Pipeline route mapping device based on UWB technology

Abstract

The utility model relates to motor vehicle steering detection technical field especially, a kind of pipeline route surveying device based on UWB technology, including hand-held shell structure, and the main control module, UWB positioning module, touch display module and power management module being set to the shell structure inside;The signal input and output end of the main control module is electrically connected with the data transmission end of the UWB positioning module, and the display signal output end and touch signal input end of the main control module are electrically connected with the signal end of the touch display module, and the voltage output end of the power management module is respectively electrically connected with the power end of the main control module, UWB positioning module and touch display module.The utility model has significantly improved surveying precision and work efficiency, since device has mobile operation ability, need not like traditional holder equipment as frequently erecting base station and switching measurement reference point, to avoid the superposition error generated by multiple conversion base station.

Description

Technical Field

[0001] This utility model relates to the field of pipeline maintenance technology, and in particular to a pipeline mapping device based on UWB technology. Background Technology

[0002] In industrial settings such as chemical plants and oil refineries, there exist numerous and intricate pipeline networks. Accurate pipeline maps are crucial for monitoring defects in various parts of these pipelines and for routine line maintenance. Currently, the main devices available for such pipeline mapping are single-line mapping equipment based on laser ranging technology. Their core working principle typically involves using a gimbal to mount a laser rangefinder, measuring the distance and angle of key points, and connecting the corresponding points to reconstruct the pipeline map.

[0003] Due to the extremely dense pipeline layout in chemical plants and oil refineries, overlapping and mutual obstruction between pipelines are very common. When using a gimbal mounted on a laser rangefinder for measurement, it is essential to ensure an unobstructed straight line of sight between the measuring device and the point being measured. To measure obstructed pipeline points, operators must frequently change the measurement reference point (moving the gimbal). This frequent reference point switching is not only time-consuming and labor-intensive, but each switch also introduces coordinate transformation errors, leading to a continuous increase in superposition errors and severely reducing the accuracy of the final mapped pipeline. Furthermore, existing devices are typically quite bulky, creating numerous measurement blind spots that the laser cannot reach when dealing with complex pipeline areas with high-altitude horizontal bends and overlapping sections. This results in the inability to collect data from all key points, making it difficult to generate a complete pipeline model. Utility Model Content

[0004] To address the technical problems of existing laser mapping equipment being unable to perform full-coverage measurements of overlapping pipelines in densely piped environments such as chemical plants due to obstructed lines of sight, and the large cumulative errors and low measurement accuracy caused by frequent changes in measurement reference points, this utility model provides a pipeline mapping device based on UWB technology.

[0005] This utility model is achieved through the following technical solution: A pipeline mapping device based on UWB technology includes a handheld housing structure, and a main control module, a UWB positioning module, a touch display module and a power management module disposed inside the housing structure; The signal input / output terminals of the main control module are electrically connected to the data transmission terminals of the UWB positioning module. The display signal output terminal and touch signal input terminal of the main control module are electrically connected to the signal terminals of the touch display module. The voltage output terminal of the power management module is electrically connected to the power terminals of the main control module, the UWB positioning module, and the touch display module, respectively.

[0006] Furthermore, the housing structure includes a box body and a cover plate. The cover plate is fastened to the top of the box body, and the display screen of the touch display module is embedded in the cover plate. The side wall of the box body is provided with an antenna interface, a power switch mounting hole, and a charging interface. The bottom surface inside the box body is provided with a battery, a power switch board, a main control board, and a charging board. The main control board integrates the main control module, and the antenna interface is connected to the UWB positioning module through a wire.

[0007] Furthermore, the main control module includes a microcontroller U1, a crystal oscillator circuit, and a debugging interface P2. The crystal oscillator circuit is connected between the clock input pin and the clock output pin of the microcontroller U1. The crystal oscillator circuit includes a crystal oscillator Y1 and oscillation capacitors connected between the two ends of the crystal oscillator Y1 and ground. The data pin and clock pin of the debugging interface P2 are respectively connected to the corresponding debugging signal pins of the microcontroller U1.

[0008] Furthermore, the UWB positioning module includes a UWB communication interface P3, pin 1 of the UWB communication interface P3 is connected to the serial port receive pin of the microcontroller U1, pin 2 of the UWB communication interface P3 is connected to the serial port transmit pin of the microcontroller U1, and the power supply pin of the UWB communication interface P3 is connected to the 3.3V output terminal of the power management module.

[0009] Furthermore, the touch display module includes a display interface P4 and a backlight driver chip U2. The SPI bus pin, chip select pin, reset pin, and instruction control pin of the display interface P4 are respectively connected to the corresponding general-purpose input / output pins of the microcontroller U1. The enable pin and pulse width modulation pin of the backlight driver chip U2 are connected to the control pins of the microcontroller U1. The output pin of the backlight driver chip U2 is connected to the backlight cathode of the display interface P4.

[0010] Furthermore, the touch display module also includes a touch screen interface P5. The IIC bus pin, interrupt pin and reset pin of the touch screen interface P5 are respectively connected to the corresponding pins of the microcontroller U1. A filter capacitor is connected in parallel between the power supply pin of the touch screen interface P5 and ground.

[0011] Furthermore, the power management module includes a power input interface P1, a reverse connection protection diode D1, a transient suppression diode D2, and an input filter circuit. The positive terminal of the power input interface P1 is connected to the anode of the reverse connection protection diode D1. The transient suppression diode D2 is connected between the positive terminal of the power input interface P1 and ground. The input filter circuit is connected between the cathode of the reverse connection protection diode D1 and ground. The input filter circuit includes multiple capacitors connected in parallel.

[0012] Furthermore, the power management module also includes a first voltage regulator chip PU1 and a second voltage regulator chip PU2. The input terminal of the second voltage regulator chip PU2 is connected to the cathode of the reverse polarity protection diode D1, and its output terminal outputs a 5V voltage. The input terminal of the first voltage regulator chip PU1 is connected to the output terminal of the second voltage regulator chip PU2, and its output terminal outputs a voltage of 3.3V. Both the input and output terminals of the first voltage regulator chip PU1 and the second voltage regulator chip PU2 are connected in parallel with filter capacitors.

[0013] Beneficial effects: (1) This utility model solves the problem of measurement under obstruction in complex pipeline environments. By adopting UWB positioning technology combined with a handheld structure, the operator only needs to hold the device and attach it to the key parts of the pipeline to complete the three-dimensional coordinate acquisition. Since UWB positioning does not rely on optical line of sight and the device directly contacts the point being measured, it is not affected by mutual obstruction or overlap of pipelines. It can easily collect data in blind spots that traditional laser equipment cannot reach, such as high bends and deep overlapping pipelines, which greatly improves the integrity and coverage of the survey. (2) The power management module designed internally in this utility model adopts a cascaded power supply architecture, that is, the input voltage is reduced to 5V by the first stage voltage regulator chip and then reduced to 3.3V by the second stage voltage regulator chip, which effectively shares the voltage drop heat loss and improves power efficiency; at the same time, with the anti-reverse connection diode, transient suppression diode and π-type filter circuit at the input end, it can effectively resist electromagnetic interference and power surge in the industrial site, ensuring that the device can work stably for a long time in the complex electromagnetic environment of the chemical plant, and ensuring the safety and reliability of the survey data.

[0014] In summary, this invention significantly improves surveying accuracy and work efficiency. Because the device has mobile operation capabilities, it does not require the frequent setup of base stations and switching of measurement reference points as with traditional pan-tilt-zoom (PTZ) equipment, thus avoiding the superposition errors caused by multiple base station switching. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic diagram of the overall structure of a pipeline mapping device based on UWB technology proposed in this utility model. Figure 1 ; Figure 2A schematic diagram of the overall structure of a pipeline mapping device based on UWB technology proposed in this utility model. Figure 2 ; Figure 3 This is a schematic diagram of the main control module of a pipeline mapping device based on UWB technology proposed in this utility model. Figure 4 This invention presents a circuit diagram of a UWB positioning module for a pipeline mapping device based on UWB technology. Figure 5 This invention presents a circuit diagram of a touch display module for a pipeline mapping device based on UWB technology. Figure 6 This invention presents a circuit diagram of the power management module of a pipeline mapping device based on UWB technology.

[0017] In the diagram, 1-cover plate, 2-capacitive touch screen, 3-power display device, 4-power switch, 5-antenna, 6-box, 7-main control module, 8-power switch board, 9-charging board, 10-UWB positioning module, 11-battery. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this utility model are only used to explain this utility model and are not intended to limit this utility model.

[0019] Example 1 refer to Figure 1 This embodiment proposes a pipeline mapping device based on UWB technology. This device is designed for industrial sites with dense pipelines and complex environments, such as chemical plants and oil refineries. It aims to solve the problem that traditional laser mapping equipment cannot accurately obtain three-dimensional coordinates when facing pipelines that are mutually obscured and overlapping.

[0020] This device combines handheld contact measurement with UWB wireless positioning technology to achieve precise capture and route reconstruction of key points in pipelines. The mapping device in this embodiment features an integrated handheld design. Its core mechanical structure consists of a shell structure, primarily comprising a box 6 made of high-strength engineering plastic ABS material and a cover 1 that snaps onto it. The overall design offers excellent impact resistance and corrosion resistance to withstand the harsh environment of chemical plants. The box 6 has a rectangular shape and an ergonomically designed size for easy one-handed operation. Necessary physical interfaces and interactive components are located on the side of the box 6. The antenna 5 interface is located on the front or side of the box 6, using a standard SMA RF interface for connecting the UWB omnidirectional antenna 5. This ergonomic design ensures that the operator's arm or body will not excessively obstruct the antenna 5 signal during handheld operation, thus guaranteeing the stability and accuracy of the positioning data. The power switch 4 is a self-locking metal button embedded in a side groove. This countersunk design effectively prevents accidental shutdown due to collisions or friction during mapping. The charging interface uses a standard DC power socket with a dustproof and waterproof cover. In some embodiments, an industrial-grade aviation plug can also be used to connect an external power adapter to charge the internal battery 11.

[0021] refer to Figure 2 On the side, there is also a power display device 3 consisting of four high-brightness LED indicator lights, which intuitively displays the remaining power of battery 11. A capacitive touch screen 2 is embedded in the front of the cover plate 1. The surface of the screen is flush with or slightly concave with the surface of the cover plate 1. There are sealing strips around it, which can protect the edge of the screen from impact and also play a role in dust and water protection. This screen is the only window for human-computer interaction and is used to display the surveying software interface, real-time coordinate data and generated pipeline diagrams.

[0022] Battery 11 is located on one side of the bottom of box 6. It contains a high-capacity lithium polymer battery 11. Battery 11 is connected to the power board via wires to provide an independent power supply for the entire system, ensuring that the device can operate for a long time without an external power source. The main control board (PCB) is fixed in the center of the box 6 with copper pillars and screws. The main control board is the core carrier of electrical connections and integrates an ARM microcontroller, power management circuit and various interface circuits. UWB positioning module 10 is installed near the main control board as an independent shielded module via ribbon cable or board-to-board connector. Its RF output is connected to the SMA antenna 5 interface on the shell via a low-loss RF cable. The power switch board 8 and charging board 9 are designed as small PCBs independent of the main control board, corresponding to the switch and charging interface positions on the side, respectively. They are connected to the main control board and battery 11 via twisted pair wires.

[0023] refer to Figures 3-6In terms of circuit structure and electrical connections, the circuit system of this device mainly consists of a power management module, a main control module 7, a UWB positioning module 10, and a touch display module. The design of the power management module fully considers the complex electromagnetic environment of the industrial site and adopts a cascaded power supply architecture to improve stability and heat dissipation performance. The power input interface P1 is a 2-pin terminal block, with pin 1 grounded and pin 2 connected to a 12V DC power supply. In the design of the power input terminal, a Schottky diode D1 of model SS34 is connected in series. This diode has extremely low forward voltage drop and fast recovery characteristics. Its core function is to prevent the user from reversing the positive and negative terminals of the power supply. If the polarity of the input power supply is incorrect, D1 is in the cutoff state, the circuit does not conduct, and thus protects the downstream chips from being burned out.

[0024] A transient voltage suppressor diode (TVS) D2, model P6SMB30CA, is connected in parallel at the power input. This device protects against surge voltages generated by the start-up and shutdown of large motors in a chemical plant environment. When a momentary high voltage spike exceeding the threshold is detected on the power line, D2 changes from a high-resistance state to a low-resistance state within nanoseconds, discharging the surge current to ground and clamping the voltage at a safe level to prevent damage to the subsequent voltage regulator chip. The subsequent filtering circuit uses a parallel filter network composed of three 0.1uF ceramic capacitors C6, C9, and C10. These capacitors filter out power supply noise of different frequencies, ensuring that the DC power entering the voltage regulator circuit is pure and free of noise.

[0025] In the voltage regulation circuit section, this embodiment employs a high-efficiency cascaded LDO (Low Dropout Linear Regulator) scheme. The first-stage voltage regulation circuit uses an ASM1117-5V LDO chip PU2. Its input pin 3 is connected to a 12V voltage protected by D1, and its output pins 2 and 4 output a stable 5V DC voltage D5V. A 10uF electrolytic capacitor C12 and a 104 ceramic capacitor C15 are connected in parallel at the input of PU2 for input filtering, and a 10uF tantalum capacitor C13 and a 106 ceramic capacitor C11 are connected in parallel at the output for output energy storage and high-frequency filtering. The function of PU2 is to reduce the wide-range input voltage to 5V, providing an intermediate voltage for subsequent circuits and directly powering some peripherals.

[0026] The second-stage voltage regulator circuit uses an ASM1117-3.3V LDO chip PU1, whose input pin 3 is connected to the output D5V of PU2, instead of being directly connected to the 12V input. This cascaded design cleverly distributes the voltage drop across the two chips, resulting in a voltage difference of only 1.7V across PU1. This significantly reduces PU1's power consumption and heat generation, improving the system's thermal stability within the enclosed enclosure. The 3.3V output from PU1 (D3.3V) serves as the system's main power supply, providing operating voltage for the microcontroller, UWB module, and display logic circuit. Additionally, another ASM1117-5V chip, PU3, is used to convert the 12V to an independent analog 5V voltage A5V. This voltage is powered by a single-point ground to supply power to the analog circuitry in the system, preventing high-frequency switching noise from the digital circuitry from interfering with the analog signals.

[0027] The main control module 7 is the core of the system, employing an STM32L496ZGT6P microcontroller U1. All of U1's power supply pins (VDD) are connected to D3.3V, and all VSS pins are grounded. To provide a precise clock reference for the microcontroller, a crystal oscillator circuit is connected between the OSC_IN and OSC_OUT pins. This circuit consists of an 8MHz quartz crystal resonator Y1 and two 22pF start-up capacitors C16 and C17, forming a Pierce oscillator circuit. The microcontroller's internal phase-locked loop (PLL) circuit multiplies this reference frequency to an 80MHz main frequency to meet the demands of high-speed data processing. The debug interface P2 is a standard SWD interface. Pin 2 (SWCLK) connects to the microcontroller's PA14 pin, pin 3 (SWDIO) connects to the PA13 pin, and pin 4 connects to the 3.3V power supply. Technicians can use this interface to connect an emulator for firmware flashing and online debugging.

[0028] Interface P3 of the UWB positioning module 10 is a key interface for realizing the surveying function, and it uses a 4-pin header connection. In this embodiment, the P3 interface is connected to a high-precision UWB positioning module, specifically the SKU-6002 or a compatible serial port pass-through module that integrates the DW1000 chip and RF front-end circuit. This module communicates with the main microcontroller via the UART serial port protocol.

[0029] The specific connection is as follows: pin 2 of P3 is connected to pin PB8 of microcontroller U1, and pin 3 of P3 is connected to pin PB4 of microcontroller U1. The main microcontroller sends configuration commands to the UWB module via serial port, such as setting parameters like communication channel, data transmission rate, and pulse repetition frequency, and receives distance or coordinate data returned by the module. UWB technology uses nanosecond-level non-sinusoidal narrow pulses to transmit data, providing extremely high time resolution and centimeter-level ranging accuracy. It also exhibits strong resistance to multipath effects, making it ideal for use in environments with dense pipework and metal reflections.

[0030] The touch display module interface circuit is responsible for data visualization and user interaction. The display interface P4 is a 12-pin FPC interface that connects to a 3.5-inch IPS color LCD screen. This screen integrates an ILI9488 or a similar SPI interface LCD driver controller. The P4 interface uses a 4-wire SPI communication mode. Pin 8 is the chip select signal, connected to the microcontroller's PA3 pin; pin 9 is the clock signal, connected to the microcontroller's PC9 pin; pin 10 (SPI1_MOSI) is the data transmission signal, connected to the microcontroller's PC1 pin; pin 7 (SPI_DC) is the data / command selection signal, through which the microcontroller informs the screen controller whether image data or control commands are being sent; and pin 11 (SPI_RES) is the reset signal.

[0031] In this embodiment, to drive the backlight of the LCD screen, the circuit uses an AW9364 LED driver chip U2. Its input is connected to a 3.3V power supply, and its enable pin EN2 is connected to the LCD_BLK pin of the microcontroller. The microcontroller outputs a PWM waveform to the EN pin, and by changing the PWM duty cycle, adjusts the chip's output current, thereby achieving stepless adjustment of the screen backlight brightness.

[0032] The touchscreen interface P5 is a 6-pin FPC connector that connects to the capacitive touchscreen mounted on the display surface. This touchscreen uses the GT911 touch controller chip. The P5 interface communicates with the main microcontroller via the I2C bus. Pin 6 (TP-SCL) is the clock line, connected to the microcontroller's PD6 pin; pin 5 (TP-SDA) is the data line, connected to the microcontroller's PD12 pin. Pin 4 (EXTI0) is the interrupt signal line, connected to the microcontroller's external interrupt input pin. When a user touches the screen, the GT911 chip detects the capacitance change, calculates the touch coordinates, and pulls the interrupt line low to notify the microcontroller. After responding to the interrupt, the microcontroller reads the specific coordinate values ​​via the I2C bus, thus responding to the user's operation.

[0033] The overall working principle of this device is as follows: When the user presses power switch 4, battery 11 charges via interface P1 into the circuit board. After passing through reverse connection protection D1 and a filtering network, the charge is sent to the first-stage voltage regulator chip PU2, which regulates it to 5V. Subsequently, the 5V voltage is sent to the second-stage voltage regulator chip PU1, which further regulates it to 3.3V to power the system core. The main microcontroller U1 powers on and resets, the crystal oscillator starts oscillating to provide the clock, and the program begins running. The microcontroller first initializes all peripheral interfaces, lights up the display screen and displays the startup screen via the SPI interface, resets the touchscreen via the I2C interface, and configures the UWB module's operating mode via the UART serial port.

[0034] Once in surveying mode, the operator holds the device and places its housing (usually equipped with a specific reference contact surface or probe) against the critical parts of the pipeline to be measured (such as welds, elbows, flanges, etc.). At this point, the UWB module transmits ultra-wideband pulse signals to multiple UWB base stations deployed in the chemical plant environment via antenna 5 with an SMA interface. Based on the time-of-flight (TOF) ranging principle, the module measures the distance between itself and each base station. Due to the extremely strong penetration and anti-interference capabilities of UWB signals, even when pipelines obstruct each other, the signal can still reach the base stations through diffraction or direct transmission. The UWB module then transmits the measured distance data or the preliminary 3D coordinate data calculated internally to the main microcontroller in real time via the UART serial port.

[0035] Once the operator confirms the device is properly aligned, they click the record button on the touchscreen. The GT911 touchscreen controller detects the touch action and wakes up the microcontroller via an interrupt line. The microcontroller reads the touch event, confirms it's a record command, and immediately locks the UWB coordinate data in the current buffer, storing it as a valid pipeline key point in internal Flash or an external SD card, and marking the point on the simulated map on the screen. As the operator follows the pipeline, performing contact measurements and recordings at the start, end, turning, and branch points, the microcontroller accumulates a series of ordered 3D coordinate points. The graphics processing algorithm running inside the microcontroller uses these points to perform linear interpolation or curve fitting, constructing a 3D geometric model of the pipeline in real time, and refreshing it to the display screen via the SPI interface. The operator can then view the measured pipeline route diagram on the screen in real time and compare it with the actual pipeline on site.

[0036] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A pipeline mapping device based on UWB technology, characterized in that, It includes a handheld housing structure, and a main control module, a UWB positioning module, a touch display module, and a power management module disposed inside the housing structure; The signal input / output terminals of the main control module are electrically connected to the data transmission terminals of the UWB positioning module. The display signal output terminal and touch signal input terminal of the main control module are electrically connected to the signal terminals of the touch display module. The voltage output terminal of the power management module is electrically connected to the power terminals of the main control module, the UWB positioning module, and the touch display module, respectively.

2. The pipeline mapping device based on UWB technology according to claim 1, characterized in that, The housing structure includes a box body and a cover plate. The cover plate is fastened to the top of the box body. The display screen of the touch display module is embedded in the cover plate. The side wall of the box body is provided with an antenna interface, a power switch mounting hole and a charging interface. The bottom surface of the box body is provided with a battery, a power switch board, a main control board and a charging board. The main control board integrates the main control module. The antenna interface is connected to the UWB positioning module through a wire.

3. The pipeline mapping device based on UWB technology according to claim 1, characterized in that, The main control module includes a microcontroller U1, a crystal oscillator circuit, and a debugging interface P2. The crystal oscillator circuit is connected between the clock input pin and the clock output pin of the microcontroller U1. The crystal oscillator circuit includes a crystal oscillator Y1 and oscillation capacitors connected between the two ends of the crystal oscillator Y1 and ground. The data pin and clock pin of the debugging interface P2 are respectively connected to the corresponding debugging signal pins of the microcontroller U1.

4. A pipeline mapping device based on UWB technology according to claim 3, characterized in that, The UWB positioning module includes a UWB communication interface P3. Pin 1 of the UWB communication interface P3 is connected to the serial port receive pin of the microcontroller U1, and pin 2 of the UWB communication interface P3 is connected to the serial port transmit pin of the microcontroller U1. The power supply pin of the UWB communication interface P3 is connected to the 3.3V output terminal of the power management module.

5. A pipeline mapping device based on UWB technology according to claim 4, characterized in that, The touch display module includes a display interface P4 and a backlight driver chip U2. The SPI bus pin, chip select pin, reset pin and instruction control pin of the display interface P4 are respectively connected to the corresponding general-purpose input / output pins of the microcontroller U1. The enable pin and pulse width modulation pin of the backlight driver chip U2 are connected to the control pins of the microcontroller U1. The output pin of the backlight driver chip U2 is connected to the backlight cathode of the display interface P4.

6. A pipeline mapping device based on UWB technology according to claim 5, characterized in that, The touch display module also includes a touch screen interface P5. The IIC bus pin, interrupt pin and reset pin of the touch screen interface P5 are respectively connected to the corresponding pins of the microcontroller U1. A filter capacitor is connected in parallel between the power supply pin of the touch screen interface P5 and ground.

7. A pipeline mapping device based on UWB technology according to claim 1, characterized in that, The power management module includes a power input interface P1, a reverse connection protection diode D1, a transient suppression diode D2, and an input filter circuit. The positive terminal of the power input interface P1 is connected to the anode of the reverse connection protection diode D1. The transient suppression diode D2 is connected between the positive terminal of the power input interface P1 and ground. The input filter circuit is connected between the cathode of the reverse connection protection diode D1 and ground. The input filter circuit includes multiple capacitors connected in parallel.

8. A pipeline mapping device based on UWB technology according to claim 7, characterized in that, The power management module also includes a first voltage regulator chip PU1 and a second voltage regulator chip PU2. The input terminal of the second voltage regulator chip PU2 is connected to the cathode of the reverse polarity protection diode D1, and its output terminal outputs a 5V voltage. The input terminal of the first voltage regulator chip PU1 is connected to the output terminal of the second voltage regulator chip PU2, and its output terminal outputs a voltage of 3.3V. Both the input and output terminals of the first voltage regulator chip PU1 and the second voltage regulator chip PU2 are connected in parallel with filter capacitors.

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