From 87ee81c9e74499cf253ad7c721f43f3ec370e175 Mon Sep 17 00:00:00 2001
From: admin <wfq323@hotmail.com>
Date: Fri, 21 Aug 2026 16:37:17 +0800
Subject: [PATCH] =?UTF-8?q?=F0=9F=93=81=20=E6=96=B0=E5=A2=9E=20pcb/=20?=
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MIME-Version: 1.0
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---
 loop-detector/fig1-methods.png                |  Bin 0 -> 169595 bytes
 loop-detector/fig1-methods.svg                |   87 ++
 loop-detector/fig2-schematic.png              |  Bin 0 -> 190683 bytes
 loop-detector/fig2-schematic.svg              |  319 +++++
 loop-detector/inline_svg.py                   |   68 +
 loop-detector/loop-detector-kicad/gen_sch.py  |  258 ++++
 .../loop-detector-preview.png                 |  Bin 0 -> 142912 bytes
 .../loop-detector.kicad_pro                   |   83 ++
 .../loop-detector.kicad_sch                   | 1227 +++++++++++++++++
 .../loop-detector-kicad/loop-detector.pdf     |  Bin 0 -> 135297 bytes
 .../loop-detector-kicad/loopdet.kicad_sym     |  392 ++++++
 .../loop-detector-kicad/sym-lib-table         |    4 +
 loop-detector/loop-detector-principle.html    |  474 +++++++
 memory/2026-08-21.md                          |   38 +
 pcb/README.md                                 |   18 +
 15 files changed, 2968 insertions(+)
 create mode 100644 loop-detector/fig1-methods.png
 create mode 100644 loop-detector/fig1-methods.svg
 create mode 100644 loop-detector/fig2-schematic.png
 create mode 100644 loop-detector/fig2-schematic.svg
 create mode 100644 loop-detector/inline_svg.py
 create mode 100644 loop-detector/loop-detector-kicad/gen_sch.py
 create mode 100644 loop-detector/loop-detector-kicad/loop-detector-preview.png
 create mode 100644 loop-detector/loop-detector-kicad/loop-detector.kicad_pro
 create mode 100644 loop-detector/loop-detector-kicad/loop-detector.kicad_sch
 create mode 100644 loop-detector/loop-detector-kicad/loop-detector.pdf
 create mode 100644 loop-detector/loop-detector-kicad/loopdet.kicad_sym
 create mode 100644 loop-detector/loop-detector-kicad/sym-lib-table
 create mode 100644 loop-detector/loop-detector-principle.html
 create mode 100644 memory/2026-08-21.md
 create mode 100644 pcb/README.md

diff --git a/loop-detector/fig1-methods.png b/loop-detector/fig1-methods.png
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+  <ns0:text x="20" y="56" style="font-size: 12px; fill: #5b6475">选型核心：灵敏度（能否测摩托/自行车）× 抗干扰（变频器/电力谐波）× 成本。结论先行：主推 ①LC振荡+频率计数；复杂电磁环境上 ④；高灵敏需求上 ②。</ns0:text>
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+  <ns0:text x="40" y="158" style="font-size: 11px; fill: #5b6475">车辆进入 → 线圈等效电感↓ →</ns0:text>
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+  <ns0:text x="342" y="140" font-size="12.5" font-weight="600">原理</ns0:text>
+  <ns0:text x="342" y="158" style="font-size: 11px; fill: #5b6475">PLL 锁定振荡信号，车辆引起</ns0:text>
+  <ns0:text x="342" y="174" style="font-size: 11px; fill: #5b6475">相位/频率误差 → 输出误差电压</ns0:text>
+  <ns0:text x="342" y="202" font-size="12.5" font-weight="600">灵敏度</ns0:text>
+  <ns0:text x="342" y="220" style="font-size: 11px; fill: #5b6475">★★★★★ 可测自行车/电动车/行人拖车</ns0:text>
+  <ns0:text x="342" y="248" font-size="12.5" font-weight="600">抗干扰</ns0:text>
+  <ns0:text x="342" y="266" style="font-size: 11px; fill: #5b6475">★★★ 环路锁定本身有滤波作用</ns0:text>
+  <ns0:text x="342" y="294" font-size="12.5" font-weight="600">成本</ns0:text>
+  <ns0:text x="342" y="312" style="font-size: 11px; fill: #5b6475">中（PLL IC 或 MCU 内置 PLL 外设）</ns0:text>
+  <ns0:text x="342" y="340" font-size="12.5" font-weight="600">适用</ns0:text>
+  <ns0:text x="342" y="358" style="font-size: 11px; fill: #5b6475">混行车道、ETC 车道、摩托车检测</ns0:text>
+  <ns0:text x="342" y="396" font-size="12.5" font-weight="600">要点</ns0:text>
+  <ns0:text x="342" y="414" style="font-size: 11px; fill: #5b6475">环路带宽要窄：抗抖但响应慢，需折中</ns0:text>
+  <ns0:text x="342" y="430" style="font-size: 11px; fill: #5b6475">适合与 ① 组合做双通道校验</ns0:text>
+  <ns0:text x="342" y="470" fill="#0f766e" font-weight="700" style="font-size: 11px; fill: #0f766e">✅ 高灵敏场景备选</ns0:text>
+
+  
+  <ns0:rect x="628" y="80" width="288" height="440" rx="10" style="stroke: #64748b; stroke-width: 1; fill: #e2e8f0" />
+  <ns0:text x="772" y="104" text-anchor="middle" style="font-size: 14px; font-weight: 600; fill: #172033">③ 电桥阻抗检测 ★★</ns0:text>
+  <ns0:text x="644" y="140" font-size="12.5" font-weight="600">原理</ns0:text>
+  <ns0:text x="644" y="158" style="font-size: 11px; fill: #5b6475">环路与参考臂构成平衡电桥，</ns0:text>
+  <ns0:text x="644" y="174" style="font-size: 11px; fill: #5b6475">车辆使阻抗失衡 → 输出失调电压</ns0:text>
+  <ns0:text x="644" y="202" font-size="12.5" font-weight="600">灵敏度</ns0:text>
+  <ns0:text x="644" y="220" style="font-size: 11px; fill: #5b6475">★★ 中低，依赖桥臂匹配精度</ns0:text>
+  <ns0:text x="644" y="248" font-size="12.5" font-weight="600">抗干扰</ns0:text>
+  <ns0:text x="644" y="266" style="font-size: 11px; fill: #5b6475">★★ 温漂/老化使零位漂移严重</ns0:text>
+  <ns0:text x="644" y="294" font-size="12.5" font-weight="600">成本</ns0:text>
+  <ns0:text x="644" y="312" style="font-size: 11px; fill: #5b6475">低（纯模拟）</ns0:text>
+  <ns0:text x="644" y="340" font-size="12.5" font-weight="600">适用</ns0:text>
+  <ns0:text x="644" y="358" style="font-size: 11px; fill: #5b6475">早期产品 / 教学演示</ns0:text>
+  <ns0:text x="644" y="396" font-size="12.5" font-weight="600">要点</ns0:text>
+  <ns0:text x="644" y="414" style="font-size: 11px; fill: #5b6475">需定期人工调零，现场维护成本高</ns0:text>
+  <ns0:text x="644" y="470" fill="#991b1b" font-weight="700" style="font-size: 11px; fill: #991b1b">⚠️ 不推荐量产</ns0:text>
+
+  
+  <ns0:rect x="930" y="80" width="288" height="440" rx="10" style="stroke: #64748b; stroke-width: 1; fill: #e2e8f0" />
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+  <ns0:text x="946" y="140" font-size="12.5" font-weight="600">原理</ns0:text>
+  <ns0:text x="946" y="158" style="font-size: 11px; fill: #5b6475">DDS/扫频实时搜索谐振点，</ns0:text>
+  <ns0:text x="946" y="174" style="font-size: 11px; fill: #5b6475">自动调谐避开干扰频段（变频器/谐波）</ns0:text>
+  <ns0:text x="946" y="202" font-size="12.5" font-weight="600">灵敏度</ns0:text>
+  <ns0:text x="946" y="220" style="font-size: 11px; fill: #5b6475">★★★★ 扫频带宽内全频段可调</ns0:text>
+  <ns0:text x="946" y="248" font-size="12.5" font-weight="600">抗干扰</ns0:text>
+  <ns0:text x="946" y="266" style="font-size: 11px; fill: #5b6475">★★★★★ 变频器干扰场景的终极解</ns0:text>
+  <ns0:text x="946" y="294" font-size="12.5" font-weight="600">成本</ns0:text>
+  <ns0:text x="946" y="312" style="font-size: 11px; fill: #5b6475">高（DDS/高精度 ADC + 算法）</ns0:text>
+  <ns0:text x="946" y="340" font-size="12.5" font-weight="600">适用</ns0:text>
+  <ns0:text x="946" y="358" style="font-size: 11px; fill: #5b6475">工业区/充电桩/变频器密集场所</ns0:text>
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+  <ns0:text x="946" y="414" style="font-size: 11px; fill: #5b6475">与 ① 兼容：频率计数做粗判，</ns0:text>
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diff --git a/loop-detector/fig2-schematic.svg b/loop-detector/fig2-schematic.svg
new file mode 100644
index 0000000..0d51366
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+++ b/loop-detector/fig2-schematic.svg
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+  
+  <ns0:path d="M900,460 V476" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M900,476 L894,488 H906 Z" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M900,488 V494" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M894,494 H906" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M900,494 V506" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M894,506 H906" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M900,506 V520" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M900,520 V650" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:text x="918" y="492" style="font-size: 11px; fill: #5b6475">D2 状态LED</ns0:text>
+  <ns0:text x="918" y="506" style="font-size: 11px; fill: #5b6475">R6 限流</ns0:text>
+  
+  <ns0:path d="M860,240 V230" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:text x="846" y="224" style="font-size: 11px; fill: #5b6475">VDD 3.3V</ns0:text>
+
+  
+  <ns0:rect x="1030" y="290" width="70" height="90" rx="4" style="stroke: #64748b; stroke-width: 1; fill: #e2e8f0" />
+  <ns0:text x="1065" y="282" text-anchor="middle" style="font-size: 11px; fill: #5b6475">U2 光耦</ns0:text>
+  
+  <ns0:path d="M1042,320 L1042,330 L1052,330 L1052,320 Z" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M1052,320 V326" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  
+  <ns0:circle cx="1062" cy="352" r="2" style="fill: #172033; stroke: none" />
+  <ns0:path d="M1062,352 L1072,344 V352" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M1062,352 L1072,360 V352" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M1052,326 H1046 V352 H1060" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M1066,340 L1072,336" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M1066,344 L1072,340" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  
+  <ns0:path d="M1030,330 H1016" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:rect x="1004" y="324" width="12" height="12" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:text x="996" y="312" style="font-size: 11px; fill: #5b6475">R5</ns0:text>
+  
+  <ns0:path d="M1065,360 V375" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M1065,375 H1090" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:rect x="1080" y="368" width="22" height="14" rx="2" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M1102,375 H1108" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M1080,368 V375" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M1080,382 V375" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M1080,368 H1074" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M1080,382 H1074" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:text x="1108" y="380" style="font-size: 11px; fill: #5b6475">Q2</ns0:text>
+  <ns0:text x="1108" y="394" style="font-size: 11px; fill: #5b6475">N-MOS</ns0:text>
+  
+  <ns0:path d="M1080,368 V430" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:text x="1090" y="362" style="font-size: 11px; fill: #5b6475">D</ns0:text>
+  <ns0:text x="1090" y="388" style="font-size: 11px; fill: #5b6475">S</ns0:text>
+  
+  <ns0:rect x="1120" y="250" width="60" height="46" rx="4" style="stroke: #64748b; stroke-width: 1; fill: #e2e8f0" />
+  <ns0:path d="M1130,258 L1170,288" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:text x="1150" y="282" text-anchor="middle" style="font-size: 11px; fill: #5b6475">K1</ns0:text>
+  <ns0:path d="M1108,375 H1120 V273" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M1180,273 H1200" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  
+  <ns0:path d="M1200,273 V300" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M1200,300 H1216" style="stroke: #64748b; stroke-width: 2; fill: none" />
+  <ns0:circle cx="1200" cy="300" r="2" style="fill: #172033; stroke: none" />
+  <ns0:path d="M1216,258 H1220" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M1216,342 H1220" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:circle cx="1216" cy="258" r="2" style="fill: #172033; stroke: none" />
+  <ns0:circle cx="1216" cy="342" r="2" style="fill: #172033; stroke: none" />
+  <ns0:text x="1222" y="254" style="font-size: 11px; fill: #5b6475">NO</ns0:text>
+  <ns0:text x="1222" y="346" style="font-size: 11px; fill: #5b6475">NC</ns0:text>
+  <ns0:text x="1222" y="304" style="font-size: 11px; fill: #5b6475">COM</ns0:text>
+  <ns0:text x="1124" y="318" style="font-size: 11px; fill: #5b6475">→ 道闸/PLC</ns0:text>
+  
+  <ns0:path d="M1120,240 V250" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:text x="1080" y="238" style="font-size: 11px; fill: #5b6475">K1 线圈接 VCC(或外供)</ns0:text>
+
+  
+  <ns0:rect x="20" y="560" width="1200" height="120" rx="8" style="fill: none; stroke: #64748b; stroke-width: 1; stroke-dasharray: 6 5; opacity: 0.8" />
+  <ns0:text x="30" y="580" style="font-size: 11px; fill: #5b6475">电源与保护</ns0:text>
+  <ns0:rect x="40" y="596" width="86" height="30" rx="4" style="stroke: #64748b; stroke-width: 1; fill: #e2e8f0" />
+  <ns0:text x="83" y="615" text-anchor="middle" style="font-size: 11px; fill: #5b6475">VIN 12~24V</ns0:text>
+  <ns0:path d="M126,611 H140" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M140,605 L148,611 L140,617 Z" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M148,611 H158" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M158,596 V626" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M158,596 L164,584 H176 L170,596 Z" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M158,626 L170,596 H176 L164,584 Z" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:text x="190" y="604" style="font-size: 11px; fill: #5b6475">D1 防反接</ns0:text>
+  <ns0:text x="190" y="618" style="font-size: 11px; fill: #5b6475">TVS2 吸收浪涌</ns0:text>
+  <ns0:path d="M158,611 H200" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:rect x="200" y="596" width="70" height="30" rx="4" style="stroke: #64748b; stroke-width: 1; fill: #e2e8f0" />
+  <ns0:text x="235" y="615" text-anchor="middle" style="font-size: 11px; fill: #5b6475">U3 LDO 5V</ns0:text>
+  <ns0:path d="M270,611 H300" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:rect x="300" y="596" width="80" height="30" rx="4" style="stroke: #64748b; stroke-width: 1; fill: #e2e8f0" />
+  <ns0:text x="340" y="615" text-anchor="middle" style="font-size: 11px; fill: #5b6475">U4 LDO 3.3V</ns0:text>
+  <ns0:path d="M340,596 V540" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M340,540 H860 V230" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M340,626 V650" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  
+  <ns0:path d="M160,650 H120" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M120,640 H126" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M120,650 H126" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M123,640 V650" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:text x="96" y="668" style="font-size: 11px; fill: #5b6475">Cin</ns0:text>
+  <ns0:path d="M340,650 H300" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M300,640 H306" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M300,650 H306" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M303,640 V650" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:text x="276" y="668" style="font-size: 11px; fill: #5b6475">C5</ns0:text>
+  <ns0:path d="M400,650 H380" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M380,640 H386" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M380,650 H386" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M383,640 V650" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:text x="392" y="668" style="font-size: 11px; fill: #5b6475">C6</ns0:text>
+
+  
+  <ns0:rect x="20" y="700" width="1200" height="160" rx="8" style="fill: #e2e8f0; stroke: #64748b; stroke-width: 1" />
+  <ns0:text x="36" y="722" style="font-size: 14px; font-weight: 600; fill: #172033">元件图例</ns0:text>
+  <ns0:text x="36" y="746" style="font-size: 11px; fill: #5b6475">L 电感（线圈符号）</ns0:text>
+  <ns0:path d="M56,756 a6,6 0 0 1 0,12 a6,6 0 0 0 0,12 a6,6 0 0 1 0,12" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:text x="140" y="746" style="font-size: 11px; fill: #5b6475">C 电容</ns0:text>
+  <ns0:path d="M160,756 H172" style="fill: none; stroke: #172033; stroke-width: 1.6" /><ns0:path d="M160,768 H172" style="fill: none; stroke: #172033; stroke-width: 1.6" /><ns0:path d="M166,756 V768" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:text x="244" y="746" style="font-size: 11px; fill: #5b6475">R 电阻</ns0:text>
+  <ns0:rect x="264" y="752" width="12" height="16" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:text x="340" y="746" style="font-size: 11px; fill: #5b6475">TVS 双向</ns0:text>
+  <ns0:path d="M360,756 L354,768 H366 Z" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M360,768 L366,756 H354 Z" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:text x="440" y="746" style="font-size: 11px; fill: #5b6475">NPN 三极管</ns0:text>
+  <ns0:path d="M456,764 H470" style="stroke: #64748b; stroke-width: 1.3; fill: none" /><ns0:circle cx="470" cy="764" r="2" style="fill: #172033; stroke: none" />
+  <ns0:path d="M470,764 L482,748 V764" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M470,764 L480,776 V784" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:path d="M474,774 L484,768" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:text x="560" y="746" style="font-size: 11px; fill: #5b6475">MOS</ns0:text>
+  <ns0:rect x="580" y="756" width="20" height="12" rx="2" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:text x="660" y="746" style="font-size: 11px; fill: #5b6475">继电器</ns0:text>
+  <ns0:rect x="680" y="754" width="16" height="12" style="fill: none; stroke: #172033; stroke-width: 1.6" />
+  <ns0:path d="M684,756 L692,764" style="stroke: #64748b; stroke-width: 1.3; fill: none" />
+  <ns0:text x="36" y="806" style="font-size: 11px; fill: #5b6475">关键设计点：① 环路经匹配变压器隔离耦合，直连会受地环路干扰；② 谐振电容 C1 决定频段，频率 f₀≈1/(2π√(LC))；③ 灵敏度=Δf 阈值，建议多档可调 + 回差；④ 基准频率上电自学习 + 慢速跟踪，抗温漂；⑤ 输出必须光耦隔离，防浪涌反灌烧 MCU；⑥ 软件加看门狗，继电器粘连检测。</ns0:text>
+  <ns0:text x="36" y="830" style="font-size: 11px; fill: #5b6475">⚠️ 数值为典型参考：线圈电感取决于尺寸/匝数/引线长度，谐振频率推荐 20~150kHz（越低抗干扰越差、灵敏度越高，需现场折中）。</ns0:text>
+</ns0:svg>
\ No newline at end of file
diff --git a/loop-detector/inline_svg.py b/loop-detector/inline_svg.py
new file mode 100644
index 0000000..e474484
--- /dev/null
+++ b/loop-detector/inline_svg.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+"""Extract SVGs from HTML, inline styles (light theme), output standalone .svg files."""
+import re, sys, html
+
+SRC = "/root/.openclaw/workspace/loop-detector/loop-detector-principle.html"
+
+CSS = {
+    "title":   {"font-size": "20px", "font-weight": "650", "fill": "#172033"},
+    "label":   {"font-size": "14px", "font-weight": "600", "fill": "#172033"},
+    "small":   {"font-size": "12px", "fill": "#5b6475"},
+    "tiny":    {"font-size": "11px", "fill": "#5b6475"},
+    "node":    {"stroke": "#64748b", "stroke-width": "1"},
+    "neutral": {"fill": "#e2e8f0"},
+    "input":   {"fill": "#bfdbfe"},
+    "process": {"fill": "#c7d2fe"},
+    "storage": {"fill": "#99f6e4"},
+    "external":{"fill": "#fde68a"},
+    "risk":    {"fill": "#fecaca"},
+    "edge":    {"stroke": "#64748b", "stroke-width": "1.5", "fill": "none"},
+    "wire":    {"stroke": "#64748b", "stroke-width": "1.3", "fill": "none"},
+    "wireb":   {"stroke": "#64748b", "stroke-width": "2", "fill": "none"},
+    "zone":    {"fill": "none", "stroke": "#64748b", "stroke-width": "1",
+                "stroke-dasharray": "6 5", "opacity": "0.8"},
+    "comp":    {"fill": "none", "stroke": "#172033", "stroke-width": "1.6"},
+    "compf":   {"fill": "#172033", "stroke": "none"},
+    "rec":     {"fill": "#172033", "stroke": "none"},
+    "rec-o":   {"fill": "none", "stroke": "#172033", "stroke-width": "1.4"},
+    "badge":   {"fill": "#16a34a"},
+    "badge-t": {"fill": "#ffffff", "font-size": "11px", "font-weight": "700"},
+    "hl":      {"stroke": "#16a34a", "stroke-width": "2.5"},
+}
+
+def inline(el):
+    classes = el.get("class", "").split()
+    merged = {}
+    for c in classes:
+        if c in CSS:
+            merged.update(CSS[c])
+    # element-level attributes override classes (fill attr etc.)
+    for attr in ("fill", "stroke", "stroke-width", "opacity"):
+        v = el.get(attr)
+        if v is not None:
+            merged[attr] = v
+    if merged:
+        style = "; ".join(f"{k}: {v}" for k, v in merged.items())
+        old = el.get("style", "")
+        el.set("style", (old + ";" + style).strip(";") if old else style)
+    el.attrib.pop("class", None)
+    for child in el:
+        inline(child)
+
+def process(svg_text, out_path):
+    # drop <style> and <defs> references stay; remove style blocks
+    svg_text = re.sub(r"<style>.*?</style>", "", svg_text, flags=re.S)
+    import xml.etree.ElementTree as ET
+    root = ET.fromstring(svg_text)
+    # add width/height for predictable output
+    root.set("xmlns", "http://www.w3.org/2000/svg")
+    inline(root)
+    tree = ET.ElementTree(root)
+    tree.write(out_path, encoding="utf-8", xml_declaration=True)
+    print("wrote", out_path)
+
+data = open(SRC, encoding="utf-8").read()
+svgs = re.findall(r"<svg.*?</svg>", data, flags=re.S)
+print("found", len(svgs), "svgs")
+process(svgs[0], "/root/.openclaw/workspace/loop-detector/fig1-methods.svg")
+process(svgs[1], "/root/.openclaw/workspace/loop-detector/fig2-schematic.svg")
diff --git a/loop-detector/loop-detector-kicad/gen_sch.py b/loop-detector/loop-detector-kicad/gen_sch.py
new file mode 100644
index 0000000..3b53cd4
--- /dev/null
+++ b/loop-detector/loop-detector-kicad/gen_sch.py
@@ -0,0 +1,258 @@
+#!/usr/bin/env python3
+"""Generate KiCad 7 schematic (.kicad_sch) for the loop vehicle detector."""
+import re, uuid, os
+
+BASE = "/root/.openclaw/workspace/loop-detector/loop-detector-kicad"
+SYM = os.path.join(BASE, "loopdet.kicad_sym")
+SCH = os.path.join(BASE, "loop-detector.kicad_sch")
+
+def uid():
+    return str(uuid.uuid4())
+
+# ---------- extract lib_symbols from .kicad_sym ----------
+data = open(SYM, encoding="utf-8").read()
+# only extract TOP-LEVEL (symbol "X" ...) blocks: track paren depth while scanning
+sym_blocks = []
+pat = re.compile(r'\(symbol "([^"]+)"')
+# find all matches, then filter to depth-1 (inside kicad_symbol_lib only)
+depth = 0
+top_starts = []
+for m in pat.finditer(data):
+    # compute depth at match start by counting parens before it
+    prefix = data[:m.start()]
+    d = prefix.count('(') - prefix.count(')')
+    if d == 1:  # directly inside kicad_symbol_lib
+        top_starts.append(m.start())
+for start in top_starts:
+    depth = 0
+    j = start
+    while j < len(data):
+        if data[j] == '(':
+            depth += 1
+        elif data[j] == ')':
+            depth -= 1
+            if depth == 0:
+                break
+        j += 1
+    sym_blocks.append(data[start:j+1])
+
+# embedded symbol names must carry the library prefix (e.g. "loopdet:C") so that
+# lib_id "loopdet:C" resolves to the embedded definition without hitting the table
+import re as _re
+def _prefix(sym_block):
+    return _re.sub(r'\(symbol "([^"]+)"', r'(symbol "loopdet:\1"', sym_block, count=1)
+lib_symbols = "(lib_symbols\n" + "\n".join("  " + _prefix(b) for b in sym_blocks) + "\n)\n"
+
+# ---------- components ----------
+# (lib, ref, value, x, y, rot, ref_at, val_at)
+COMPONENTS = [
+    ("CONN2",    "J1",   "CONN_2P",      40,   130,   0, (40, 136),   (40, 124)),
+    ("TVS_BI",   "TVS1", "TVS_BIDI",     62,   130,   0, (62, 136),   (62, 124)),
+    ("XFMR",     "T1",   "1:1",          90,   130,   0, (90, 138),   (90, 120)),
+    ("C",        "C1",   "100~470p",     107,  130,   90, (113, 136),  (113, 124)),
+    ("Q_NPN",    "Q1",   "S9018",        130,  130,   0, (126.5, 136),(126.5, 124)),
+    ("R",        "Rc",   "2.2k",         138,  126.19,0, (134.5, 132),(134.5, 120)),
+    ("R",        "Rb1",  "100k",         124.92,121.5,90, (131, 121.5),(131, 117)),
+    ("R",        "Rb2",  "47k",          124.92,137.5,90, (131, 137.5),(131, 133)),
+    ("R",        "Re",   "1k",           132.54,139.5,90, (138.5, 139.5),(138.5, 135)),
+    ("C",        "C2",   "100p",         138,  135.5, 90, (144, 135.5),(144, 131)),
+    ("C",        "Cc2",  "10p",          148,  126.19,0, (148, 132),  (148, 120)),
+    ("COMP",     "U1",   "LM393",        170,  130,   0, (170, 137),  (170, 123)),
+    ("R",        "R3",   "10k",          150,  124,   90, (156, 124),  (156, 119.5)),
+    ("R",        "R4",   "10k",          150,  138.5, 90, (156, 138.5),(156, 134)),
+    ("MCU",      "MCU1", "STM32F103C8",  215,  130,   0, (215, 143),  (215, 117)),
+    ("R",        "R5",   "1k",           245,  124.92,0, (245, 131),  (245, 119)),
+    ("OPTO",     "U2",   "PC817",        265,  124.92,0, (265, 131),  (265, 119)),
+    ("MOS_N",    "Q2",   "N-MOS",        300,  126.19,0, (296.5, 132),(296.5, 120)),
+    ("RELAY_SPDT","K1",  "SPDT 12V",     325,  122.38,0, (325, 130),  (325, 116)),
+    ("R",        "R6",   "1k",           245,  130,   0, (245, 136),  (245, 124)),
+    ("LED",      "D2",   "LED",          280,  130,   0, (280, 136),  (280, 124)),
+]
+
+# ---------- wires ----------
+WIRES = [
+    # A net: J1.p1 - TVS1.p1 - T1.p1
+    ((37.46, 127.46), (82.38, 127.46)),
+    ((59.46, 127.46), (59.46, 130)),
+    # B net: J1.p2 - TVS1.p2 - T1.p2
+    ((37.46, 132.54), (82.38, 132.54)),
+    ((64.54, 132.54), (64.54, 130)),
+    # T1 sec upper: p3 - C1.p1 - base input
+    ((97.62, 127.46), (110, 127.46)),
+    ((110, 127.46), (110, 130)),
+    ((110, 130), (124.92, 130)),
+    # T1 sec lower: p4 - C1.p2 - GND
+    ((97.62, 132.54), (107, 132.54)),
+    ((107, 132.54), (107, 145)),
+    # VCC bus
+    ((100, 115), (320, 115)),
+    ((140.54, 126.19), (140.54, 115)),
+    ((124.92, 118.96), (124.92, 115)),
+    ((150, 121.46), (150, 115)),
+    ((317.38, 119.84), (317.38, 115)),
+    # GND bus
+    ((100, 145), (340, 145)),
+    ((124.92, 140.04), (124.92, 145)),
+    ((132.54, 142.04), (132.54, 145)),
+    ((138, 138.04), (138, 145)),
+    ((257.38, 127.46), (257.38, 145)),
+    ((302.54, 130), (302.54, 145)),
+    ((282.54, 130), (282.54, 145)),
+    # base net
+    ((124.92, 124.04), (124.92, 134.96)),
+    # collector net
+    ((132.54, 126.19), (145.46, 126.19)),
+    ((138, 126.19), (138, 132.96)),
+    # emitter
+    ((132.54, 133.81), (132.54, 136.96)),
+    # comp in+
+    ((150.54, 126.19), (162.38, 126.19)),
+    ((162.38, 126.19), (162.38, 127.46)),
+    # vref
+    ((150, 126.54), (150, 135.96)),
+    ((150, 132.54), (162.38, 132.54)),
+    # comp out -> PA0
+    ((177.62, 130), (177.62, 124.92)),
+    ((177.62, 124.92), (202.3, 124.92)),
+    # PA1 -> R5
+    ((227.7, 124.92), (242.46, 124.92)),
+    # R5 -> OPTO.1
+    ((247.54, 124.92), (257.38, 124.92)),
+    ((257.38, 124.92), (257.38, 122.38)),
+    # OPTO.4 -> gate
+    ((272.62, 122.38), (294.92, 122.38)),
+    ((294.92, 122.38), (294.92, 126.19)),
+    # drain -> K1.A2
+    ((302.54, 122.38), (317.38, 122.38)),
+    ((317.38, 122.38), (317.38, 124.92)),
+    # PA2 -> R6
+    ((227.7, 130), (242.46, 130)),
+    # R6 -> D2.A
+    ((247.54, 130), (277.46, 130)),
+]
+
+# ---------- net labels ----------
+LABELS = [
+    ("VCC", (100, 115), 0),
+    ("GND", (100, 145), 0),
+    ("VCC", (227.7, 135.08), 0),
+    ("GND", (202.3, 135.08), 0),
+    ("COM", (332.62, 122.38), 0),
+    ("NO",  (332.62, 117.3), 0),
+    ("NC",  (332.62, 127.46), 0),
+]
+
+# ---------- texts ----------
+TEXTS = [
+    ("环路车检器原理图 — LC 振荡 + 频率计数方案（推荐①）", (20, 20), 3.5),
+    ("信号链：环形线圈 → T1 匹配变压器 → 考毕兹振荡 → 比较器整形 → MCU 测频判车 → 光耦隔离 → 继电器输出", (20, 30), 1.5),
+    ("接路面环形线圈（3~5匝，双绞屏蔽线 ≤20m）", (20, 108), 1.27),
+    ("→ 道闸控制器 / PLC 输入", (340, 114), 1.27),
+    ("【设计说明】", (20, 165), 1.5),
+    ("1) 线圈经 T1 匹配变压器隔离耦合，抗地环路干扰；", (20, 173), 1.27),
+    ("2) 谐振频率 f0 ≈ 1/(2π√(L·C1))，建议 20~150kHz（待现场验证）；", (20, 181), 1.27),
+    ("3) MCU 周期法测频（输入捕获），灵敏度阈值多档可调 + 回差防抖；", (20, 189), 1.27),
+    ("4) 基准频率上电自学习 + 慢速跟踪，抗温漂（雨雪/昼夜温差）；", (20, 197), 1.27),
+    ("5) 输出经光耦 U2 隔离驱动继电器 K1，防浪涌反灌烧 MCU；", (20, 205), 1.27),
+    ("6) 软件加看门狗；继电器粘连/掉线检测；", (20, 213), 1.27),
+    ("7) 电源：VIN 12~24V → 防反接 + TVS → LDO 5V → LDO 3.3V（本页未画出）；", (20, 221), 1.27),
+    ("8) 相邻车道串扰：线圈间距 ≥1m，必要时交替频率；", (20, 229), 1.27),
+    ("【关键参数（参考值，待现场验证）】", (240, 165), 1.5),
+    ("C1: 100~470pF     C2: 100pF", (240, 173), 1.27),
+    ("Rb1: 100k         Rb2: 47k", (240, 181), 1.27),
+    ("Rc: 2.2k          Re: 1k", (240, 189), 1.27),
+    ("Q1: S9018/2N3904   Q2: N-MOS", (240, 197), 1.27),
+    ("U1: LM393 比较器   U2: PC817 光耦", (240, 205), 1.27),
+    ("K1: SPDT 12V/24V 继电器", (240, 213), 1.27),
+    ("MCU: STM32F103/GD32F103", (240, 221), 1.27),
+]
+
+# ---------- build ----------
+def fmt_xy(p):
+    return f"(xy {p[0]:g} {p[1]:g})"
+
+parts = []
+ROOT_UUID = uid()
+parts.append("(kicad_sch")
+parts.append("  (version 20230121)")
+parts.append('  (generator eeschema)')
+parts.append(f"  (uuid {ROOT_UUID})")
+parts.append('  (paper "A3")')
+parts.append("  (title_block")
+parts.append('    (title "Loop Vehicle Detector")')
+parts.append('    (date "2026-08-21")')
+parts.append('    (rev "1.0")')
+parts.append('    (company "xde")')
+parts.append('    (comment 1 "LC Oscillation + Frequency Counting")')
+parts.append("  )")
+parts.append("")
+# lib_symbols (indent 2)
+parts.append(lib_symbols.rstrip("\n"))
+parts.append("")
+# components
+for lib, ref, value, x, y, rot, ref_at, val_at in COMPONENTS:
+    parts.append("  (symbol")
+    parts.append(f"    (lib_id \"loopdet:{lib}\")")
+    parts.append(f"    (at {x:g} {y:g} {rot})")
+    parts.append("    (unit 1)")
+    parts.append("    (in_bom yes)")
+    parts.append("    (on_board yes)")
+    parts.append("    (dnp no)")
+    parts.append(f"    (uuid {uid()})")
+    parts.append(f"    (property \"Reference\" \"{ref}\" (at {ref_at[0]:g} {ref_at[1]:g} 0) (effects (font (size 1.27 1.27)) (justify left)))")
+    parts.append(f"    (property \"Value\" \"{value}\" (at {val_at[0]:g} {val_at[1]:g} 0) (effects (font (size 1.27 1.27)) (justify left)))")
+    parts.append(f"    (property \"Footprint\" \"\" (at {x:g} {y:g} 0) (effects (font (size 1.27 1.27)) hide))")
+    parts.append(f"    (property \"Datasheet\" \"\" (at {x:g} {y:g} 0) (effects (font (size 1.27 1.27)) hide))")
+    # pin uuids (number of pins depends on lib)
+    PINMAP = {
+        "R": ["1", "2"], "C": ["1", "2"], "TVS_BI": ["1", "2"], "LED": ["A", "K"],
+        "Q_NPN": ["B", "C", "E"], "MOS_N": ["G", "D", "S"],
+        "XFMR": ["1", "2", "3", "4"], "OPTO": ["1", "2", "4", "3"],
+        "COMP": ["+", "-", "OUT"],
+        "MCU": ["PA0", "GND", "PA1", "PA2", "VDD"],
+        "RELAY_SPDT": ["A1", "A2", "COM", "NO", "NC"],
+        "CONN2": ["1", "2"],
+    }
+    for pn in PINMAP[lib]:
+        parts.append(f"    (pin \"{pn}\" (uuid {uid()}))")
+    parts.append("    (instances")
+    parts.append("      (project \"loop-detector\"")
+    parts.append(f"        (path \"/{ROOT_UUID}\"")
+    parts.append(f"          (reference \"{ref}\") (unit 1)")
+    parts.append("        )")
+    parts.append("      )")
+    parts.append("    )")
+    parts.append("  )")
+parts.append("")
+# wires
+for p1, p2 in WIRES:
+    parts.append("  (wire")
+    parts.append(f"    (pts {fmt_xy(p1)} {fmt_xy(p2)})")
+    parts.append("    (stroke (width 0) (type default))")
+    parts.append(f"    (uuid {uid()})")
+    parts.append("  )")
+parts.append("")
+# net labels
+for name, pos, ang in LABELS:
+    parts.append("  (label")
+    parts.append(f"    \"{name}\" (at {pos[0]:g} {pos[1]:g} {ang})")
+    parts.append("    (effects (font (size 1.27 1.27)) (justify left bottom))")
+    parts.append(f"    (uuid {uid()})")
+    parts.append("  )")
+parts.append("")
+# texts
+for s, pos, size in TEXTS:
+    parts.append("  (text")
+    parts.append(f"    \"{s}\" (at {pos[0]:g} {pos[1]:g} 0)")
+    parts.append(f"    (effects (font (size {size:g} {size:g})))")
+    parts.append(f"    (uuid {uid()})")
+    parts.append("  )")
+parts.append("")
+parts.append("  (sheet_instances")
+parts.append('    (path "/" (page "1"))')
+parts.append("  )")
+parts.append(")")
+
+out = "\n".join(parts) + "\n"
+open(SCH, "w", encoding="utf-8").write(out)
+print("wrote", SCH, len(out), "bytes")
diff --git a/loop-detector/loop-detector-kicad/loop-detector-preview.png b/loop-detector/loop-detector-kicad/loop-detector-preview.png
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diff --git a/loop-detector/loop-detector-kicad/loop-detector.kicad_pro b/loop-detector/loop-detector-kicad/loop-detector.kicad_pro
new file mode 100644
index 0000000..ae4cda7
--- /dev/null
+++ b/loop-detector/loop-detector-kicad/loop-detector.kicad_pro
@@ -0,0 +1,83 @@
+{
+  "board": {
+    "design_settings": {
+      "defaults": {
+        "apply_defaults_to_fp_fields": false,
+        "apply_defaults_to_new_footprints": false
+      }
+    }
+  },
+  "boards": [],
+  "cvpcb": {
+    "equivalence_files": []
+  },
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diff --git a/loop-detector/loop-detector-kicad/loop-detector.kicad_sch b/loop-detector/loop-detector-kicad/loop-detector.kicad_sch
new file mode 100644
index 0000000..25d4097
--- /dev/null
+++ b/loop-detector/loop-detector-kicad/loop-detector.kicad_sch
@@ -0,0 +1,1227 @@
+(kicad_sch
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+  (paper "A3")
+  (title_block
+    (title "Loop Vehicle Detector")
+    (date "2026-08-21")
+    (rev "1.0")
+    (company "xde")
+    (comment 1 "LC Oscillation + Frequency Counting")
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+    (uuid c18dcf24-ecc9-4b28-8795-4bf8404d7147)
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+  (text
+    "信号链：环形线圈 → T1 匹配变压器 → 考毕兹振荡 → 比较器整形 → MCU 测频判车 → 光耦隔离 → 继电器输出" (at 20 30 0)
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+    (uuid 1bc1031e-e9d9-42d4-8a1d-38a25d8c914d)
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+    (uuid 466022c9-0df0-4a84-876e-af5a979ed464)
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+  (text
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+  (text
+    "4) 基准频率上电自学习 + 慢速跟踪，抗温漂（雨雪/昼夜温差）；" (at 20 197 0)
+    (effects (font (size 1.27 1.27)))
+    (uuid 11047f29-7fa5-4a76-94b9-2ac58c004f15)
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+  (text
+    "5) 输出经光耦 U2 隔离驱动继电器 K1，防浪涌反灌烧 MCU；" (at 20 205 0)
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+    (uuid 764d62f8-21b8-4fb2-88a1-6b2880a4f675)
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+  (text
+    "6) 软件加看门狗；继电器粘连/掉线检测；" (at 20 213 0)
+    (effects (font (size 1.27 1.27)))
+    (uuid 8762c434-11f7-4859-99d8-3491ab4fe71f)
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+  (text
+    "7) 电源：VIN 12~24V → 防反接 + TVS → LDO 5V → LDO 3.3V（本页未画出）；" (at 20 221 0)
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+    (uuid d04562bd-c750-4ce7-8239-cfee6a365ac5)
+  )
+  (text
+    "MCU: STM32F103/GD32F103" (at 240 221 0)
+    (effects (font (size 1.27 1.27)))
+    (uuid 2924f0f4-a864-48b8-9aa7-d5dd2eb7b2f5)
+  )
+
+  (sheet_instances
+    (path "/" (page "1"))
+  )
+)
diff --git a/loop-detector/loop-detector-kicad/loop-detector.pdf b/loop-detector/loop-detector-kicad/loop-detector.pdf
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/loop-detector/loop-detector-kicad/loopdet.kicad_sym b/loop-detector/loop-detector-kicad/loopdet.kicad_sym
new file mode 100644
index 0000000..9a2f791
--- /dev/null
+++ b/loop-detector/loop-detector-kicad/loopdet.kicad_sym
@@ -0,0 +1,392 @@
+(kicad_symbol_lib
+  (version 20220914)
+  (generator "xde")
+  (symbol "R"
+    (pin_numbers hide) (pin_names (offset 0))
+    (in_bom yes)
+    (on_board yes)
+    (property "Reference" "R" (at 0 2.54 0) (effects (font (size 1.27 1.27)) (justify left)))
+    (property "Value" "R" (at 0 -2.54 0) (effects (font (size 1.27 1.27)) (justify left)))
+    (property "Footprint" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide))
+    (property "Datasheet" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide))
+    (symbol "R_0_1"
+      (rectangle (start -1.27 -1.27) (end 1.27 1.27)
+        (stroke (width 0.254) (type default)) (fill (type none)))
+    )
+    (symbol "R_1_1"
+      (pin passive line (at -2.54 0 0) (length 1.27)
+        (name "~" (effects (font (size 1.27 1.27))))
+        (number "1" (effects (font (size 1.27 1.27)))))
+      (pin passive line (at 2.54 0 0) (length 1.27)
+        (name "~" (effects (font (size 1.27 1.27))))
+        (number "2" (effects (font (size 1.27 1.27)))))
+    )
+  )
+  (symbol "C"
+    (pin_numbers hide) (pin_names (offset 0))
+    (in_bom yes)
+    (on_board yes)
+    (property "Reference" "C" (at 0 2.54 0) (effects (font (size 1.27 1.27)) (justify left)))
+    (property "Value" "C" (at 0 -2.54 0) (effects (font (size 1.27 1.27)) (justify left)))
+    (property "Footprint" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide))
+    (property "Datasheet" "" (at 0 0 0) (effects (font (size 1.27 1.27)) hide))
+    (symbol "C_0_1"
+      (polyline (pts (xy -0.635 -1.905) (xy -0.635 1.905))
+        (stroke (width 0.254) (type default)) (fill (type none)))
+      (polyline (pts (xy 0.635 -1.905) (xy 0.635 1.905))
+        (stroke (width 0.254) (type default)) (fill (type none)))
+    )
+    (symbol "C_1_1"
+      (pin passive line (at -2.54 0 0) (length 1.27)
+        (name "~" (effects (font (size 1.27 1.27))))
+        (number "1" (effects (font (size 1.27 1.27)))))
+      (pin passive line (at 2.54 0 0) (length 1.27)
+        (name "~" (effects (font (size 1.27 1.27))))
+        (number "2" (effects (font (size 1.27 1.27)))))
+    )
+  )
+  (symbol "Q_NPN"
+    (pin_numbers hide) (pin_names (offset 0))
+    (in_bom yes)
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diff --git a/loop-detector/loop-detector-kicad/sym-lib-table b/loop-detector/loop-detector-kicad/sym-lib-table
new file mode 100644
index 0000000..55f1de1
--- /dev/null
+++ b/loop-detector/loop-detector-kicad/sym-lib-table
@@ -0,0 +1,4 @@
+(sym_lib_table
+  (version 7)
+  (lib (name "loopdet")(type "KiCad")(uri "${KIPRJMOD}/loopdet.kicad_sym")(options "")(descr "Loop detector custom symbols"))
+)
diff --git a/loop-detector/loop-detector-principle.html b/loop-detector/loop-detector-principle.html
new file mode 100644
index 0000000..1b51247
--- /dev/null
+++ b/loop-detector/loop-detector-principle.html
@@ -0,0 +1,474 @@
+<!doctype html>
+<meta charset="utf-8" />
+<meta name="viewport" content="width=device-width, initial-scale=1" />
+<title>环路车检器：检测方法推荐 + 原理图</title>
+<style>
+  :root {
+    color-scheme: light dark;
+    --bg: #f8fafc;
+    --fg: #172033;
+    --muted: #5b6475;
+    --line: #64748b;
+    --neutral: #e2e8f0;
+    --input: #bfdbfe;
+    --process: #c7d2fe;
+    --storage: #99f6e4;
+    --external: #fde68a;
+    --risk: #fecaca;
+  }
+  @media (prefers-color-scheme: dark) {
+    :root {
+      --bg: #0f172a;
+      --fg: #e5e7eb;
+      --muted: #a3adbd;
+      --line: #94a3b8;
+      --neutral: #334155;
+      --input: #1d4ed8;
+      --process: #4338ca;
+      --storage: #0f766e;
+      --external: #92400e;
+      --risk: #991b1b;
+    }
+  }
+  body {
+    margin: 0;
+    background: var(--bg);
+    color: var(--fg);
+    font: 14px/1.4 ui-sans-serif, system-ui, -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif;
+  }
+  main { max-width: 1280px; margin: 32px auto; padding: 0 20px; }
+  svg { width: 100%; height: auto; display: block; }
+  .title { font-size: 20px; font-weight: 650; fill: var(--fg); }
+  .label { font-size: 14px; font-weight: 600; fill: var(--fg); }
+  .small { font-size: 12px; fill: var(--muted); }
+  .tiny { font-size: 11px; fill: var(--muted); }
+  .node { stroke: var(--line); stroke-width: 1; }
+  .neutral { fill: var(--neutral); }
+  .input { fill: var(--input); }
+  .process { fill: var(--process); }
+  .storage { fill: var(--storage); }
+  .external { fill: var(--external); }
+  .risk { fill: var(--risk); }
+  .edge { stroke: var(--line); stroke-width: 1.5; fill: none; }
+  .wire { stroke: var(--line); stroke-width: 1.3; fill: none; }
+  .wireb { stroke: var(--line); stroke-width: 2; fill: none; }
+  .zone { fill: none; stroke: var(--line); stroke-width: 1; stroke-dasharray: 6 5; opacity: 0.8; }
+  .comp { fill: none; stroke: var(--fg); stroke-width: 1.6; }
+  .compf { fill: var(--fg); stroke: none; }
+  .rec { fill: var(--fg); stroke: none; }
+  .rec-o { fill: none; stroke: var(--fg); stroke-width: 1.4; }
+  .badge { fill: #16a34a; }
+  .badge-t { fill: #fff; font-size: 11px; font-weight: 700; }
+  .hl { stroke: #16a34a; stroke-width: 2.5; }
+</style>
+<main>
+
+<!-- ============ 图1：检测方法对比推荐 ============ -->
+<svg viewBox="0 0 1240 560" xmlns="http://www.w3.org/2000/svg">
+  <defs>
+    <marker id="ar1" viewBox="0 0 10 10" refX="8" refY="5" markerWidth="7" markerHeight="7" orient="auto-start-reverse">
+      <path d="M0,0 L10,5 L0,10 z" fill="#64748b"/>
+    </marker>
+  </defs>
+  <text x="20" y="34" class="title">环路车检器 · 检测方法对比与选型推荐</text>
+  <text x="20" y="56" class="small">选型核心：灵敏度（能否测摩托/自行车）× 抗干扰（变频器/电力谐波）× 成本。结论先行：主推 ①LC振荡+频率计数；复杂电磁环境上 ④；高灵敏需求上 ②。</text>
+
+  <!-- 卡片1 -->
+  <rect x="24" y="80" width="288" height="440" rx="10" class="node neutral"/>
+  <rect x="24" y="80" width="288" height="440" rx="10" class="hl" fill="none"/>
+  <rect x="24" y="80" width="288" height="36" rx="10" fill="#16a34a"/>
+  <text x="168" y="104" text-anchor="middle" fill="#fff" font-size="14" font-weight="700">① LC振荡 + 频率计数 ★★★★★</text>
+  <text x="40" y="140" font-size="12.5" font-weight="600">原理</text>
+  <text x="40" y="158" class="tiny">车辆进入 → 线圈等效电感↓ →</text>
+  <text x="40" y="174" class="tiny">振荡频率↑ → MCU 定时器测频/测周期</text>
+  <text x="40" y="202" font-size="12.5" font-weight="600">灵敏度</text>
+  <text x="40" y="220" class="tiny">★★★☆ 轿车/SUV 稳定；调阈值可测摩托</text>
+  <text x="40" y="248" font-size="12.5" font-weight="600">抗干扰</text>
+  <text x="40" y="266" class="tiny">★★★ 配自适应阈值 + 频偏跟踪</text>
+  <text x="40" y="294" font-size="12.5" font-weight="600">成本</text>
+  <text x="40" y="312" class="tiny">低（MCU + 三极管/比较器即可）</text>
+  <text x="40" y="340" font-size="12.5" font-weight="600">适用</text>
+  <text x="40" y="358" class="tiny">主流道闸/停车场/流量计数，市场 90%</text>
+  <text x="40" y="396" font-size="12.5" font-weight="600">要点</text>
+  <text x="40" y="414" class="tiny">周期法优于计数法：低速/停留不丢车</text>
+  <text x="40" y="430" class="tiny">回差阈值防抖动；基准慢速自适应抗温漂</text>
+  <text x="40" y="470" class="tiny" fill="#16a34a" font-weight="700">✅ 推荐主方案：成熟、稳定、成本最优</text>
+
+  <!-- 卡片2 -->
+  <rect x="326" y="80" width="288" height="440" rx="10" class="node neutral"/>
+  <text x="470" y="104" text-anchor="middle" class="label">② PLL 锁相 / 相位比较 ★★★★</text>
+  <text x="342" y="140" font-size="12.5" font-weight="600">原理</text>
+  <text x="342" y="158" class="tiny">PLL 锁定振荡信号，车辆引起</text>
+  <text x="342" y="174" class="tiny">相位/频率误差 → 输出误差电压</text>
+  <text x="342" y="202" font-size="12.5" font-weight="600">灵敏度</text>
+  <text x="342" y="220" class="tiny">★★★★★ 可测自行车/电动车/行人拖车</text>
+  <text x="342" y="248" font-size="12.5" font-weight="600">抗干扰</text>
+  <text x="342" y="266" class="tiny">★★★ 环路锁定本身有滤波作用</text>
+  <text x="342" y="294" font-size="12.5" font-weight="600">成本</text>
+  <text x="342" y="312" class="tiny">中（PLL IC 或 MCU 内置 PLL 外设）</text>
+  <text x="342" y="340" font-size="12.5" font-weight="600">适用</text>
+  <text x="342" y="358" class="tiny">混行车道、ETC 车道、摩托车检测</text>
+  <text x="342" y="396" font-size="12.5" font-weight="600">要点</text>
+  <text x="342" y="414" class="tiny">环路带宽要窄：抗抖但响应慢，需折中</text>
+  <text x="342" y="430" class="tiny">适合与 ① 组合做双通道校验</text>
+  <text x="342" y="470" class="tiny" fill="#0f766e" font-weight="700">✅ 高灵敏场景备选</text>
+
+  <!-- 卡片3 -->
+  <rect x="628" y="80" width="288" height="440" rx="10" class="node neutral"/>
+  <text x="772" y="104" text-anchor="middle" class="label">③ 电桥阻抗检测 ★★</text>
+  <text x="644" y="140" font-size="12.5" font-weight="600">原理</text>
+  <text x="644" y="158" class="tiny">环路与参考臂构成平衡电桥，</text>
+  <text x="644" y="174" class="tiny">车辆使阻抗失衡 → 输出失调电压</text>
+  <text x="644" y="202" font-size="12.5" font-weight="600">灵敏度</text>
+  <text x="644" y="220" class="tiny">★★ 中低，依赖桥臂匹配精度</text>
+  <text x="644" y="248" font-size="12.5" font-weight="600">抗干扰</text>
+  <text x="644" y="266" class="tiny">★★ 温漂/老化使零位漂移严重</text>
+  <text x="644" y="294" font-size="12.5" font-weight="600">成本</text>
+  <text x="644" y="312" class="tiny">低（纯模拟）</text>
+  <text x="644" y="340" font-size="12.5" font-weight="600">适用</text>
+  <text x="644" y="358" class="tiny">早期产品 / 教学演示</text>
+  <text x="644" y="396" font-size="12.5" font-weight="600">要点</text>
+  <text x="644" y="414" class="tiny">需定期人工调零，现场维护成本高</text>
+  <text x="644" y="470" class="tiny" fill="#991b1b" font-weight="700">⚠️ 不推荐量产</text>
+
+  <!-- 卡片4 -->
+  <rect x="930" y="80" width="288" height="440" rx="10" class="node neutral"/>
+  <text x="1074" y="104" text-anchor="middle" class="label">④ 多频扫频 + 自适应调谐 ★★★★</text>
+  <text x="946" y="140" font-size="12.5" font-weight="600">原理</text>
+  <text x="946" y="158" class="tiny">DDS/扫频实时搜索谐振点，</text>
+  <text x="946" y="174" class="tiny">自动调谐避开干扰频段（变频器/谐波）</text>
+  <text x="946" y="202" font-size="12.5" font-weight="600">灵敏度</text>
+  <text x="946" y="220" class="tiny">★★★★ 扫频带宽内全频段可调</text>
+  <text x="946" y="248" font-size="12.5" font-weight="600">抗干扰</text>
+  <text x="946" y="266" class="tiny">★★★★★ 变频器干扰场景的终极解</text>
+  <text x="946" y="294" font-size="12.5" font-weight="600">成本</text>
+  <text x="946" y="312" class="tiny">高（DDS/高精度 ADC + 算法）</text>
+  <text x="946" y="340" font-size="12.5" font-weight="600">适用</text>
+  <text x="946" y="358" class="tiny">工业区/充电桩/变频器密集场所</text>
+  <text x="946" y="396" font-size="12.5" font-weight="600">要点</text>
+  <text x="946" y="414" class="tiny">与 ① 兼容：频率计数做粗判，</text>
+  <text x="946" y="430" class="tiny">扫频谱特征做细判与干扰识别</text>
+  <text x="946" y="470" class="tiny" fill="#0f766e" font-weight="700">✅ 复杂电磁环境旗舰方案</text>
+</svg>
+
+<!-- ============ 图2：原理图 ============ -->
+<svg viewBox="0 0 1240 880" xmlns="http://www.w3.org/2000/svg">
+  <defs>
+    <marker id="ar2" viewBox="0 0 10 10" refX="8" refY="5" markerWidth="7" markerHeight="7" orient="auto-start-reverse">
+      <path d="M0,0 L10,5 L0,10 z" fill="#64748b"/>
+    </marker>
+  </defs>
+  <text x="20" y="34" class="title">环路车检器原理图 — LC 振荡 + 频率计数方案（推荐①）</text>
+  <text x="20" y="56" class="small">信号链：环形线圈 → 浪涌保护 → 匹配变压器 → 谐振/考毕兹振荡 → 比较器整形 → MCU 测频判车 → 光耦隔离 → 继电器输出</text>
+
+  <!-- ===== 总线：VCC 5V (y=240) 与 GND (y=430, y=650) ===== -->
+  <path d="M20,240 H1220" class="wire" stroke-dasharray="8 4"/>
+  <text x="26" y="233" class="tiny">VCC 5V</text>
+  <path d="M320,430 H1200" class="wire" stroke-dasharray="8 4"/>
+  <text x="326" y="423" class="tiny">GND</text>
+  <path d="M20,650 H1220" class="wire" stroke-dasharray="8 4"/>
+  <text x="26" y="643" class="tiny">GND（电源地）</text>
+  <path d="M700,430 V650" class="wire"/>
+
+  <!-- ===== A. 环形线圈 + 路面 ===== -->
+  <rect x="24" y="262" width="172" height="196" rx="8" class="node neutral"/>
+  <text x="110" y="252" text-anchor="middle" class="small">路面（切割槽）</text>
+  <rect x="58" y="300" width="104" height="118" rx="4" class="rec-o" stroke-width="3"/>
+  <rect x="74" y="316" width="72" height="86" rx="3" class="rec-o" stroke-width="2.4"/>
+  <rect x="90" y="332" width="40" height="54" rx="2" class="rec-o" stroke-width="1.8"/>
+  <text x="110" y="472" text-anchor="middle" class="small">环形线圈 3~5 匝</text>
+  <text x="110" y="488" text-anchor="middle" class="tiny">L≈50~200μH（待现场验证）</text>
+  <!-- 引线 -->
+  <path d="M162,300 H210 V310" class="wireb" marker-end="url(#ar2)"/>
+  <path d="M162,418 H210 V430" class="wireb" marker-end="url(#ar2)"/>
+  <text x="180" y="286" class="tiny">引线（双绞屏蔽 ≤20m）</text>
+
+  <!-- ===== B. 端子 + 浪涌保护 ===== -->
+  <rect x="215" y="295" width="26" height="26" rx="3" class="node neutral"/>
+  <text x="228" y="313" text-anchor="middle" class="tiny">A</text>
+  <rect x="215" y="415" width="26" height="26" rx="3" class="node neutral"/>
+  <text x="228" y="433" text-anchor="middle" class="tiny">B</text>
+  <rect x="250" y="262" width="96" height="200" rx="6" class="zone"/>
+  <text x="298" y="254" text-anchor="middle" class="tiny">浪涌保护</text>
+  <path d="M241,308 H330" class="wire"/>
+  <path d="M241,428 H330" class="wire"/>
+  <!-- 双向TVS -->
+  <path d="M288,308 V344" class="wire"/>
+  <path d="M288,392 V428" class="wire"/>
+  <path d="M288,344 L282,356 H294 Z" class="comp"/>
+  <path d="M288,392 L294,380 H282 Z" class="comp"/>
+  <path d="M288,356 V380" class="wire"/>
+  <text x="300" y="386" class="tiny">TVS1</text>
+  <!-- 压敏 -->
+  <path d="M318,308 V350" class="wire"/>
+  <path d="M318,386 V428" class="wire"/>
+  <rect x="312" y="350" width="12" height="36" class="comp"/>
+  <text x="336" y="370" class="tiny">RV1</text>
+
+  <!-- ===== C. 匹配变压器 T1 ===== -->
+  <rect x="340" y="262" width="140" height="200" rx="6" class="zone"/>
+  <text x="410" y="254" text-anchor="middle" class="tiny">T1 匹配变压器 1:1~1:2</text>
+  <!-- 初级 -->
+  <path d="M370,310 V328" class="wire"/>
+  <path d="M370,328 a7,7 0 0 1 0,14 a7,7 0 0 0 0,14 a7,7 0 0 1 0,14 a7,7 0 0 0 0,14 a7,7 0 0 1 0,14" class="comp"/>
+  <path d="M370,398 V420" class="wire"/>
+  <path d="M330,310 H370" class="wire" marker-end="url(#ar2)"/>
+  <path d="M330,430 H370" class="wire"/>
+  <circle cx="370" cy="310" r="2.4" class="compf"/>
+  <!-- 磁芯 -->
+  <path d="M392,300 V430" class="wireb"/>
+  <path d="M400,300 V430" class="wireb"/>
+  <!-- 次级 -->
+  <path d="M424,320 V336" class="wire"/>
+  <path d="M424,336 a7,7 0 0 0 0,14 a7,7 0 0 1 0,14 a7,7 0 0 0 0,14 a7,7 0 0 1 0,14 a7,7 0 0 0 0,14" class="comp"/>
+  <path d="M424,406 V420" class="wire"/>
+  <circle cx="424" cy="320" r="2.4" class="compf"/>
+  <!-- C1 谐振电容 与次级并联 -->
+  <path d="M424,320 H452 V330" class="wire"/>
+  <path d="M424,420 H452 V410" class="wire"/>
+  <path d="M446,330 H458" class="comp"/>
+  <path d="M446,410 H458" class="comp"/>
+  <path d="M452,330 V410" class="wire"/>
+  <text x="478" y="368" class="tiny">C1 谐振电容</text>
+  <text x="478" y="382" class="tiny">100~470pF</text>
+  <!-- 谐振上端 → 基极耦合 -->
+  <path d="M424,320 H480 V336" class="wireb" marker-end="url(#ar2)"/>
+  <text x="446" y="306" class="tiny">Cc1 10pF</text>
+  <path d="M452,300 H464" class="comp"/>
+  <path d="M452,312 H464" class="comp"/>
+  <path d="M458,300 V312" class="wire"/>
+  <!-- 次级下端 → 地 -->
+  <path d="M424,420 V430" class="wire"/>
+
+  <!-- ===== D. 考毕兹振荡器 ===== -->
+  <rect x="462" y="248" width="180" height="196" rx="6" class="zone"/>
+  <text x="552" y="240" text-anchor="middle" class="tiny">考毕兹振荡器（基极调谐）</text>
+  <!-- Rb1: VCC→基极 -->
+  <path d="M480,240 V252" class="wire"/>
+  <rect x="474" y="252" width="12" height="34" class="comp"/>
+  <path d="M480,286 V300" class="wire"/>
+  <text x="440" y="272" class="tiny">Rb1 100k</text>
+  <!-- Rb2: 基极→地 -->
+  <path d="M500,352 V356" class="wire"/>
+  <rect x="494" y="356" width="12" height="34" class="comp"/>
+  <path d="M500,390 V430" class="wire"/>
+  <text x="520" y="376" class="tiny">Rb2 47k</text>
+  <!-- C3: 基极→地 -->
+  <path d="M506,340 V352" class="wire"/>
+  <path d="M500,352 H512" class="wire"/>
+  <path d="M501,352 V364" class="wire"/>
+  <path d="M506,352 V364" class="wire"/>
+  <path d="M501,364 H506" class="comp"/>
+  <path d="M501,392 H506" class="comp"/>
+  <path d="M506,364 V392" class="wire"/>
+  <path d="M506,392 V430" class="wire"/>
+  <text x="522" y="416" class="tiny">C3 100p</text>
+  <!-- Q1 NPN -->
+  <path d="M480,300 H500 V340" class="wire"/>
+  <circle cx="500" cy="342" r="2.4" class="compf"/>
+  <path d="M500,342 L516,314 V290" class="wire"/>
+  <path d="M500,342 L514,370 V390" class="wire"/>
+  <path d="M504,360 L514,354" class="comp"/>
+  <path d="M508,364 L518,358" class="comp"/>
+  <text x="540" y="336" class="tiny">Q1</text>
+  <text x="540" y="350" class="tiny">S9018</text>
+  <!-- Rc: VCC→集电极 -->
+  <path d="M516,240 V256" class="wire"/>
+  <rect x="510" y="256" width="12" height="30" class="comp"/>
+  <path d="M516,286 V290" class="wire"/>
+  <text x="540" y="272" class="tiny">Rc 2.2k</text>
+  <!-- Lx: 集电极→基极（谐振电感） -->
+  <path d="M516,290 H526 V270" class="wire"/>
+  <path d="M526,270 V280" class="wire"/>
+  <path d="M526,280 a6,6 0 0 0 0,12 a6,6 0 0 1 0,12 a6,6 0 0 0 0,12" class="comp"/>
+  <path d="M526,316 V322" class="wire"/>
+  <path d="M526,322 H500 V336" class="wire"/>
+  <text x="540" y="306" class="tiny">Lx 谐振</text>
+  <!-- C2: 集电极→地 -->
+  <path d="M526,270 H540 V300" class="wire"/>
+  <path d="M540,300 V308" class="wire"/>
+  <path d="M534,308 H546" class="comp"/>
+  <path d="M534,356 H546" class="comp"/>
+  <path d="M540,308 V356" class="wire"/>
+  <path d="M540,356 V430" class="wire"/>
+  <text x="560" y="336" class="tiny">C2 100p</text>
+  <!-- 输出耦合 Cc2 -->
+  <path d="M516,290 H600" class="wireb" marker-end="url(#ar2)"/>
+  <path d="M548,284 H560" class="comp"/>
+  <path d="M548,296 H560" class="comp"/>
+  <path d="M554,284 V296" class="wire"/>
+  <text x="556" y="276" class="tiny">Cc2</text>
+
+  <!-- ===== E. 比较器整形 ===== -->
+  <rect x="616" y="248" width="140" height="200" rx="6" class="zone"/>
+  <text x="686" y="240" text-anchor="middle" class="tiny">U1 比较器（带回差）</text>
+  <path d="M600,290 H640" class="wireb" marker-end="url(#ar2)"/>
+  <path d="M640,290 V310" class="wire"/>
+  <path d="M686,300 L706,330 L686,360 Z" class="comp"/>
+  <path d="M706,330 H750" class="wireb" marker-end="url(#ar2)"/>
+  <text x="712" y="322" class="tiny">+</text>
+  <text x="712" y="352" class="tiny">−</text>
+  <!-- Vref 分压 -->
+  <path d="M640,350 H668" class="wire"/>
+  <path d="M668,240 V268" class="wire"/>
+  <rect x="662" y="268" width="12" height="30" class="comp"/>
+  <path d="M668,298 V320" class="wire"/>
+  <path d="M668,350 H686" class="wire"/>
+  <path d="M668,350 V380" class="wire"/>
+  <rect x="662" y="380" width="12" height="26" class="comp"/>
+  <path d="M668,406 V430" class="wire"/>
+  <text x="610" y="392" class="tiny">Vref 分压</text>
+  <text x="610" y="406" class="tiny">(R3/R4)</text>
+  <!-- 频率标注 -->
+  <text x="640" y="452" class="tiny">方波输出 f≈f₀</text>
+
+  <!-- ===== F. MCU ===== -->
+  <rect x="800" y="240" width="200" height="220" rx="10" class="process node"/>
+  <text x="900" y="262" text-anchor="middle" class="label">MCU</text>
+  <text x="900" y="278" text-anchor="middle" class="tiny">STM32/GD32F103</text>
+  <text x="816" y="302" class="tiny">· 定时器输入捕获测周期</text>
+  <text x="816" y="322" class="tiny">· f = Fclk / period → Δf</text>
+  <text x="816" y="342" class="tiny">· 数字滤波 + 消抖</text>
+  <text x="816" y="362" class="tiny">· 灵敏度阈值(多档)判断</text>
+  <text x="816" y="382" class="tiny">· 存在/通过 状态机</text>
+  <text x="816" y="402" class="tiny">· 基准频率慢速自适应(抗温漂)</text>
+  <text x="816" y="422" class="tiny">· 继电器输出 + 自检/看门狗</text>
+  <path d="M750,310 H800" class="wireb" marker-end="url(#ar2)"/>
+  <text x="756" y="300" class="tiny">PA0 捕获</text>
+  <path d="M1000,330 H1030" class="wireb" marker-end="url(#ar2)"/>
+  <text x="1004" y="320" class="tiny">PA1</text>
+  <!-- 状态LED -->
+  <path d="M900,460 V476" class="wire"/>
+  <path d="M900,476 L894,488 H906 Z" class="comp"/>
+  <path d="M900,488 V494" class="wire"/>
+  <path d="M894,494 H906" class="comp"/>
+  <path d="M900,494 V506" class="wire"/>
+  <path d="M894,506 H906" class="comp"/>
+  <path d="M900,506 V520" class="wire"/>
+  <path d="M900,520 V650" class="wire"/>
+  <text x="918" y="492" class="tiny">D2 状态LED</text>
+  <text x="918" y="506" class="tiny">R6 限流</text>
+  <!-- VDD -->
+  <path d="M860,240 V230" class="wire"/>
+  <text x="846" y="224" class="tiny">VDD 3.3V</text>
+
+  <!-- ===== G. 光耦 + MOS + 继电器 ===== -->
+  <rect x="1030" y="290" width="70" height="90" rx="4" class="node neutral"/>
+  <text x="1065" y="282" text-anchor="middle" class="tiny">U2 光耦</text>
+  <!-- 光耦内 LED -->
+  <path d="M1042,320 L1042,330 L1052,330 L1052,320 Z" class="comp"/>
+  <path d="M1052,320 V326" class="wire"/>
+  <!-- 光耦内 光敏管 -->
+  <circle cx="1062" cy="352" r="2" class="compf"/>
+  <path d="M1062,352 L1072,344 V352" class="wire"/>
+  <path d="M1062,352 L1072,360 V352" class="wire"/>
+  <path d="M1052,326 H1046 V352 H1060" class="wire"/>
+  <path d="M1066,340 L1072,336" class="comp"/>
+  <path d="M1066,344 L1072,340" class="comp"/>
+  <!-- R5 限流 -->
+  <path d="M1030,330 H1016" class="wire"/>
+  <rect x="1004" y="324" width="12" height="12" class="comp"/>
+  <text x="996" y="312" class="tiny">R5</text>
+  <!-- Q2 MOS -->
+  <path d="M1065,360 V375" class="wire"/>
+  <path d="M1065,375 H1090" class="wire"/>
+  <rect x="1080" y="368" width="22" height="14" rx="2" class="comp"/>
+  <path d="M1102,375 H1108" class="wire"/>
+  <path d="M1080,368 V375" class="wire"/>
+  <path d="M1080,382 V375" class="wire"/>
+  <path d="M1080,368 H1074" class="wire"/>
+  <path d="M1080,382 H1074" class="wire"/>
+  <text x="1108" y="380" class="tiny">Q2</text>
+  <text x="1108" y="394" class="tiny">N-MOS</text>
+  <!-- Q2 drain 上 / source 下 -->
+  <path d="M1080,368 V430" class="wire"/>
+  <text x="1090" y="362" class="tiny">D</text>
+  <text x="1090" y="388" class="tiny">S</text>
+  <!-- 继电器 -->
+  <rect x="1120" y="250" width="60" height="46" rx="4" class="node neutral"/>
+  <path d="M1130,258 L1170,288" class="wire"/>
+  <text x="1150" y="282" text-anchor="middle" class="tiny">K1</text>
+  <path d="M1108,375 H1120 V273" class="wire"/>
+  <path d="M1180,273 H1200" class="wire"/>
+  <!-- 触点 -->
+  <path d="M1200,273 V300" class="wire"/>
+  <path d="M1200,300 H1216" class="wireb"/>
+  <circle cx="1200" cy="300" r="2" class="compf"/>
+  <path d="M1216,258 H1220" class="wire"/>
+  <path d="M1216,342 H1220" class="wire"/>
+  <circle cx="1216" cy="258" r="2" class="compf"/>
+  <circle cx="1216" cy="342" r="2" class="compf"/>
+  <text x="1222" y="254" class="tiny">NO</text>
+  <text x="1222" y="346" class="tiny">NC</text>
+  <text x="1222" y="304" class="tiny">COM</text>
+  <text x="1124" y="318" class="tiny">→ 道闸/PLC</text>
+  <!-- K1 线圈电源 -->
+  <path d="M1120,240 V250" class="wire"/>
+  <text x="1080" y="238" class="tiny">K1 线圈接 VCC(或外供)</text>
+
+  <!-- ===== H. 电源 ===== -->
+  <rect x="20" y="560" width="1200" height="120" rx="8" class="zone"/>
+  <text x="30" y="580" class="tiny">电源与保护</text>
+  <rect x="40" y="596" width="86" height="30" rx="4" class="node neutral"/>
+  <text x="83" y="615" text-anchor="middle" class="tiny">VIN 12~24V</text>
+  <path d="M126,611 H140" class="wire"/>
+  <path d="M140,605 L148,611 L140,617 Z" class="comp"/>
+  <path d="M148,611 H158" class="wire"/>
+  <path d="M158,596 V626" class="wire"/>
+  <path d="M158,596 L164,584 H176 L170,596 Z" class="comp"/>
+  <path d="M158,626 L170,596 H176 L164,584 Z" class="comp"/>
+  <text x="190" y="604" class="tiny">D1 防反接</text>
+  <text x="190" y="618" class="tiny">TVS2 吸收浪涌</text>
+  <path d="M158,611 H200" class="wire"/>
+  <rect x="200" y="596" width="70" height="30" rx="4" class="node neutral"/>
+  <text x="235" y="615" text-anchor="middle" class="tiny">U3 LDO 5V</text>
+  <path d="M270,611 H300" class="wire"/>
+  <rect x="300" y="596" width="80" height="30" rx="4" class="node neutral"/>
+  <text x="340" y="615" text-anchor="middle" class="tiny">U4 LDO 3.3V</text>
+  <path d="M340,596 V540" class="wire"/>
+  <path d="M340,540 H860 V230" class="wire"/>
+  <path d="M340,626 V650" class="wire"/>
+  <!-- 滤波电容 -->
+  <path d="M160,650 H120" class="wire"/>
+  <path d="M120,640 H126" class="comp"/>
+  <path d="M120,650 H126" class="comp"/>
+  <path d="M123,640 V650" class="wire"/>
+  <text x="96" y="668" class="tiny">Cin</text>
+  <path d="M340,650 H300" class="wire"/>
+  <path d="M300,640 H306" class="comp"/>
+  <path d="M300,650 H306" class="comp"/>
+  <path d="M303,640 V650" class="wire"/>
+  <text x="276" y="668" class="tiny">C5</text>
+  <path d="M400,650 H380" class="wire"/>
+  <path d="M380,640 H386" class="comp"/>
+  <path d="M380,650 H386" class="comp"/>
+  <path d="M383,640 V650" class="wire"/>
+  <text x="392" y="668" class="tiny">C6</text>
+
+  <!-- ===== 图例 ===== -->
+  <rect x="20" y="700" width="1200" height="160" rx="8" class="neutral node"/>
+  <text x="36" y="722" class="label">元件图例</text>
+  <text x="36" y="746" class="tiny">L 电感（线圈符号）</text>
+  <path d="M56,756 a6,6 0 0 1 0,12 a6,6 0 0 0 0,12 a6,6 0 0 1 0,12" class="comp"/>
+  <text x="140" y="746" class="tiny">C 电容</text>
+  <path d="M160,756 H172" class="comp"/><path d="M160,768 H172" class="comp"/><path d="M166,756 V768" class="wire"/>
+  <text x="244" y="746" class="tiny">R 电阻</text>
+  <rect x="264" y="752" width="12" height="16" class="comp"/>
+  <text x="340" y="746" class="tiny">TVS 双向</text>
+  <path d="M360,756 L354,768 H366 Z" class="comp"/>
+  <path d="M360,768 L366,756 H354 Z" class="comp"/>
+  <text x="440" y="746" class="tiny">NPN 三极管</text>
+  <path d="M456,764 H470" class="wire"/><circle cx="470" cy="764" r="2" class="compf"/>
+  <path d="M470,764 L482,748 V764" class="wire"/>
+  <path d="M470,764 L480,776 V784" class="wire"/>
+  <path d="M474,774 L484,768" class="comp"/>
+  <text x="560" y="746" class="tiny">MOS</text>
+  <rect x="580" y="756" width="20" height="12" rx="2" class="comp"/>
+  <text x="660" y="746" class="tiny">继电器</text>
+  <rect x="680" y="754" width="16" height="12" class="comp"/>
+  <path d="M684,756 L692,764" class="wire"/>
+  <text x="36" y="806" class="tiny">关键设计点：① 环路经匹配变压器隔离耦合，直连会受地环路干扰；② 谐振电容 C1 决定频段，频率 f₀≈1/(2π√(LC))；③ 灵敏度=Δf 阈值，建议多档可调 + 回差；④ 基准频率上电自学习 + 慢速跟踪，抗温漂；⑤ 输出必须光耦隔离，防浪涌反灌烧 MCU；⑥ 软件加看门狗，继电器粘连检测。</text>
+  <text x="36" y="830" class="tiny">⚠️ 数值为典型参考：线圈电感取决于尺寸/匝数/引线长度，谐振频率推荐 20~150kHz（越低抗干扰越差、灵敏度越高，需现场折中）。</text>
+</svg>
+
+</main>
diff --git a/memory/2026-08-21.md b/memory/2026-08-21.md
new file mode 100644
index 0000000..e66024a
--- /dev/null
+++ b/memory/2026-08-21.md
@@ -0,0 +1,38 @@
+# 2026-08-21 工作日志
+
+## 环路车检器方案 + 原理图
+
+- 老大咨询环路车检器检测方法选型与原理图绘制
+- 输出：检测方法对比（LC振荡+频率计数 主推 / PLL 高灵敏 / 电桥 不推荐 / 多频扫频 抗变频器干扰旗舰）+ LC振荡频率计数方案完整原理图
+- 文件：`/root/.openclaw/workspace/loop-detector/`
+  - `loop-detector-principle.html`（源文件，含图1方法对比 + 图2原理图）
+  - `fig1-methods.svg/.png`、`fig2-schematic.svg/.png`
+  - `inline_svg.py`（SVG 样式内联转换脚本，librsvg 不支持 CSS 变量）
+- 关键设计点：匹配变压器隔离耦合、谐振 20~150kHz、周期法测频、基准频率自适应抗温漂、光耦隔离输出、回差阈值
+
+## 服务器安装 KiCad
+
+- **KiCad 7.0.11** 安装完成（apt 官方源，35 个包，库占 363MB）
+- 组件：kicad / kicad-cli / eeschema / pcbnew，符号库+封装库完整
+- 无 GPU：3D 查看器软渲染慢，原理图/PCB 编辑不受影响
+- 图形界面走向日葵远程桌面使用
+
+## KiCad 环路车检器原理图工程（已交付）
+
+- 目录：`/root/.openclaw/workspace/loop-detector/loop-detector-kicad/`
+  - `loopdet.kicad_sym` — 自定义符号库（R/C/Q_NPN/MOS_N/LED/TVS_BI/XFMR/OPTO/COMP/MCU/RELAY_SPDT/CONN2）
+  - `loop-detector.kicad_sch` — 原理图（A3，LC振荡+频率计数完整信号链）
+  - `loop-detector.kicad_pro` — 工程文件
+  - `loop-detector.pdf` — 导出的 PDF
+  - `loop-detector-preview.png` — 预览图
+  - `gen_sch.py` — 程序化生成脚本（改参数后重跑即可）
+  - `sym-lib-table` — 工程级符号库表；全局表在 `~/.config/kicad/7.0/sym-lib-table`
+- **KiCad 7 文件格式踩坑记录（重要！）**：
+  1. 文件头 `(kicad_sch (version 20230121) (generator eeschema)`，uuid/generator 都不带引号
+  2. 内嵌 lib_symbols 符号名必须带库前缀（`"loopdet:C"`），与 lib_id 一致才能解析
+  3. pin 必须带电气/图形类型：`(pin passive line (at ...) (length ...) (name "~" ...) (number "1" ...))`
+  4. symbol 实例必须有 `(instances (project ... (path ... (reference ...) (unit 1))))` 块
+  5. 网络标签是 `(label "VCC" (at ...) (effects ...) (uuid ...))`，不是 net_label
+  6. 顶层文本是 `(text "内容" (at ...) ...)`，字符串前置，不是 (string ...) 子块
+- 调试方法：kicad-cli sch export pdf 验证；用 top_children 拆分文件做二分测试定位解析错误
+- 经验：kicad-cli 查库表加载缺失库会段错误（t11 测试），尽量内嵌符号
diff --git a/pcb/README.md b/pcb/README.md
new file mode 100644
index 0000000..62e226f
--- /dev/null
+++ b/pcb/README.md
@@ -0,0 +1,18 @@
+# pcb/ — PCB 设计文档目录
+
+> 本目录存放 PCB 设计相关文档（原理图、布局、Gerber、评审记录等）。
+> 由硬件同事**唐磊**提交的文档统一归档于此，随 xdeSpace 每日自动同步（每天 02:30）。
+
+## 归档约定
+
+- 原理图 / 布局文件：KiCad 工程（`.kicad_sch` / `.kicad_pcb`）或嘉立创EDA 导出文件
+- 评审记录：Markdown，命名建议 `YYYY-MM-DD-主题.md`
+- 生产文件：Gerber / BOM / 坐标文件，按项目子目录存放
+
+## 当前项目
+
+（待补充——环路检测板 / 道闸控制板方案落地后按项目建子目录）
+
+---
+
+_维护：小德（自动归档）_