CN101635693A - Embedded type mining gateway - Google Patents
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Abstract
The invention relates to an embedded type mining communication gateway, which is an underground data acquisition and control device used by a mining safe production monitoring system. The embedded type mining gateway comprises an intrinsic safety power supply, an ARM controller mainboard, a CAN bus communication board, an optical fiber interface and an explosion-proof enclosure. A downlink CAN bus receives uploaded real-time data of a substation mounted on the mining communication gateway in real time; and an uplink ethernet interface transmits the data to a ground monitoring host, receives the downlink control command transmitted by the host, and transmits the downlink control command to a corresponding substation to perform network monitoring. The gateway has the functions of protocol conversion and autonomous networking, is an important component in a non-master type mining monitoring system, can reduce the occurrence probability of coal mine safety accidents in time, introduces the communication techniques of the CAN bus, the industrial ethernet and the like into the field of mining safety, greatly improves the systematic communication rate, and has the advantages of high integration, high performance price ratio, stable running, and adaptability to severe environments.
Description
Technical field
The present invention relates to the safety of coal mines technical field, it is a kind of embedded type mining gateway, it utilizes sensor network technique to form the coal mine safety monitoring device, it has very high transmission rate, very high fail safe has formed and has been applicable to many physical quantity monitorings with intrinsic safe explosion-proof characteristic under the abominable industrial environment and the real-time monitoring and controlling system of controlling.
Background technology
Energy industry for national national economy grow continuously and fast and national defense construction all be vital basic activity, and coal be industry grain, be again the most important thing in production of energy.Coal resources in China is very abundant, it is predicted, coal resources in China distant view total amount is 50,592 hundred million tons, is only second to the Commonwealth of Independent States (CIS), occupies the second place of the world.By the end of the year 1996,5345 places, mining area of proved reserves, the reserves total amount is 10,025 hundred million tons.Scrutinize 2,299 hundred million tons of reserves in China's reserves total amount, verify recoverable reserves with the world and compare, be positioned at after the Commonwealth of Independent States (CIS), the U.S., occupy the third place in the world.China is maximum in the world coal production state, and annual production reaches 1,200,000,000 tons, accounts for 1/3 of world's coal total output, and more than 3,000 ten thousand tons of year outlet coal amounts account for 6% of world's coal volume of trade.
Because history and realistic reasons, the problem that coal industry exists at present is many.Compare with actual production capacity with the coal reserves that China is huge, Coal Production process safe problem then lags behind advanced international standard greatly.Since two thousand, along with the needs of country to improving constantly of requiring of coal mining enterprise safety in production and enterprise's self-growth, the high gas in each large, medium and small colliery of China or gas projecting mine begin to equip the monitoring mining supervisory control system successively.The equipment of new system must will improve the mine safety level of production and production safety management efficient greatly, also has higher requirement for the correct selection of this technology, use, maintenance and the management of enterprise security production information simultaneously.
For this reason, be necessary to develop a kind of coal mine safety monitoring system that is applicable to coal mine environment, realize each physical quantity under the dynamic monitoring mine, write down various historical datas, functions such as outage realize reporting to the police automatically, reduce the accident rate in the Coal Production, save coal mining operating cost, reduce staff's labour intensity, improve the real-time of coal mining data, further strengthen underground labour's safety guarantee, guarantee the safety in production and the reasonable development in colliery.
Coal mine safety monitoring system in the past generally adopts RS-485 communications protocol or CAN bus communication agreement etc., based on the single-chip microcomputer design, adopts poll formula communication modes, no operating system support, so the deal with data ability is low, efficiency of transmission is low.When hundreds of transducers were arranged in the system, often a poll time just needed more than two minutes to take this structure.So this structure is not suitable for real-time security monitoring system.For increasing substantially the real-time of coal mine safety monitoring system, technology such as the native system ARM9 embedded microprocessor that industrial quarters is progressively ripe in recent years, embedded OS, Industrial Ethernet are introduced the safety of coal mines field, have increased substantially the real-time of supervisory control system.The Communication Gateway of the coal mine safety monitoring system that this paper proposes has been taked diverse design.
Summary of the invention
The objective of the invention is to disclose a kind of embedded type mining gateway, utilize sensor network technique that a kind of coal mine safety monitoring system is provided, in process of coal mining, realize the dynamic real-time monitor process, gather the data of each transducer of storage in real time, and the functions such as outage that can realize reporting to the police automatically by remote control operation, realize the real-time security monitoring of whole process of coal mining, improved the fail safe of Coal Production, improve the efficient of exploitation, and the every data that obtained can be used as after the important references data of further safety of coal mines research.
Embedded Communication Gateway of the present invention is the important component part of coal mine safety monitoring system, is the indispensable part of forming the sensor network communication.
For achieving the above object, technical solution of the present invention is:
A kind of embedded mine Communication Gateway is used for the mining safety monitoring, and the mining safety supervisory control system is made up of ground monitoring center, mining information transmission interface, mining Communication Gateway, mining substation, mining various transducers; Its described mining Communication Gateway, be operated under the abominable mine in the environment, adopt the CAN bus in mine down-hole and the communication of embedded mine substation, Industrial Ethernet is then adopted in down-hole and aboveground monitoring host computer communication, the effect of this mining gateway is that CAN agreement and Industrial Ethernet IP/TCP agreement are changed mutually, has brought into play both sides' advantage simultaneously;
Mining Communication Gateway comprises intrinsic safety electric source, ARM controller mainboard, CAN bus communication plate, optical fiber interface and explosion-resistant enclosure; ARM controller mainboard comprises ARM9 processor and uC/OS-II type embedded OS;
Power supply is an intrinsically safe power supply, contains power supply input port I and power output O, and power supply input port I is connected with external ac power source, and power output O is the safety monitoring system power supply with the direct voltage;
Monitoring host computer with fixed ip address uses wired network adapter to obtain the various real time datas that Communication Gateway sends by the Industrial Ethernet network, and mining safety information is carried out remote monitoring.
Described embedded mine Communication Gateway, its described mining substation, the data-signal of various sensor measurements is transferred to mining substation by after the simple conversion, and each mining substation receives the input of maximum 8 transducers, and in mining substation data is done corresponding preliminary treatment; Mining substation is not only a transmission intermediary, distributed Control Node especially, it with various real time datas, report to the police and separate alert signal and send to monitoring host computer, also receive and carry out the control command that monitoring host computer sends its; For mining substation and monitoring host computer, this transfer process is fully transparent, therefore, and by using this embedded mine Communication Gateway, the capacity sensor that the whole coal mine safety monitoring system of infinite expanding is articulated can not changed under the project organization situation of substation and monitoring host computer.
Described embedded mine Communication Gateway, its described embedded mine Communication Gateway, link to each other with a plurality of data substations, a plurality of then Communication Gateways are connected with a monitoring host computer, and can dynamically increase deletion all mining gateway, mining substation and transducer; Described embedded mine Communication Gateway has designed other task of low priority on software, this task is regularly inquired about all gateways in the whole system, if do not meet, then send corresponding message, dynamically newly-increased or deletion mining gateway to monitoring host computer with the state that is write down.
Described embedded mine Communication Gateway, its this embedded mine Communication Gateway adopts multiple self diagnosis measure, on software, adopted multiple design measure to prevent the wrong of packet and lost,, also can require automatically to resend even the transmission data are made mistakes or lost packet; Adopted the house dog design on hardware, the effect of this house dog is, just in case operation troubles appears in this gateway, during deadlock, can restart automatically in≤30 seconds and recover normal operation.
Described embedded mine Communication Gateway, its a plurality of Communication Gateways are after connecting with a monitoring host computer, according to its CAN bus message of gathering and monitoring, automatically the gained data are unpacked, and do corresponding processing, use ICP/IP protocol data to be sent the real-time monitor data of transducer, transducer overload alarm, feed abnormal alarm, the real time information of gas lock between air and electricity automatically to monitoring host computer then, made things convenient for the processing of monitoring host computer by Industrial Ethernet.
Described embedded mine Communication Gateway, its this embedded mine Communication Gateway is installed in the explosion-resistant enclosure the inside, finish by special wiring terminal with extraneous all communications, what power supply adopted is the 5V Switching Power Supply of high stability, has guaranteed that from each link the operation of this gateway is not subjected to external interference; Even serious mine safety accidents takes place, tight safeguard procedures can guarantee that also this gateway can normally move.
Described embedded mine Communication Gateway, its described power supply comprises Switching Power Supply and 12V/7.2AH storage battery, it is mining Communication Gateway power supply that the 220V alternating current is converted to the 5V direct voltage, and power supply is by built-in UPS diverter switch control accumulator cell charging and discharging; When meeting accident outage, this Communication Gateway can adopt storage battery power supply automatically, and the assurance system continues normally to move more than 2 hours, has good power supply flying power.
The major advantage of the coal mine safety monitoring system that the present invention proposes is as follows: adopt distributed remote monitoring network architecture, form various data monitoring networks under the coal mine to produce exploitation unit area under one's jurisdiction, be convenient to whole control safety production condition; Utilize the on-the-spot real-time communication gateway device of embedded technology and comprehensive Design technological development high reliability, guarantee the integrality and the reliability of a large amount of sensing data transmission; Make full use of industrial field bus technology, Industrial Ethernet technology and host-host protocol customization, realize the remote real time monitoring and the control of mining safety data, have high transmission performance.
Description of drawings
Fig. 1 is the overall structure block diagram of a kind of embedded type mining gateway of the present invention;
Fig. 2 is the program circuit that a kind of embedded type mining gateway of the present invention changes the CAN agreement ICP/IP protocol;
Fig. 3 is the program circuit that a kind of embedded type mining gateway of the present invention changes ICP/IP protocol the CAN agreement.
Embodiment
The present invention is an a kind of important component part of the coal mine safety monitoring system based on the distributed sensor networks structure, this gateway is arranged in the intermediate layer of Safety of Coal Mine Production supervisory control system, at the data substation and the server communication that is positioned at optical fiber ring network that are positioned on the CAN bus, and when communicating by letter between the different substations, finish the function of CAN agreement and ICP/IP protocol conversion.
This mining gateway is based on the embedded system technology exploitation.Embedded system is to be core with the embedded computer, user oriented, towards product, application-oriented, and software and hardware can be reduced, and is applicable to the computer system that combination properties such as function, reliability, volume, cost, power consumption is had strict demand.The embedded system of finishing simple functions does not generally need operating system.As, the mini system that former many MCS51 series monolithics are formed just just utilizes software to realize simple control loop; But arriving along with so-called post-PC era, Embedded System Design is increasingly sophisticated, extensive use along with embedded system, front/rear traditional program development mechanism can not satisfy complicated day by day realization requirement, thereby embedded real-time operating system RTOS (Real Time OperationSystem) exploitation Real-time Multi-task System is usually adopted at the scene.Embedded real-time operating system generally can provide task scheduling, time management, intertask communication and synchronous and the memory management MMU critical services such as (MemoryManager Unit) of multitask, makes built-in application program be easy to design and expansion.Adopt RTOS can make that embedded product is more reliable, the construction cycle is shorter.In Embedded Application, use RTOS to become a focus of current Embedded Application.
Embedded RTOS has comparatively outstanding advantage at the aspect such as professional of relevant dependence, software solidification and the application of system's real-time high-efficiency, hardware.Generally speaking, embedded OS is different from the computer operating system of general meaning, it take up room little, carry out the efficient height, conveniently carry out personalized customization and software requirement and solidify characteristics such as storage.
From the eighties in 20th century, some IT tissues, company are just arranged in the world, begin to carry out the research and development of commercial embedded OS and special purpose operating system.This has wherein emerged in large numbers some famous embedded OSs, is the representative of non real-time and real-time embedded operating system respectively just as the WinCE of Microsoft company and the VxWorks of WindRiver System company.But the cost of commercial product is all very expensive, can improve product cost and loses competitiveness thereby be used for general service.
Seeing Fig. 1, is the overall structure block diagram of a kind of embedded type mining gateway of the present invention.The present invention is a core design with the ARM9 microcontroller, and this processor has high processing speed, and has the outer resource of sheet in a large amount of sheets, can support a large amount of embedded OSs, is suitable for developing complicated Embedded Application.
The present invention adopts uC/OS-II type embedded OS to do system kernel.But μ C/OS-II be a portable, curable cutting, the formula of taking the lead multitask real-time kernel, it is applicable to multiple microprocessor, microcontroller and digital processing chip (be transplanted to surpass the microprocessor applications more than 100 kinds in).Simultaneously, this system source code is open, clean and tidy, consistent, and note is detailed, is fit to system development.It is the RTOS that increases income of a light weight, and kernel comprises Real-Time Scheduling, the management of internal memory, queue management, mailbox management, semaphore management, and timemanagement, also provide Netz tack in addition, GUI, File system etc.
At first, the AT91ARM9200 type embedded microprocessor that is based on the ARM9 kernel that this embedded mine Communication Gateway adopts, performance was up to 200MIPS when it worked in 180MHz; With respect to the design that adopts single-chip microcomputer, this embedded Communication Gateway gets a promotion disposal ability when guaranteeing stability significantly; Secondly, the good load capacity of CAN bus makes mining Communication Gateway connect a plurality of mining substations simultaneously, and the high transmission rate of CAN bus has also guaranteed the reliable efficient operation of system; Once more, this embedded mine Communication Gateway adopts uC/OS-II type real-time multi-task embedded OS, and the characteristics of this operating system are: resource consumption is few, and response fast, have powerful multi-task scheduling function, make that the efficiency of transmission of this embedded mine Communication Gateway is high; ARM9, CAN bus, uC/OS-II type embedded OS progressively moved to maturity in recent years, and existing in a lot of fields successful Application, but because the safety of coal mines field is to the requirement for height of stability, reliability, the technology single-chip microcomputer that all is based on no operating system is realized before this, so poor-performing.
See Fig. 2, for this embedded Communication Gateway CAN agreement is changeed the program flow diagram of ICP/IP protocol.
The operation principle of Fig. 2 is as follows: set up two tasks during system initialization, also can be described as thread.A task is to receive the data of uploading on the CAN bus, and is uploaded to monitoring host computer.The another one task is to receive the Industrial Ethernet downlink data, and is transmitted to corresponding mining substation.First flow of task is: circular wait receives the CAN packet, receives after the packet, judges the destination address of this packet, and three kinds of situations are arranged, one is sent to monitoring host computer, and they are two years old, be sent to other the mining substations under this gateway, its three, be sent to the mining substation under other gateways.If send successfully, then continue to wait for other packet, get nowhere if send, then disconnect current connection, rebulid connection and send again, can effectively improve the accuracy of transfer of data.
See Fig. 3, for this embedded Communication Gateway ICP/IP protocol is changeed the program flow diagram of CAN agreement.
The operation principle of Fig. 3 is as follows: set up two tasks during system initialization, also can be described as thread.A task is to receive the data of uploading on the CAN bus, and is uploaded to monitoring host computer.The another one task is to receive the Industrial Ethernet downlink data, and is transmitted to corresponding mining substation.Second flow of task is: circular wait receives the internet packet, receives after the packet, judges the destination address of this packet, and three kinds of situations are arranged, one is sent to monitoring host computer, and they are two years old, be sent to other the mining substations under this gateway, its three, be sent to the mining substation under other gateways.If send successfully, then continue to wait for other packet, get nowhere if send, then disconnect current connection, rebulid connection and send again, can effectively improve the accuracy of transfer of data.
The present invention is based on engineering practicability and reliability consideration, designed reliable communications protocol.This system mainly requires height, transportation condition Coal Production enterprise inconvenient, work under bad environment to use for the safety of coal mines real-time property, can obtain the safety of coal mines data message in real time, improves the real-time monitoring effect of coal mining, improves the safety in production level.This system has utilized the powerful interference free performance of industrial field bus on the one hand, networking function couples together big quantity sensor easily, has also utilized the transmission range of Industrial Ethernet overlength in addition on the one hand, and transmission rate fast, extremely low advantages such as the error rate.This mining Communication Gateway then is to make full use of the two strong point, brings into play overall performance advantage, avoids the core component of corresponding shortcoming simultaneously.
Technological core of the present invention is the system architecture of distributed remote monitoring network is applied in the coal mine safety monitoring system process, and with based on the mechanics of communication of fieldbus and Industrial Ethernet, embedded design technology, be integrated in this architecture towards the system suitability comprehensive Design technology of adverse circumstances, formed the network configuration and the system and device of distributed coal mine security parameter remote real-time monitoring network system.
The safety of coal mines remote monitoring and control system that the present invention adopts distributed remote monitoring network architecture to form, realize the real-time measurement of the various physical quantitys in down-hole of the mine under the coal mining adverse circumstances, finished the remote monitoring and the Long-distance Control of the colliery downhole data of the accident of under the condition of having inconvenient traffic, very easily blasting.This invention makes process of coal mining have stronger fail safe, can realize giving warning in advance and the onsite alarming outage of mine safety accidents, and the data of being gathered can be used as the foundation of analysis expert mine safety accidents, the generation of prevention mine safety accidents.Therefore, this invention can improve the security performance of process of coal mining effectively, solves the safety of coal mines exploitation that badly causes because of the environment difficulty of monitoring in real time, for improving efficient that coal mining develops, guaranteeing that the safety in production in colliery has important effect.
The present invention is a system and device of realizing coal mine safety monitoring.Connect by Industrial Ethernet network and fieldbus and a large amount of mine sensors by monitoring host computer, the change procedure of the various physical quantitys in down-hole in the remote real time monitoring process of coal mining is made remote control operations such as warning and outage simultaneously to possible dangerous situation.
Claims (7)
1. an embedded mine Communication Gateway is used for the mining safety monitoring, and the mining safety supervisory control system is made up of ground monitoring center, mining information transmission interface, mining Communication Gateway, mining substation, mining various transducers; It is characterized in that:
Described mining Communication Gateway, be operated under the abominable mine in the environment, adopt the CAN bus in mine down-hole and the communication of embedded mine substation, Industrial Ethernet is then adopted in down-hole and aboveground monitoring host computer communication, the effect of this mining gateway is that CAN agreement and Industrial Ethernet IP/TCP agreement are changed mutually, has brought into play both sides' advantage simultaneously;
Mining Communication Gateway comprises intrinsic safety electric source, ARM controller mainboard, CAN bus communication plate, optical fiber interface and explosion-resistant enclosure; ARM controller mainboard comprises ARM9 processor and uC/OS-II type embedded OS;
Power supply is an intrinsically safe power supply, contains power supply input port I and power output O, and power supply input port I is connected with external ac power source, and power output O is the safety monitoring system power supply with the direct voltage;
Monitoring host computer with fixed ip address uses wired network adapter to obtain the various real time datas that Communication Gateway sends by the Industrial Ethernet network, and mining safety information is carried out remote monitoring.
2. embedded mine Communication Gateway as claimed in claim 1, it is characterized in that: described mining substation, the data-signal of various sensor measurements is by being transferred to mining substation after the simple conversion, each mining substation receives the input of maximum 8 transducers, and in mining substation data is done corresponding preliminary treatment; Mining substation is not only a transmission intermediary, distributed Control Node especially, it with various real time datas, report to the police and separate alert signal and send to monitoring host computer, also receive and carry out the control command that monitoring host computer sends its; For mining substation and monitoring host computer, this transfer process is fully transparent, therefore, and by using this embedded mine Communication Gateway, the capacity sensor that the whole coal mine safety monitoring system of infinite expanding is articulated can not changed under the project organization situation of substation and monitoring host computer.
3. embedded mine Communication Gateway as claimed in claim 1 or 2, it is characterized in that: a described embedded mine Communication Gateway, link to each other with a plurality of data substations, a plurality of then Communication Gateways are connected with a monitoring host computer, and can dynamically increase deletion all mining gateway, mining substation and transducer; Described embedded mine Communication Gateway has designed other task of low priority on software, this task is regularly inquired about all gateways in the whole system, if do not meet, then send corresponding message, dynamically newly-increased or deletion mining gateway to monitoring host computer with the state that is write down.
4. embedded mine Communication Gateway as claimed in claim 1 or 2, it is characterized in that: this embedded mine Communication Gateway adopts multiple self diagnosis measure, on software, adopted multiple design measure to prevent the wrong of packet and lost, even the transmission data are made mistakes or lost packet, also can require automatically to resend; Adopted the house dog design on hardware, the effect of this house dog is, just in case operation troubles appears in this gateway, during deadlock, can restart automatically in≤30 seconds and recover normal operation.
5. embedded mine Communication Gateway as claimed in claim 1, it is characterized in that: a plurality of Communication Gateways are after connecting with a monitoring host computer, according to its CAN bus message of gathering and monitoring, automatically the gained data are unpacked, and do corresponding processing, use ICP/IP protocol data to be sent the real-time monitor data of transducer, transducer overload alarm, feed abnormal alarm, the real time information of gas lock between air and electricity automatically to monitoring host computer then, made things convenient for the processing of monitoring host computer by Industrial Ethernet.
6. embedded mine Communication Gateway as claimed in claim 1, it is characterized in that: this embedded mine Communication Gateway is installed in the explosion-resistant enclosure the inside, finish by special wiring terminal with extraneous all communications, what power supply adopted is the 5V Switching Power Supply of high stability, has guaranteed that from each link the operation of this gateway is not subjected to external interference; Even serious mine safety accidents takes place, tight safeguard procedures can guarantee that also this gateway can normally move.
7. embedded mine Communication Gateway as claimed in claim 1, it is characterized in that: described power supply comprises Switching Power Supply and 12V/7.2AH storage battery, it is mining Communication Gateway power supply that the 220V alternating current is converted to the 5V direct voltage, and power supply is by built-in UPS diverter switch control accumulator cell charging and discharging; When meeting accident outage, this Communication Gateway can adopt storage battery power supply automatically, and the assurance system continues normally to move more than 2 hours, has good power supply flying power.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101931592A (en) * | 2010-08-26 | 2010-12-29 | 北京科技大学 | WSN-based underground safety monitoring system gateway equipment |
| CN102546479A (en) * | 2012-01-19 | 2012-07-04 | 斯菲特物联网科技(徐州)有限公司 | Gateway for perceiving internet of things of coal yard |
| CN103139059A (en) * | 2013-02-19 | 2013-06-05 | 中国矿业大学 | Coal mine electromechanical equipment data acquisition and analysis gateway |
| CN103139052A (en) * | 2011-11-28 | 2013-06-05 | 中国北车股份有限公司大连电力牵引研发中心 | Controller area network (CAN)-Ethernet communication gateway and data processing method and system |
| CN104594951A (en) * | 2014-11-27 | 2015-05-06 | 山西潞安环保能源开发股份有限公司 | Downhole monitoring and controlling system |
| CN107809361A (en) * | 2017-10-26 | 2018-03-16 | 中国石油集团渤海钻探工程有限公司 | A kind of puppy parc conversion equipment with brill downhole instrument |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101931592A (en) * | 2010-08-26 | 2010-12-29 | 北京科技大学 | WSN-based underground safety monitoring system gateway equipment |
| CN101931592B (en) * | 2010-08-26 | 2013-09-18 | 青海西部矿业科技有限公司 | WSN-based underground safety monitoring system gateway equipment |
| CN103139052A (en) * | 2011-11-28 | 2013-06-05 | 中国北车股份有限公司大连电力牵引研发中心 | Controller area network (CAN)-Ethernet communication gateway and data processing method and system |
| CN102546479A (en) * | 2012-01-19 | 2012-07-04 | 斯菲特物联网科技(徐州)有限公司 | Gateway for perceiving internet of things of coal yard |
| CN103139059A (en) * | 2013-02-19 | 2013-06-05 | 中国矿业大学 | Coal mine electromechanical equipment data acquisition and analysis gateway |
| CN103139059B (en) * | 2013-02-19 | 2015-10-21 | 中国矿业大学 | Gateway is resolved in Coal Mine Electromechanical Equipment data acquisition |
| CN104594951A (en) * | 2014-11-27 | 2015-05-06 | 山西潞安环保能源开发股份有限公司 | Downhole monitoring and controlling system |
| CN108243240A (en) * | 2016-12-27 | 2018-07-03 | 南京梅山冶金发展有限公司 | Metal mine downhole anti-explosion breaks impact network system |
| CN107809361A (en) * | 2017-10-26 | 2018-03-16 | 中国石油集团渤海钻探工程有限公司 | A kind of puppy parc conversion equipment with brill downhole instrument |
| CN107809361B (en) * | 2017-10-26 | 2020-06-05 | 中国石油集团渤海钻探工程有限公司 | Universal protocol conversion device of underground while drilling instrument |
| CN109302643A (en) * | 2018-10-25 | 2019-02-01 | 徐州大屯工贸实业公司 | A kind of Mine-used I. S coffret |
| CN114415561A (en) * | 2021-12-28 | 2022-04-29 | 煤炭科学技术研究院有限公司 | Power-off time detection device of digital coal mine safety monitoring system |
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Application publication date: 20100127 |