CN104168101A - Two-way transmission system for coal mine fully mechanized mining data and control command data - Google Patents
Two-way transmission system for coal mine fully mechanized mining data and control command data Download PDFInfo
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- CN104168101A CN104168101A CN201410429708.9A CN201410429708A CN104168101A CN 104168101 A CN104168101 A CN 104168101A CN 201410429708 A CN201410429708 A CN 201410429708A CN 104168101 A CN104168101 A CN 104168101A
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Abstract
The invention provides a two-way transmission system for coal mine fully mechanized mining data and control command data. The two-way transmission system is a 'full duplex' mode power cable carrier communication system which uses dual bands and double input/output interfaces. An AC-1140 V or AC-3300 V coal mining machine power cable is used, and is used for two-way transmission of the coal mine fully mechanized mining data and the control command data. The two-way transmission system comprises two accesses which are both in one-way communication, and is composed of a dual-CAN processing module, a DSPIC single chip microcomputer first core module, a work mode selecting module, an FPGA second core processing module, a DAC output buffer circuit, an ADC input buffer circuit, a dual-DAC signal regulating circuit module, a dual-ADC signal regulating circuit module, a signal regulating circuit selecting module and a power carrier high voltage coupling circuit module. Two one-way communication modes of a 'main sending station' with 'main sending and secondary receiving' integrated and a 'secondary sending station' with 'secondary sending and main receiving' integrated are configured for the two-way transmission system.
Description
Technical field
The present invention relates to comprehensive mechanical coal mining face under coal mine (abbreviation fully mechanized coal face), the specifically transmission of fully mechanized coal face data and control command, the more specifically sensing data of coal-winning machine safety monitoring system of colliery performing comprehensive coal mining face and the bidirectional transmission system of control command data.
Background technology
Due to improving constantly of Modern Pit fully-mechanized mining working unit yield, requirement to coal-winning machine technical performance is also more and more higher, the installed power of coal-winning machine is also improving constantly, and more complicated, and high standard mining face equipment is to realize the efficient Reliable guarantee of stable high yield.Move in optimum state in order to ensure coal-winning machine, reduce coal-winning machine failure rate, reduce maintenance time, need to use coal-winning machine safety monitoring system, coal-winning machine is carried out to online monitoring of working condition and failure diagnosis fast, and modulate when being necessary coal-winning machine operational factor, to ensure that coal-winning machine is operated in optimum condition.
At present, because the production environment condition under mine is very complicated severe, although the underground communica tion network of domestic large-scale mine has extended to crossheading, but very difficult to communication between crossheading at working face, tracing it to its cause is mainly environment on coalface complexity, dust is large, wetness is high, level and vertical direction rise and fall changeable, radio communication multipath effect and decay are very serious, have a strong impact on validity and the reliability of communication system, and the cable powered by conventional energy traditional multicore cable control mode integrated with controlling heart yearn, because control line is thinner, mechanical strength is relatively lower, often there is the disconnected fault that equates, search difficulty, maintenance cost is high, so that impact is produced.Coal-winning machine operating voltage rises to 3.3kV grade on the other hand, and in power cable, work heart yearn increases to controlling heart yearn conduction common-mode voltage and nocuity leakage current probability, and control appliance safety and operating personnel's life security is caused to great threat.
In order to address the above problem, existing system mostly is only has one-way transmission coal-winning machine control command or one-way transmission sensing data function only, adopts one-segment half-duplex mode of operation.The problem that this mode of operation exists is: transmitted in both directions simultaneously, speed is slow.For the data message of various transducers that can timely high efficiency transmission coal-winning machine supervisory control system is sent to crossheading, and in emergency circumstances transmit in time ground control command control coal-winning machine or dynamically adjust at any time coal-winning machine operational factor, and make its work optimum state, this just needs a kind of system can simultaneously two-wayly independently to carry out in transfer of data, can phase mutual interference when reaching up to a hundred sensing datas and coal-winning machine control command to reach simultaneously transmission, namely reach " full duplex " communication pattern in meaning, instead of alternately " half-duplex " pattern of transmission of existing system.
Summary of the invention
The problem of mutually transmitting in time to the data of high-power coal cutter safety monitoring system between crossheading in order to solve performing comprehensive coal mining face, overcome the serious shortcoming of traditional split conductor control mode and communication multipath fading with not enough, overcome one-segment half-duplex mode of operation transmitted in both directions and slow-footed disadvantage simultaneously, make the data of supervisory control system can be efficient, transfer to rapidly crossheading, and the control command of simultaneously transmitting ground or crossheading is to coal-winning machine, the invention provides the bidirectional transmission system of a kind of coal mine fully-mechanized mining face data and control command data.
The present invention is the power cable carrier communication system that adopts " full duplex " pattern of two-band and dual input output interface.Use the coal-winning machine power cable of AC-1140V or AC-3300V, for the sensing data of coal mine fully-mechanized mining face transmission coal-winning machine safety monitoring system to crossheading Surveillance center and receive and transfer to coal-winning machine from the coal-winning machine control command data on crossheading or ground and control simultaneously.
The bidirectional transmission system of coal mine fully-mechanized mining face data of the present invention and control command data comprises two paths that are one-way communication, selects module, FPGA the second core processing module, DAC output buffer, ADC input buffer circuit, two DAC signal conditioning circuit module, two ADC signal conditioning circuit module, signal conditioning circuit to select module and power carrier high pressure coupling circuit module composition by two CAN processing modules, DSPIC single-chip microcomputer the first nucleus module, mode of operation;
The two CAN processing modules that connect CAN bus network also connect DSPIC single-chip microcomputer the first nucleus module;
DSPIC single-chip microcomputer the first nucleus module and FPGA the second core processing module are by two serial ports transmission data, and mode of operation selects module to connect respectively DSPIC single-chip microcomputer the first nucleus module and FPGA the second core processing module;
DAC output buffer is all connected FPGA the second core processing module with ADC input buffer circuit, and DAC output buffer also connects two DAC signal conditioning circuit modules, and ADC input buffer circuit also connects two ADC signal conditioning circuit modules;
Two DAC signal conditioning circuit modules are all connected signal conditioning circuit with two ADC signal conditioning circuit modules and select module and power carrier high pressure coupling circuit module;
The power circuit module of DC+24V connects two CAN processing modules, DSPIC single-chip microcomputer the first nucleus module and FPGA the second core processing module, is system power supply;
Described system is mounted to by power carrier high pressure coupling circuit module on any corresponding two-phase in the coal-winning machine three-phase three-wire system power cable of AC-1140V or AC-3300V, realizes power cable carrier communication;
" the main cell site " that described system configuration is integrated with " main send out with from receive " and with " from and main receipts " " from cell site " two kinds of one-way communication patterns of being integrated.
Further, wherein " the main receipts " of " main sending out " correspondence " from cell site " of " main cell site ", use frequency range is 3KHZ-150KHZ; " from the sending out " correspondence " main cell site " " from receiving " of " from cell site ", use frequency range is 250KHZ-450KHZ;
Accordingly, FPGA the second core processing module is the simultaneously integrated modulation of OFDM carrier data, the demodulation module of 3KHZ-150KHZ frequency range, and the carrier data OFDM of 250KHZ-450KHZ frequency range modulation, demodulation module.
This system selects module to determine that this system configuration is for " main send out with from receive " one working system that still " from sending out and main receipts " is integrated by mode of operation, and control simultaneously launch, receiving conditioning circuit selection module.
In the time selecting " main send out with from receive " one pattern, this system is operated in coal winning machine on integrated excavating coal face first as " main cell site ", connect coal mining monitoring communications CAN bus network, " the main equipment of sending out " and " from receiving unit " in simultaneity factor software systems active program, and control signal modulate circuit selects module to select DAC1 signal conditioning circuit simultaneously, " the main equipment of sending out " is presented as: one side of system CAN 1 network connects coal-winning machine safety monitoring system CAN system data network, connecting DSPIC single-chip microcomputer first processes nucleus module on one side in addition, DSPIC single-chip microcomputer the first nucleus module is handled well and is delivered to FPGA the second nucleus module after data and carry out the OFDM modulation of baseband signal, band limits 3KHZ-150KHZ, export to afterwards DAC1 output buffer, DAC1 signal conditioning circuit resume module, be sent on power cable by power carrier high pressure coupling circuit module again,
Signal conditioning circuit selects module to select ADC1 signal conditioning circuit module to receive the data between frequency range 250KHZ-450KHZ on the other hand, and be transferred to FPGA the second nucleus module and carry out demodulation, afterwards by DSPIC single-chip microcomputer the first nucleus module carry out secondary unpack process send to coal-winning machine by CAN2 network, control accordingly.
In the time that described system is selected " from sending out and main receipts " one pattern, this system is operated in other (crossheading Surveillance center or other place) first as " from cell site ", simultaneity factor software systems activate " from sending out equipment " and " main receiving unit ", and control signal modulate circuit is selected module and is selected DAC2 signal conditioning circuit simultaneously, " from sending out equipment " is presented as: one side of CAN2 network connects the CAN system data network of crossheading supervisory control system, receive coal-winning machine control command, connect in addition DSPIC single-chip microcomputer the first nucleus module on one side, DSPIC single-chip microcomputer the first nucleus module is handled well and is delivered to FPGA the second nucleus module after data and carry out the OFDM modulation of baseband signal, frequency range is 250KHZ-450KHZ, be sent on power cable by power carrier high pressure coupling circuit module again, signal conditioning circuit selects module to select ADC2 signal conditioning circuit module to receive the sensing data of the coal-winning machine supervisory control system of frequency range between 3KHZ-150KHZ on the other hand, and be transferred to FPGA the second nucleus module and carry out demodulation, carry out secondary by DSPIC single-chip microcomputer the first nucleus module afterwards and unpack to process and send to the CAN of crossheading Surveillance center network by CAN1 network.
Described OFDM baseband signal modulation technique general principle is: when transmission, after being transported to FPGA the second nucleus module through the data of DSPIC single-chip microcomputer the first nucleus module handling ordered by serial ports, main through data scrambling, RS coding, convolutional encoding, modulates mapping, IFFT inverse discrete fourier transform after data interlacing, insert the processing such as Cyclic Prefix and windowing, export to the processing of DAC interlock circuit.When reception, the signal gathering through ADC is carried out to corresponding signal and synchronously detect, remove Cyclic Prefix, FFT conversion, channel estimating, demapping, deinterleaving, the operations such as channel decoding.
Described power carrier high pressure coupling circuit module adopts the mode of phase-phase, " electromagnetic coupled " and " the pouring-in coupling of capacitance-resistance " compound coupling, when being work, can be mounted on power cable and on the two-phase of correspondence, can communicate arbitrarily, such as A-A and B-B or A-A and C-C or B-B and C-C.
For the convenient old equipment of supervisory control system to the transmission of CAN bus network that do not upgrade, realize compatibility, the present invention also comprises the two RS485 buses parallel with dual CAN bus.
DAC signal conditioning circuit module of the present invention, comprise the DAC treatment circuit being linked in sequence, active low-pass filter circuit, single-ended signal turns differential signal circuit and power amplification circuit, the unipolar signal that wherein single-ended signal slip sub-signal main circuit will be exported DAC transfer differential signal to be transmitted, to improve anti-common mode disturbances, and use radio freqnency transformer conversion, power amplification circuit uses DC+24V power supply, approach Power supply principal voltage DC+24V with the signal amplitude that makes output, improve the distance of carrier signal transmission, reduce relay system, wherein DAC1 active low-pass filter circuit is 250KHZ-450KHZ response frequency range, DAC2 active low-pass filter circuit is 3KHZ-150KHZ response frequency range.
Described ADC signal conditioning circuit module, comprises that the low-noise amplification circuit, active bandpass filiter circuit, the differential signal that are linked in sequence turn single-ended signal circuit, AGC automatic gain control circuit and ADC treatment circuit.Wherein ADC1 active bandpass filiter circuit is 3KHZ-150KHZ response frequency range; ADC2 active bandpass filiter circuit is 250KHZ-450KHZ response frequency range.
Within whole system of the present invention is placed in explosion-proof cabinet, explosion-proof cabinet is divided into left high-pressure area, right low voltage control region and intermediate isolating region.
Compared with prior art, the present invention has following advantage:
1, system integration dual-channel transmitter of the present invention, two-channel receiver is in one, and use at a distance of two carrier wave frequency ranges more than 100KHZ separately, transmit data and the coal-winning machine control command data of coal-winning machine supervisory control system simultaneously, transfer of data safety and reliability, the modulation system adopting is orthogonal frequency division multiplex OFDM technology, serial data stream is at a high speed divided into the parallel data stream of low speed, data are distributed on multiple orthogonal subcarriers and carry out parallel transmission, there is the stronger multipath effect that overcomes, the ability of opposing intersymbol interference, thereby reduce widely the interference between subcarrier, greatly improved the reliability of transfer of data with respect to technology such as traditional spread spectrum phase modulation.
2, system of the present invention possesses CAN bus baud rate self-adapting detectability, without revising separately according to different clients, has been equipped with in addition RS485 interface, the convenient old equipment of supervisory control system to the transmission of CAN bus network that do not upgrade, and therefore compatibility is stronger.
3, detection system of the present invention is disposed flexibly, without extra wiring, is directly mounted to power cable and just can directly uses, and has saved the cost that split conductor loss is serious or deployment wireless network node brings.
4, the OFDM modulation system that system of the present invention adopts, the carrier modulation mode that transmission rate is more traditional has increased significantly.
5, the present invention adopts FPGA as encoding and decoding core, with respect to DSP and other controller, has flexible in programming, and speed is fast, short feature of construction cycle; And some use telecommunication circuits of integrated power carrier chips design, due to the parameter of some physical layers of its plc communication system, all have cured in chip, for specific channel, can not timely modification parameter, therefore portable is poor; Native system adopts FPGA as core, has user oriented, Environment Oriented, the advantage such as alterability, Scalability are flexible.
6, system of the present invention is directly mounted to power cable, does not use thinner control line, and failure rate is low is also convenient to safeguard.
Brief description of the drawings
Fig. 1 is transmission system fundamental block diagram of the present invention;
Fig. 2 is that system configuration is " main cell site " operational mode figure;
Fig. 3 is that system configuration is " from cell site " operational mode figure;
Fig. 4 is DAC signal output conditioning circuit module theory diagram, and DAC1 is identical with DAC2;
Fig. 5 is ADC signal input conditioning circuit module theory diagram, and ADC1 is identical with ADC2;
Fig. 6 is system works line theory diagram.
Embodiment
See Fig. 1.System of the present invention comprises two path that is one-way communication: CAN1/RS485-DAC1 and DAC2; CAN2/RS485-ADC1 and ADC2.Select module, FPGA the second core processing module, DAC output buffer, ADC input buffer circuit, two DAC signal conditioning circuit module DAC1 and DAC2, two ADC signal conditioning circuit modules A DC1 and ADC2, signal conditioning circuit to select module and power carrier high pressure coupling circuit module composition by two CAN processing module CAN1/RS485 and CAN2/RS485, DSPIC single-chip microcomputer the first nucleus module, mode of operation;
The two CAN processing modules that connect CAN bus network also connect DSPIC single-chip microcomputer the first nucleus module;
DSPIC single-chip microcomputer the first nucleus module and FPGA the second nucleus module are by two serial ports (serial ports 1 and serial ports 2) transmission data, and mode of operation selects module to connect respectively DSPIC single-chip microcomputer the first nucleus module and FPGA the second nucleus module;
DAC output buffer is all connected FPGA the second nucleus module with ADC input buffer circuit, and DAC output buffer also connects two DAC signal conditioning circuit module DAC1 and DAC2, ADC input buffer circuit also connects two ADC signal conditioning circuit modules A DC1 and ADC2;
Two DAC signal conditioning circuit modules are all connected signal conditioning circuit with two ADC signal conditioning circuit modules and select module and power carrier high pressure coupling circuit module;
The power circuit module of DC+24V connects two CAN processing modules, DSPIC single-chip microcomputer the first nucleus module and FPGA the second nucleus module, is system power supply;
Described system is mounted to by power carrier high pressure coupling circuit module on any corresponding two-phase in the coal-winning machine three-phase three-wire system power cable of AC-1140V or AC-3300V, realizes power cable carrier communication;
System is by two paths that are one-way communication, be configured to " main send out with from receiving " being integrated " main cell site " and with " from and main receipts " " from cell site " two kinds of one-way communication patterns of being integrated.
Within whole system is placed in the explosion-proof cabinet of the cuboid being formed by Plate Welding, explosion-proof cabinet is divided into left high-pressure area and right low voltage control region, and intermediate isolating region.
The left high-pressure area of system is mounted on any corresponding two-phase in the coal-winning machine three-phase three-wire system power cable of AC-1140V or AC-3300V, such as A-A and B-B or A-A and C-C or B-B and C-C(are referring to Fig. 6).The external DC+24V DC power supply in right low voltage control region is as the power supply in low voltage control district.
See Fig. 2.Select module to determine this system configuration " main cell site " mode of operation for " main send out with from receipts " one by mode of operation.
This system is operated in coal winning machine on integrated excavating coal face first as " main cell site ", connect coal mining monitoring communications CAN bus network, " the main equipment of sending out " and " from receiving unit " in simultaneity factor software systems active program, and control signal modulate circuit selects module to select DAC1 signal conditioning circuit module simultaneously, " the main equipment of sending out " is presented as: one side of system CAN 1 network connects coal-winning machine safety monitoring system CAN system data network, connecting DSPIC single-chip microcomputer first processes nucleus module on one side in addition, DSPIC single-chip microcomputer the first nucleus module is handled well after data and to be delivered to by serial ports 1 OFDM that FPGA the second nucleus module carries out baseband signal and modulate, band limits 3KHZ-150KHZ, export to afterwards DAC1 output buffer, DAC1 signal conditioning circuit resume module, be sent on power cable by power carrier high pressure coupling circuit module again,
Signal conditioning circuit selects module to select ADC1 signal conditioning circuit module to receive the data between frequency range 250KHZ-450KHZ on the other hand, and be transferred to FPGA the second nucleus module and carry out demodulation, deliver to DSPIC single-chip microcomputer the first nucleus module by serial ports 2 afterwards, by DSPIC single-chip microcomputer the first nucleus module carry out secondary unpack process send to coal-winning machine by CAN2 network, control accordingly.
See Fig. 3.Select module to determine this system configuration " from cell site " mode of operation for " from sending out and main receipts " one by mode of operation.
This system is operated in other (crossheading Surveillance center or other place) first as " from cell site ", simultaneity factor software systems activate " from sending out equipment " and " main receiving unit ", and control signal modulate circuit is selected module and is selected DAC2 signal conditioning circuit module simultaneously, " from sending out equipment " is presented as: one side of CAN2 network connects the CAN system data network of crossheading supervisory control system, receive coal-winning machine control command, connect in addition DSPIC single-chip microcomputer the first nucleus module on one side, DSPIC single-chip microcomputer the first nucleus module is handled well and is delivered to FPGA the second nucleus module after data and carry out the OFDM modulation of baseband signal, frequency range is 250KHZ-450KHZ, be sent on power cable by power carrier high pressure coupling circuit module again, signal conditioning circuit selects module to select ADC2 signal conditioning circuit module to receive the sensing data of the coal-winning machine supervisory control system of frequency range between 3KHZ-150KHZ on the other hand, and be transferred to FPGA the second nucleus module and carry out demodulation, carry out secondary by DSPIC single-chip microcomputer the first nucleus module afterwards and unpack to process and send to the CAN of crossheading Surveillance center network by CAN1 network.
See Fig. 4.DAC signal conditioning circuit module, comprise that the DAC treatment circuit (DAC), active low-pass filter circuit (active low-pass filter), the single-ended signal that are linked in sequence turn differential signal circuit (single-ended transfer difference) and power amplification circuit, wherein single-ended signal turns differential signal circuit and uses radio freqnency transformer to change, and power amplification circuit uses DC+24V power supply.In DAC signal conditioning circuit module, signal is inputted from DAC, finally by output after amplifying.
See Fig. 5.ADC signal conditioning circuit module, comprises that the low-noise amplification circuit (amplification of difference low noise), active bandpass filiter circuit (active bandpass filiter), the differential signal that are linked in sequence turn single-ended signal circuit (it is single-ended that difference turns), AGC automatic gain control circuit (AGC) and ADC treatment circuit (ADC).In ADC signal conditioning circuit module, signal amplifies input from difference low noise, finally by exporting after ADC.
See Fig. 6.By CAN1/485, send various sensing datas in coal winning machine on integrated excavating coal face safety monitoring system by being operated in coal winning machine on integrated excavating coal face main cell site first, by receiving from cell site; Meanwhile, by CAN2/485, by be operated in ground or crossheading first from transmission ground, cell site or crossheading monitor control command in case of emergency, received by main cell site.In said process, the transmission of data all completes by AC-1140V/AC-3300V three-phase (A/B/C) three-wire system power cable.
Claims (7)
1. the bidirectional transmission system of coal mine fully-mechanized mining face data and control command data, it is characterized in that: described system comprises two paths that are one-way communication, select module, FPGA the second nucleus module, DAC output buffer, ADC input buffer circuit, two DAC signal conditioning circuit module, two ADC signal conditioning circuit module, signal conditioning circuit to select module and power carrier high pressure coupling circuit module composition by two CAN processing modules, DSPIC single-chip microcomputer the first nucleus module, mode of operation;
The two CAN processing modules that connect CAN bus network also connect DSPIC single-chip microcomputer the first nucleus module;
DSPIC single-chip microcomputer the first nucleus module and FPGA the second nucleus module are by two serial ports transmission data, and mode of operation selects module to connect respectively DSPIC single-chip microcomputer the first nucleus module and FPGA the second nucleus module;
DAC output buffer is all connected FPGA the second nucleus module with ADC input buffer circuit, and DAC output buffer also connects two DAC signal conditioning circuit modules, and ADC input buffer circuit also connects two ADC signal conditioning circuit modules;
Two DAC signal conditioning circuit modules are all connected signal conditioning circuit with two ADC signal conditioning circuit modules and select module and power carrier high pressure coupling circuit module;
The power circuit module of DC+24V connects two CAN processing modules, DSPIC single-chip microcomputer the first nucleus module and FPGA the second nucleus module, is system power supply;
Described system is mounted to by power carrier high pressure coupling circuit module on any corresponding two-phase in the coal-winning machine three-phase three-wire system power cable of AC-1140V or AC-3300V, realizes power cable carrier communication;
Described system configuration with " main send out with from receiving " being integrated " main cell site " and with " from and main receipts " " from cell site " two kinds of one-way communication patterns of being integrated.
2. bidirectional transmission system according to claim 1, is characterized in that: wherein " the main receipts " of " main sending out " correspondence " from cell site " of " main cell site ", and use frequency range is 3KHZ-150KHZ; " from the sending out " correspondence " main cell site " " from receiving " of " from cell site ", use frequency range is 250KHZ-450KHZ;
FPGA the second nucleus module is the simultaneously integrated modulation of OFDM carrier data, the demodulation module of 3KHZ-150KHZ frequency range, and the carrier data OFDM of 250KHZ-450KHZ frequency range modulation, demodulation module.
3. bidirectional transmission system according to claim 1, is characterized in that: power carrier high pressure coupling circuit module adopts the mode of phase-phase, " electromagnetic coupled " and " the pouring-in coupling of capacitance-resistance " compound coupling.
4. bidirectional transmission system according to claim 1, is characterized in that: also comprise the two RS485 buses parallel with dual CAN bus.
5. bidirectional transmission system according to claim 1, is characterized in that: within whole system is placed in explosion-proof cabinet, explosion-proof cabinet is divided into left high-pressure area, right low voltage control region and intermediate isolating region.
6. bidirectional transmission system according to claim 1, it is characterized in that: described DAC signal conditioning circuit module, comprise that the DAC treatment circuit, active low-pass filter circuit, the single-ended signal that are linked in sequence turn differential signal circuit and power amplification circuit, wherein single-ended signal turns differential signal circuit and uses radio freqnency transformer to change, and power amplification circuit uses DC+24V power supply.
7. bidirectional transmission system according to claim 1, it is characterized in that: described ADC signal conditioning circuit module, comprises that the low-noise amplification circuit, active bandpass filiter circuit, the differential signal that are linked in sequence turn single-ended signal circuit, AGC automatic gain control circuit and ADC treatment circuit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410429708.9A CN104168101B (en) | 2014-08-28 | 2014-08-28 | The bidirectional transmission system of coal mine fully-mechanized mining face data and control command data |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410429708.9A CN104168101B (en) | 2014-08-28 | 2014-08-28 | The bidirectional transmission system of coal mine fully-mechanized mining face data and control command data |
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| Publication Number | Publication Date |
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| CN104168101A true CN104168101A (en) | 2014-11-26 |
| CN104168101B CN104168101B (en) | 2017-10-24 |
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| CN201410429708.9A Expired - Fee Related CN104168101B (en) | 2014-08-28 | 2014-08-28 | The bidirectional transmission system of coal mine fully-mechanized mining face data and control command data |
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| CN110351170A (en) * | 2018-04-03 | 2019-10-18 | 安徽工程大学 | Intelligent voice system under a kind of dual CAN bus redundancy structure mine |
| CN111213062A (en) * | 2017-09-14 | 2020-05-29 | Bae***控制有限公司 | Mitigating common mode computation failures using a multi-core processor |
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| CN201196088Y (en) * | 2008-05-15 | 2009-02-18 | 中国海洋石油总公司 | High-speed data transmission apparatus used for petroleum logging |
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| CN201196088Y (en) * | 2008-05-15 | 2009-02-18 | 中国海洋石油总公司 | High-speed data transmission apparatus used for petroleum logging |
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| CN111213062A (en) * | 2017-09-14 | 2020-05-29 | Bae***控制有限公司 | Mitigating common mode computation failures using a multi-core processor |
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| CN110351170A (en) * | 2018-04-03 | 2019-10-18 | 安徽工程大学 | Intelligent voice system under a kind of dual CAN bus redundancy structure mine |
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| CN104168101B (en) | 2017-10-24 |
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