistor R400 is electrically connected with the grid electrode of the third MOS tube Q400 and the drain electrode of the fourth MOS tube Q401 respectively, the source electrode of the fourth MOS tube Q401 is grounded, and the grid electrode of the fourth MOS tube Q401 is electrically connected with a general input/output interface of the processor; the source electrode of the third MOS transistor Q400 is electrically connected to the power input terminal of the third interface J800.

On the basis of the technical scheme, preferably, the processor is a core X9 processor chip.

On the other hand, the utility model also provides an underground sensing positioning device, which comprises a hollow shell, wherein the shell is embedded at the end part of the railway vehicle and extends to the inner side and the outer side of the railway vehicle respectively, the underground sensing positioning circuit is arranged in the shell, the output end of each interface, the output end of the display output module and the output end of the voice output module are embedded at the end face of the shell, which extends into the railway vehicle, and the input end of the image acquisition module is embedded at the end face of the shell, which extends out of the railway vehicle.

Compared with the prior art, the underground sensing positioning circuit and the positioning device provided by the utility model have the following beneficial effects:

(1) The scheme is suitable for absolute position positioning of the underground railway vehicle relative to the initial position, can carry out manual voice broadcasting or alarm prompt according to the requirement, and also has a real-time image output function selectively, so that good auxiliary positioning and prompt functions can be achieved when an underground GPS or Beidou signal is interfered;

(2) The image acquisition module and the display output module both support an MIPI interface, so that a high-speed image transmission function with the processor is realized;

(3) The power module can selectively close the image acquisition module or display the output module under the output level signal of the controller.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a block diagram of an underground sensing and positioning circuit according to the present utility model;

FIG. 2 is a wiring diagram of an acceleration module of an underground sensing and positioning circuit according to the present utility model;

FIG. 3 is a wiring diagram of an image acquisition module of an underground sensing and positioning circuit of the present utility model;

FIG. 4 is a wiring diagram of a display output module of an underground sensing and positioning circuit according to the present utility model;

FIG. 5 is a schematic diagram of a partial wiring port of a processor, an image acquisition module and a display output module of an underground sensing positioning circuit according to the present utility model;

FIG. 6 is a wiring diagram of a voice output module of an underground sensing and positioning circuit of the present utility model;

FIG. 7 is a wiring diagram of a power module of an underground sensing and positioning circuit of the present utility model;

FIG. 8 is another partial wiring diagram of a power module of an underground sensing and positioning circuit of the present utility model;

fig. 9 is a front view, partly in cross-section, of the circuit portion of an underground sensor positioning device of the present utility model in a mounted position within a housing.

Detailed Description

The following description of the embodiments of the present utility model will clearly and fully describe the technical aspects of the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, are intended to fall within the scope of the present utility model.

As shown in fig. 1, the utility model provides an underground sensing positioning circuit, which comprises a processor 1, an acceleration module 2, an image acquisition module 3, a display output module 4, a voice output module 5, a power supply module 6 and the like;

the acceleration module 2 is arranged on the railway vehicle, is in communication connection with the processor 1 module, and is used for acquiring digital quantities of at least three axial acceleration signals of the railway vehicle under the ground and transmitting the digital quantities of the acceleration signals to the processor 1; the acceleration module 2 acquires acceleration of the rail vehicle in at least three axial directions, the instantaneous speed of the rail vehicle in the axial direction can be acquired by integrating the acceleration based on time, the current attitude of the vehicle in a plane is further determined, and the running direction and the current position of the rail vehicle can be determined.

The image acquisition module 3 is arranged on one side of the running direction of the railway vehicle, is in communication connection with the processor 1, works in a main output mode, and is used for acquiring images of the running direction of the vehicle in the ground and transmitting the images to the processor 1.

The display output module 4 is arranged in the railway vehicle, is in communication connection with the processor 1, and works in a slave input mode and is used for receiving the image acquired by the image acquisition module 3 forwarded by the processor 1.

The voice output module 5 is arranged in the railway vehicle and is in communication connection with the processor 1, and selectively outputs voice prompts or alarm information.

The power module 6 is electrically connected with the processor 1, the acceleration module 2, the image acquisition module 3, the display output module 4 or the voice output module 5, and the power module 6 also selectively supplies power to the display output module 4. The image acquisition function or the display output function can also be started or suspended as required. The voice output module 5 can output different instructions according to the needs to prompt the passenger vehicle position information in the railway vehicle.

As a preferred embodiment, the processor 1 of the present embodiment is a core-relaxed X9 processor chip. The automobile-scale automobile chip integrates a high-performance CPU, GPU, AI accelerator and a video processor, CAN meet the increasing demands of new-generation automobile electronic cabin application on strong computing power, rich multimedia performance and the like, and the X9 series processor also integrates PCIE3.0, USB3.0, gigabit Ethernet and CAN-FD, and CAN be seamlessly connected and applied to an on-board system at a lower cost. The built-in multipath MIPI CSI interface is suitable for high-speed image transmission.

As shown in fig. 1 and 6, the voice output module 5 includes an audio decoder U1300, an audio power amplifier chip U1301, first and second interfaces J1202 and J1302, and a speaker; the processor 1 is provided with a plurality of MIPI interfaces, a plurality of serial interfaces and a general input/output interface;

the audio decoder U1300 is provided with at least two different serial interfaces, and the at least two different serial interfaces of the audio decoder U1300 are in one-to-one corresponding communication connection with the two serial interfaces of the processor 1; specifically, the audio decoder U1300 selects TLV320AIC23BIPWRQ1, and its I2C serial interface, that is, pin 23 and pin 24 are correspondingly connected with the soc_gpio_c3_i2c6_sda pin and the soc_gpio_c2_i2c6_scl pin of the processor 1 in communication mode respectively; the other serial interfaces DIN/DOUT, BCLK, LRCIN/LROUT and XTI/MCLK of the audio decoder U1300 are respectively in corresponding communication connection with one four-wire SPI interface of the processor 1, namely SOC_I2S_SiC3_SDO, SOC_I2S_SiC3_SCK, SOC_I2S_SiC3_WS and SOC_I2S_SiC7_MCLK 3. The chip select end and the MODE select end of the audio decoder U1300, i.e. pins 21 and 22, are respectively connected with the cs_n_sco pin and the mode_sco pin of the processor 1, and are also respectively electrically connected with the pull-down resistors R1321 and R1322, the level of the MODE select end is different, the selected serial bus is different, if the MODE select end is at a high level, the SPI serial interface is selected, if the MODE select end is at a low level, and the I2C serial interface is enabled. The output end of the audio decoder U1300 is electrically connected with the input end of the first interface J1202 correspondingly, and the first interface J1202 is electrically connected with a loudspeaker through an RCA audio line; specifically, the first output end LOUT of the audio decoder U1300 is electrically connected to one end of the resistor R1304, the other end of the resistor R1304 is electrically connected to the positive electrode of the polar capacitor C1300, the negative electrode of the polar capacitor C1300 is electrically connected to one end of the resistor R1309 and the pull-down resistor R1308, the other end of the resistor R1309 is electrically connected to the pin 8 of the first interface J1202, the second output end ROUT of the audio decoder U1300 is electrically connected to one end of the resistor R1306, the other end of the resistor R1306 is electrically connected to the positive electrode of the polar capacitor C1301, the negative electrode of the polar capacitor C1301 is electrically connected to one end of the resistor R1311 and the pull-down resistor R1314, and the other end of the resistor R1311 is electrically connected to the pin 9 of the first interface J1202. The audio decoder U1300 may output a cue of stereo speech through a speaker.

The non-inverting input end of the audio power amplifier chip U1301 is electrically connected with the negative electrode of the polar capacitor C1319 and one end of the resistor R1332, the positive electrode of the polar capacitor C1319 is electrically connected with one end of the resistor R1331, and the other end of the resistor R1331 is electrically connected with a general purpose input/output interface SOC_GPIO_A10_PWM1_CH0 of the processor 1; the inverting input end of the audio power amplifier chip U1301 and the other end of the resistor R1332 are grounded; the audio power amplifier chip U1301 is powered by a VAP_5V single power supply; the output end of the audio power amplifier chip U1301 is electrically connected with one end of the second interface J1302 and the positive electrode of the polar capacitor C1321, both the negative electrode of the polar capacitor C1321 and the other end of the second interface J1302 are grounded, the second interface J1302 is electrically connected with a speaker, specifically, the LC series link formed by the capacitor C1318 and the inductor L1302 is used for controlling the upper limit frequency of the signal output by the audio power amplifier chip U1301, and is combined with the parallel RC branch formed by the capacitor C1320 and the resistor R1333, so that the output load of the audio power amplifier chip U1301 is resistive, and the output load is basically unchanged regardless of low frequency or high frequency.

As shown in fig. 2, the acceleration module 2 includes an acceleration sensor U1201, where the acceleration sensor U1201 has a path of SPI interface, that is, pins CLK, cs#, reset# and RFU1 are respectively in one-to-one communication connection with a path of serial interfaces ospi1_m1_sclk, ospi1_m1_ss0, ospi1_rst_n and ospi1_m1_ss1 of the processor 1, the pin CLK is further connected with a pull-down resistor R1200, the pin ospi1_m1_ss0 is further provided with a pull-up resistor R1201, and the ospi1_m1_ss1 is further provided with a pull-up resistor R1205; the power input end of the acceleration sensor U1201 is electrically connected with a power supply VDDIO_QSPi1, and the power supply VDDIO_QSPi1 is 3.3V direct current voltage; acceleration sensor U1201 is a product of the SCHA6XX series of village and field company.

The processor 1 receives the digital data of the acceleration in each axial direction sent by the acceleration sensor, and can calculate the instantaneous speed by integrating, and by the formula vt=v0+at, vt is the speed after the time t, V0 is the initial speed, that is, the speed at which no acceleration is generated, a is the acceleration, t is the acceleration acting time, and when t is integrated, the speed Vt can be calculated. In the scheme, three axial outputs are selected, the right front of a rail vehicle starting position is defined to be in the X-axis direction, the left side of the rail vehicle starting position is defined to be in the Y-axis direction, the vertical upward direction of the rail vehicle starting position is defined to be in the Z-axis direction, and three attitude angles pitch, roll and paw are defined as follows: pitch is the angle between the X-axis direction and the horizontal plane and corresponds to the front-back pitch angle of the rail vehicle; the roll is an included angle between the Y-axis direction and the horizontal plane, and corresponds to a left or right deflection angle of the railway vehicle; paw the rotation angle of the railway vehicle with respect to the vertical direction; a, a _x 、a _y And a _z Acceleration for each axial direction; the current gesture and the advancing direction of the railway vehicle can be obtained through angle synthesis after the axial acceleration is obtained, and the relative displacement relative to the initial position of the railway vehicle is further obtained, so that the underground real position of the railway vehicle is obtained. The calculation formulas of the three attitude angles are as follows:

in addition, the processor 1 can calculate the instantaneous speed through the change of the distance of the railway vehicle in unit time, and when the instantaneous speed is 0, the processor can judge that the vehicle is in a static state, and can correct the output of the acceleration sensor to be 0 at the moment, thereby realizing the correction of the acceleration sensor.

As shown in fig. 3 and 5, the image acquisition module 3 includes a data transmission chip U1000, a camera mount J1001, and a binocular camera; the binocular camera is not shown in the figures. The data transmission chip U1000 is provided with one path of MIPI interface, at least one path of serial interface and a power-down input end; the binocular camera is electrically connected with the camera mounting seat J1001, and the output end, SIOAP_IN, SIOBP_IN, SIOCP_IN and SIODP_IN of the camera mounting seat J1001 are electrically connected with the input ends SIOAP_IN, SIOBP_IN, SIOCP_IN and SIODP_IN of the data transmission chip U1000 IN a one-to-one correspondence manner, namely, the differential input section inputs single-ended signals; the MIPI interface of the data transmission chip U1000 is in one-to-one corresponding communication connection with the MIPI interface of the processor 1; one path of serial interfaces SDA_RX and SDA_TX of the data transmission chip U1000 are in one-to-one corresponding communication connection with one path of serial interfaces CSI2_SDA and CSI2_SCL of the processor 1; one general input/output interface CSI2_PWDN_N of the processor 1 is electrically connected with a power-down port of the data transmission chip U1000, and the general input/output interface pulls up or pulls down the level of the power-down port of the data transmission chip U1000 to switch the working mode and the power-down mode of the data transmission chip U1000; the data transmission chip U1000 is used for forming a data transmission link between the output end of the binocular camera and the MIPI interface of the processor 1. The synchronous MFP2/FSYNC, the locking MFP1/LOCK and the error output MFP3/ERRB of the data transmission chip U1000 are electrically connected with the general input/output interfaces CSI2_FSYNC, CSI2_LOCK_N and CSI2_ERR_N of the processor 1 in a one-to-one correspondence. The data transmission chip U1000 selects MAX96722GTB/V of Messaging, which is a chip supporting high-speed conversion of a camera output interface and an MIPI CSI interface. The voltages vdd_csf2_1v8 and vdd_csf2_1v2 used by the data chip U1000 are obtained by passing the magnetic beads L1001 or L1002 through the input voltage vin_1v8 or vin_1v2. The data transmission chip U1000 always works in a transmitting mode, and the received image data of the binocular camera is quickly forwarded to the processor 1.

As shown in fig. 4 and 5, the display output module 4 includes a bridge serializer U800, a third interface J800, and a display screen, which is not shown in the drawings; the bridge serializer U800 comprises one path of MIPI interface, at least one path of serial interface and two paths of output interfaces; one path of MIPI interface of the bridge serializer U800 is in one-to-one correspondence communication connection with the MIPI interface of the processor 1, that is, the pin 51, the pin 52, the pin … …, the pin 59 and the pin 60 are respectively in corresponding communication connection with the soc_mipi_dsi1_d3N, SOC _mipi_dsi1_d P, SOC _mipi_dsi1_d2n, … …, and the soc_mipi_dsi1_d0p, and one path of serial interface of the bridge serializer U800, that is, the pin 38 and the pin 39 are in corresponding communication connection with the other path of serial interface of the processor 1, that is, the multiplexed two paths of general purpose input/output interfaces GPIO; the two output interfaces dsi1_dout0_p and dsi1_dout0_ N, DSI1_dout1_p and dsi1_dout1_n of the bridge serializer U800 are electrically connected to the input end of the third interface J800 through common mode inductances L805 and L807, respectively, and the third interface J800 is also electrically connected to the display screen. The bridge serializer U800 is DS90UB941ASRTDTQ1 of Texas instruments, and the bridge serializer U800 is always in the slave transmitting mode; the third interface J800 is hsprnxs 06X. The third interface J800 also supplies power to the display screen through the vdcin_lcd_12v port. The bridge serializer U800 uses vddio_dsi, vdd_dsi_1v8, and vddl_dsi_1v1 power supplies corresponding to 3.3V dc voltage, 1.8V dc voltage, and 1.1V dc voltage, respectively.

As shown in fig. 7, the power module 6 includes a fourth interface J400, a first transient suppression diode D401, a schottky diode D400, a DC converter U400, a first MOS transistor Q402A, and a second MOS transistor Q402B; the fourth interface J400 is electrically connected to the DC input power, the pin 1 of the fourth interface J400 is electrically connected to the cathode of the first transient suppression diode D401, one end of the capacitor C400, one end of the capacitor C401, the anode of the polarity capacitor C402, one end of the capacitor C403, and the anode of the schottky diode D400, and the cathode of the schottky diode D400 is used as the first power output terminal vdcin2_12v; the pin 2 of the fourth interface J400 is grounded to the anode of the first transient suppression diode D401, the other end of the capacitor C400, the other end of the capacitor C401, the negative electrode of the polar capacitor C402 and the other end of the capacitor C403; in addition, capacitors C400, C401, C402, and C403 are connected in parallel between the first transient suppression diode D401 and the schottky diode D400 for absorbing power surges or energy storage applications. The first power output terminal vdcin2_12v stably outputs a 12V dc voltage.

The 12V direct current voltage can not be directly used for the chip of part of the modules, and the 12V direct current voltage can be normally used after being further reduced in voltage. The first power output end VDCIN2_12V is also electrically connected with the input end of the DC converter U400 and one end of the resistor R402, the other end of the resistor R402 is electrically connected with the enabling end of the DC converter U400, one end of the resistor R406 and one end of the capacitor C425 respectively, and the other end of the resistor R406 and the other end of the capacitor C425 are grounded; the high-side driving end of the DC converter U400 is electrically connected with the grid electrode of the first MOS tube Q402A, the low-side driving end of the DC converter U400 is electrically connected with the grid electrode of the second MOS tube Q402B, the source electrode of the second MOS tube Q402B is grounded, the drain electrode of the second MOS tube Q402B is respectively electrically connected with the source electrode of the first MOS tube Q402A, the output end of the DC converter U400 and one end of the inductor L400, the other end of the inductor L400 is used as a VAP_5V output end, the other end of the inductor L400 is also electrically connected with the input end of a potentiometer, the output end of the potentiometer is electrically connected with the feedback end of the DC converter U400, and the other end of the potentiometer is grounded; the drain electrode of the first MOS transistor Q402A is electrically connected to one end of the low-side detection resistor R404 and the first current detection input end of the DC converter U400, and the other end of the low-side detection resistor R404 is electrically connected to one end of the high-side detection resistor R403 and the first power output end vdcin2—12v, and the other end of the high-side detection resistor R403 is electrically connected to the second current detection input end of the DC converter U400. The DC converter U400 is a DC/DC converter and uses the TLF51801ELV of Infray. The voltage of vdcin2_12v is used as the input voltage of the DC converter U400, and is divided by the resistors R402 and R406 to be used as the enable signal of the enable terminal. The first MOS transistor Q402A and the second MOS transistor Q402B form a push-pull output mode. The peripheral circuit of the DC converter U400 in the figure is a typical application circuit, and after the output voltage signal passes through the capacitors C419, C420, C421, C422 and C423, a 5V DC voltage vap_5v is output, and is directly supplied to the audio power amplifier chip U1301, and if a lower voltage, such as a voltage of 3.3V, 1.8V or 1.1V, is required, the voltage can be further obtained by dividing the voltage by an LDO linear voltage stabilizer or a potentiometer, which is not described herein.

As shown in fig. 8, the power module 6 further includes a fifth interface J401, a second transient suppression diode D402, a third MOS transistor Q400, and a fourth MOS transistor Q401; pin 1 of the fifth interface J401 is electrically connected with the first power output terminal vdcin2_12v, the cathode of the second transient suppression diode D402, one end of the resistor R400 and the drain of the third MOS transistor Q400, and both pin 2 and pin 3 of the fifth interface J401 and the anode of the second transient suppression diode D402 are grounded; the other end of the resistor R400 is electrically connected with the grid electrode of the third MOS tube Q400 and the drain electrode of the fourth MOS tube Q401 respectively, the source electrode of the fourth MOS tube Q401 is grounded, and the grid electrode of the fourth MOS tube Q401 is electrically connected with a general input/output interface SOC_PWR_CTRL1 of the processor 1; the source electrode of the third MOS transistor Q400 is electrically connected to the power input terminal of the third interface J800. The general input/output interface of the processor 1 is used as a control signal of the fourth MOS transistor Q401, and when the soc_pwr_ctrl1 is at a high level, the third MOS transistor Q400 and the fourth MOS transistor Q401 are both turned on, and vdcin_lcd_12v is output for the display output module 4. When soc_pwr_ctrl1 is low or soc_pwr_ctrl1 remains high, but the fourth interface J400 is not input, vdcin_lcd_12v is not output and the display output module 4 is powered down.

As shown in fig. 9, on the other hand, the utility model also provides an underground sensing positioning device, which comprises a hollow shell 100, wherein the shell 100 is embedded at the end part of the railway vehicle and extends to the inner side and the outer side of the railway vehicle respectively, the underground sensing positioning circuit is arranged in the shell 100, the output ends of the interfaces, the display output module 4 and the voice output module 5 are embedded at the end surface of the shell 100 extending into the railway vehicle, and the input end of the image acquisition module 3 is embedded at the end surface of the shell 100 extending out of the railway vehicle.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model.

Claims (9)

1. An underground sensing positioning circuit is characterized by comprising

A processor (1);

the acceleration module (2) is arranged on the railway vehicle, is in communication connection with the processor (1), and is used for acquiring digital quantities of acceleration signals of at least three axial directions of the railway vehicle under the ground and transmitting the digital quantities of the acceleration signals to the processor (1);

the image acquisition module (3) is arranged at one side of the running direction of the railway vehicle, is in communication connection with the processor (1), works in a main output mode, and is used for acquiring an image of the running direction of the vehicle in the underground and transmitting the image to the processor (1);

the display output module (4) is arranged in the railway vehicle, is in communication connection with the processor (1), works in a slave input mode and is used for receiving the image acquired by the image acquisition module (3) forwarded by the processor (1);

the voice output module (5) is arranged in the railway vehicle and is in communication connection with the processor (1) to selectively output voice prompts or alarm information;

the power module (6) is electrically connected with the processor (1), the acceleration module (2), the image acquisition module (3), the display output module (4) or the voice output module (5), and the power module (6) is used for selectively supplying power to the display output module (4).

2. The underground sensing positioning circuit according to claim 1, wherein the voice output module (5) comprises an audio decoder U1300, an audio power amplifier chip U1301, a first interface J1202 and a second interface J1302, and a speaker; the processor (1) is provided with a plurality of MIPI interfaces, a plurality of serial interfaces and a general input/output interface;

the audio decoder U1300 is provided with at least two different serial interfaces, and the at least two different serial interfaces of the audio decoder U1300 are in one-to-one corresponding communication connection with the two serial interfaces of the processor (1); the output end of the audio decoder U1300 is electrically connected with the input end of the first interface J1202 correspondingly, and the first interface J1202 is electrically connected with a loudspeaker through an RCA audio line;

the non-inverting input end of the audio power amplifier chip U1301 is electrically connected with the negative electrode of the polar capacitor C1319 and one end of the resistor R1332, the positive electrode of the polar capacitor C1319 is electrically connected with one end of the resistor R1331, and the other end of the resistor R1331 is electrically connected with a general input/output interface of the processor (1); the inverting input end of the audio power amplifier chip U1301 and the other end of the resistor R1332 are grounded; the output end of the audio power amplifier chip U1301 is electrically connected with one end of the second interface J1302 and the positive electrode of the polar capacitor C1321, the negative electrode of the polar capacitor C1321 and the other end of the second interface J1302 are grounded, and the second interface J1302 is electrically connected with a loudspeaker.

3. An underground sensing positioning circuit according to claim 2, wherein the acceleration module (2) comprises an acceleration sensor U1201, the acceleration sensor U1201 has an SPI interface, and the SPI interface is in one-to-one correspondence communication with a serial interface of the processor (1); the power input end of the acceleration sensor U1201 is electrically connected with the power supply VDDIO_QSPi1; acceleration sensor U1201 is a product of the SCHA6XX series of village and field company.

4. The underground sensing positioning circuit according to claim 2, wherein the image acquisition module (3) comprises a data transmission chip U1000, a camera mounting seat J1001 and a binocular camera; the data transmission chip U1000 is provided with one path of MIPI interface, at least one path of serial interface and a power-down input end; the binocular camera is electrically connected with the camera mounting seat J1001, and the output end of the camera mounting seat J1001 is electrically connected with each input end of the data transmission chip U1000 in a one-to-one correspondence manner; the MIPI interface of the data transmission chip U1000 is in one-to-one correspondence communication connection with the MIPI interface of the processor (1); one serial interface of the data transmission chip U1000 is in one-to-one corresponding communication connection with one serial interface of the processor (1); one general input/output interface of the processor (1) is electrically connected with the power-down port of the data transmission chip U1000, and the general input/output interface pulls up or pulls down the level of the power-down port of the data transmission chip U1000; the data transmission chip U1000 is used for forming a data transmission link between the output end of the binocular camera and the MIPI interface of the processor (1).

5. An underground sensing positioning circuit according to claim 4, wherein the display output module (4) comprises a bridge serializer U800, a third interface J800 and a display screen; the bridge serializer U800 comprises one path of MIPI interface, at least one path of serial interface and two paths of output interfaces; one path of MIPI interface of the bridge serializer U800 is in one-to-one correspondence communication connection with the MIPI interface of the processor (1), and one path of serial interface of the bridge serializer U800 is in corresponding communication connection with the other path of serial interface of the processor (1); the two output interfaces of the bridge serializer U800 are respectively and correspondingly and electrically connected with the input end of the third interface J800 through common mode inductance, and the third interface J800 is also electrically connected with the display screen.

6. The underground sensing positioning circuit according to claim 5, wherein the power module (6) comprises a fourth interface J400, a first transient suppression diode D401, a schottky diode D400, a DC converter U400, a first MOS transistor Q402A and a second MOS transistor Q402B; the fourth interface J400 is electrically connected to the DC input power, the pin 1 of the fourth interface J400 is electrically connected to the cathode of the first transient suppression diode D401, one end of the capacitor C400, one end of the capacitor C401, the anode of the polarity capacitor C402, one end of the capacitor C403, and the anode of the schottky diode D400, and the cathode of the schottky diode D400 is used as the first power output terminal vdcin2_12v; the pin 2 of the fourth interface J400 is grounded to the anode of the first transient suppression diode D401, the other end of the capacitor C400, the other end of the capacitor C401, the negative electrode of the polar capacitor C402 and the other end of the capacitor C403;

the first power output end VDCIN2_12V is also electrically connected with the input end of the DC converter U400 and one end of the resistor R402, the other end of the resistor R402 is electrically connected with the enabling end of the DC converter U400, one end of the resistor R406 and one end of the capacitor C425 respectively, and the other end of the resistor R406 and the other end of the capacitor C425 are grounded; the high-side driving end of the DC converter U400 is electrically connected with the grid electrode of the first MOS tube Q402A, the low-side driving end of the DC converter U400 is electrically connected with the grid electrode of the second MOS tube Q402B, the source electrode of the second MOS tube Q402B is grounded, the drain electrode of the second MOS tube Q402B is respectively electrically connected with the source electrode of the first MOS tube Q402A, the output end of the DC converter U400 and one end of the inductor L400, the other end of the inductor L400 is used as a VAP_5V output end, the other end of the inductor L400 is also electrically connected with the input end of a potentiometer, the output end of the potentiometer is electrically connected with the feedback end of the DC converter U400, and the other end of the potentiometer is grounded; the drain electrode of the first MOS transistor Q402A is electrically connected to one end of the low-side detection resistor R404 and the first current detection input end of the DC converter U400, and the other end of the low-side detection resistor R404 is electrically connected to one end of the high-side detection resistor R403 and the first power output end vdcin2—12v, and the other end of the high-side detection resistor R403 is electrically connected to the second current detection input end of the DC converter U400.

7. The underground sensing positioning circuit according to claim 6, wherein the power module (6) further comprises a fifth interface J401, a second transient suppression diode D402, a third MOS transistor Q400, and a fourth MOS transistor Q401; pin 1 of the fifth interface J401 is electrically connected with the first power output terminal vdcin2_12v, the cathode of the second transient suppression diode D402, one end of the resistor R400 and the drain of the third MOS transistor Q400, and both pin 2 and pin 3 of the fifth interface J401 and the anode of the second transient suppression diode D402 are grounded; the other end of the resistor R400 is electrically connected with the grid electrode of the third MOS tube Q400 and the drain electrode of the fourth MOS tube Q401 respectively, the source electrode of the fourth MOS tube Q401 is grounded, and the grid electrode of the fourth MOS tube Q401 is electrically connected with a general input/output interface of the processor (1); the source electrode of the third MOS transistor Q400 is electrically connected to the power input terminal of the third interface J800.

8. An underground sensor positioning circuit according to claim 1, wherein the processor (1) is a core-relaxed X9 processor chip.

9. The utility model provides an underground sensing positioner, includes hollow casing (100), and casing (100) are inlayed and are established at rail vehicle's tip and extend respectively to rail vehicle inside and outside both sides, a serial communication port, casing (100) inside is provided with the underground sensing positioning circuit of any one of claims 1-7, and the output of each interface, display output module (4) and speech output module (5) are inlayed and are established at casing (100) one side terminal surface that stretches into rail vehicle inside, and the input of image acquisition module (3) is inlayed and is established on casing (100) one side terminal surface that stretches out rail vehicle.

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