CN104571333A - Control computer based on 1553B bus - Google Patents
Control computer based on 1553B bus Download PDFInfo
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- CN104571333A CN104571333A CN201410853703.9A CN201410853703A CN104571333A CN 104571333 A CN104571333 A CN 104571333A CN 201410853703 A CN201410853703 A CN 201410853703A CN 104571333 A CN104571333 A CN 104571333A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/16—Constructional details or arrangements
- G06F1/1613—Constructional details or arrangements for portable computers
- G06F1/1632—External expansion units, e.g. docking stations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/40—Bus structure
- G06F13/4063—Device-to-bus coupling
- G06F13/4068—Electrical coupling
Abstract
The invention discloses an embedded type control computer and aims to provide a computer which has universality, environmental adaptation, high reliability and vibration resistance. According to the technical scheme adopted by the invention, a bus interface plate adopts a framework of a digital signal processor DSP and a field programmable gate array; a single board computer and the bus interface are communicated through a 32-bit Compact PCI bus; a digital signal processor is communicated with a 1553B IP core of the field programmable gate array FPGA through an internal bus; the Compact PCI bus is connected with an A type connector J1, a B22 type connector J2, a channel A interface and a channel B interface of 1553B in a rear cabling mode; the rear cable completes start bit and check bit of 1553B bus through the B22 type connector J5 and the field programmable gate array FPGA to generate an instruction to respond to packaging of a 1553B protocol layer; the 1553B interface drive circuit and the transformer circuit complete physical layer linkage of the 1553B bus.
Description
Technical field
The present invention is that one is mainly used in Industry Control and system management, for the embedded computer of special equipment application, particularly based on the embedded Control computing machine of 1553B bus.
Background technology
Today, personal computer one word then makes a general reference all personal computers, as desktop PC, mobile computer or the personal computer etc. being compatible with IBM system.Embedded computer is a compact programmable platform normally, has been used for special calculating or Processing tasks specially.Compare a common complete PC, embedded computer is obviously more flexible, is more suitable for the application scenario that some are special.It is generally made up of four parts such as application program of embedded microprocessor, peripheral hardware devices, embedded OS and user.Embedded computer system is compared with general purpose type computer system has following characteristics:
1. embedded system normally towards the embedded type CPU of application-specific from universal maximum different be exactly that embedded type CPU is operated in as in particular group designed system mostly, it all has usually, and low-power consumption, volume are little, integrated level high, being completed by board of tasks many in universal cpu can be integrated in chip internal, thus be conducive to Embedded System Design and be tending towards miniaturization, locomotivity strengthens greatly, and the coupling of calcaneus rete network is also more and more tightr.
2. embedded system is the product after the computer technology of advanced person, semiconductor technology and electronic technology being combined with the embody rule of industry-by-industry.This point just determines its necessarily technology-intensive, intensive capital, a high degree of dispersion, Knowledge integrated system of constantly bringing forth new ideas.
3. the hardware and software of embedded system all must design expeditiously, cuts the garment according to the figure, removes redundancy, strives realizing higher performance in same silicon area, could have more competitive power in a particular application like this to the selection of processor.
4. embedded system and embody rule organically combine, and its upgrading is also synchronously carry out with specific product, and therefore Embedded System Product is once come into the market, and has longer life cycle.
5., in order to improve execution speed and system reliability, the software in embedded system is generally all solidificated in memory chip or single-chip microcomputer itself, instead of is stored in the carriers such as disk.
6. embedded system itself does not possess bootstrapping development ability, even if user can not modify to program function wherein after having designed, a set of developing instrument and environment must be had just to develop.
Embedded system refers generally to non-PC system, has computer function but is not referred to as equipment or the equipment of computing machine.It is application-centered, and software and hardware can be reduced, and adapts to application system to the dedicated computer system of the comprehensive strict demands such as function, reliability, cost, volume, power consumption.Briefly, the application software of embedded system collecting system and hardware, in one, are similar to the working method of bios in pc, have the features such as software code is little, increasingly automated, fast response time, are particularly suitable for requiring in real time and the system of multitask.Embedded system is primarily of compositions such as flush bonding processor, associated support hardware, embedded OS and application software systems, and it is " device " that can work independently.Embedded system almost includes all electric equipments in life, as palm PDA, MP3, videophone, router, MODEM, mobile computing device, TV set-top box, surfing Internet with cell phone, Digital Television, digital camera, Digital Video, multimedia, automotive electronics: ABS (anti-deadlock brake system), fuel feeding jet control system, vehicle GPS, micro-wave oven, domestic automation system, elevator, air-conditioning, security system, automatic vending machine, cellular phone, consumer-elcetronics devices, office equipment: printer, facsimile recorder, scanner, Industry Control: various automatic control equipment, industrial automation instrument and medical instrument, military field: night vision scans, global location, communication for command device etc.The hardware components of embedded system, comprises processor/microprocessor, storer and external device and i/o port, graphics controller etc.Embedded system is different from general computer processing system, and it does not possess jumbo storage medium as hard disk, and mostly uses eprom, eeprom or flash memory (flash memory) as storage medium.Software section comprises operating system software (requiring in real time and multi-job operation) and application programming.Application program controlling running and the behavior of system; And operating system controls the reciprocation of application programming and hardware.The core of embedded system is embedded microprocessor.Embedded microprocessor generally possesses 4 features: (1) has very strong tenability to real-time and multitask, can multitask be completed and have shorter interrupt response time, thus the execution time of inner code and real time operating system is minimized; (2) there is the memory block defencive function that function is very strong, this is the software configuration modularization due to embedded system, and in order to avoid there is the cross action of mistake between software module, need to design powerful memory block defencive function, be also conducive to software diagnosis simultaneously; (3) extendible processor structure, promptly can expand the high performance embedded microprocessor meeting application; (4) power consumption of embedded microprocessor must be very low, and all the more so in particular for battery-powered embedded system in the calculating of portable wireless and movement and communication facilities, power consumption can only be mw even μ w level.Embedded OS is a kind of operating system software supporting embedded system to apply, it is the very important ingredient of embedded system (comprising hardware and software system), generally includes the Browser such as hardware-related bottom layer driving software, system kernel, device drives interface, communication protocol, graphical interfaces, standardization browser.Embedded OS has the basic characteristics of the general-purpose operating system, if effectively manage the system resource become increasingly complex; Can, hardware virtualization, developer be made to transplant from busy driver and free maintenance; Built-in function, driver, tool set and application program can be provided.Compared with the general-purpose operating system, embedded OS has comparatively outstanding feature in the specificity etc. of the relative dependencies of system real-time high-efficiency, hardware, software solid state and application.Architecture Design is the overall design of embedded system, and it needs the overall architecture determining embedded system, functionally divides software and hardware.On this basis, the hardware selection (mainly processor type selecting) of embedded system is determined, the selection of operating system and the selection of development environment.
1553B bus is developed as a kind of order and the formula of control bus standard at first.For the first-selected communication bus of current Aerial Electronic Equipment, its status becomes increasingly conspicuous, and have saying of " square army ".1553B bus, also known as MILSTD1553B bus, is that US military aims at a kind of information transmission bus standard flying airborne equipment and formulate, the agreement of namely equipment room transmission.And each country is according to the situation of this country, and the standard formulation of the reference U.S. goes out the bus protocol of oneself.And relevant company develops corresponding bus interface module according to originally same consensus standard.Adopting digital instruction/response type time multiplex technology, is important channel and the guarantee of instruction transmission and data interaction.MIL-STD-1553B is a kind of centralized control formula, interior of aircraft time-division command/response type multi-path serial data bus standard, there is high reliability and dirigibility, become the key of modern Aviation mobile system devices interconnect, be widely used on the weapon platforms such as aircraft, naval vessel, tank, and be applied to gradually in civilian field.In avionics system, nearly 32 subsystems (or claiming terminal RT) can be connected by 1553B bus, complete communication and the exchanges data of each subsystem, to realize centralized control and the display of each subsystem.And the key core part of 1553B bus system is Bus Interface Chip.In order to improve reliability, generally all adopt two remaining bus structure.Because 1553B bus data rate is high, data volume is large, data structure is complicated, data type is many, processing requirements is various, bus data is made to be treated as one of Focal point and difficult point of present generation aircraft test flight data process.The reliability of 1553B bus cable network directly has influence on the normal operation of whole system, and bus failure even can cause incalculable damage.1553B bus can hang 32 terminals, adopt instruction/response type communication protocol, terminal type has three kinds: bus controller (BC), remote terminal (RT) and bus monitor (BM), format transmission message has BC to RT, RT to BC, RT to RT, broadcast mode and system control model.As the transmission medium of 1553B bus data, 1553B bus cable network is multi-redundant bus topology type structure, is connected between each 1553B terminal device, completes the communication of 1553B protocol data.A complete 1553B cable system (as shown in Figure 1) comprises main bus (trunk portion), shorting stub (being connected to the component of each terminal), coupling mechanism (tie point of main bus and shorting stub), terminator (being connected to main bus two ends).Current embedded computer is greatly mainly with PowerPC, the processors such as ARM are main, belong to compacting instruction set processor, and it exists the low shortcoming of complicated order execution efficiency, communication bus adopts the industry/business level bus such as CAN, RS485 bus, and its reliability is general.
Summary of the invention
The present invention, for solving computing power problem and communication bus integrity problem, the invention provides a kind of embedded Control computing machine with versatility, environmental suitability, high reliability and anti-vibration resistance.
Above-mentioned purpose of the present invention can be reached by following measures, a kind of embedded Control computing machine based on 1553B bus comprises: adopt 1/2ATR closed reinforcement type electronic box, side surrounding convinces heat channel by patient analysis, aviation socket interface, the CompactPCI slot of internal reservation 3 6U and 1 3U, the 6U CompactPCI of third generation Intel Core i7 series processors and MobileIntel QM77Express chipset structure is adopted to reinforce the single board computer of heat loss through conduction type, 1553B Avionics data bus standard is adopted to have BC, RT, the bus interface board of the multi-functional 6U CompactPCI of BM, adopt isolation DC/DC module, 200W power, 3U CompactPCI reinforces the power module of heat loss through conduction type and adopts 3 groove, 32 6UCompactPCI and 1 groove 3U, based on the CompactPCI backboard of standard PCI bus, it is characterized in that: CompactPCI backboard is arranged on 1/2ATR cabinet bottom surface, and the external signal line of CompactPCI backboard and power lead winding displacement mode are connected on the aviation socket interface of cabinet, bus interface board adopts digital signal processor DSP to add on-site programmable gate array FPGA framework, single board computer and bus interface board insert 2 6U CompactPCI slots, power module inserts on the CompactPCI backboard of 3UCompactPCI slot, power module is powered to single board computer and bus interface board, 32 CompactPCI buses are adopted to communicate between single board computer and bus interface board, digital signal processor DSP is communicated with the 1553B IP kernel of on-site programmable gate array FPGA by internal bus, after CompactPCI bus being adopted, cabling mode is connected to A type connector J1, B22 type connector J2, the A channel of 1553B and channel B interface, rear cabling completes the start bit of 1553B bus by B22 type connector J5 and on-site programmable gate array FPGA, the encapsulation of check bit generation and repeat-back 1553B protocol layer, 1553B interface driving circuit and transformer circuit complete the Physical layer link of 1553B bus.
The present invention has following beneficial effect compared to prior art.
The present invention is arranged on 1/2ATR cabinet bottom surface CompactPCI backboard, and the external signal line of CompactPCI backboard and power lead winding displacement mode are connected on the aviation socket interface of cabinet, single board computer and bus interface board are inserted 2 6U CompactPCI slots again, the CompactPCI backboard of power module insertion 3U CompactPCI slot has high reliability and anti-vibration resistance.
The present invention adopts high-performance third generation Intel Core i7 series processors to improve computing ability as core processor, adopts 1553B Avionics data bus to improve communication reliability as communication bus.The present invention adopts total closed type ruggedized electronics cabinet, and passive heat-conducting heat radiation and aviation socket interface, improve environmental suitability.
The present invention is powered to single board computer and bus interface board by power module, adopts 32 CompactPCI buses to carry out communication and meets CompactPCI industrial specification, have versatility between single board computer and bus interface board.
Accompanying drawing explanation
Figure below further illustrates the present invention in conjunction with the accompanying drawings and embodiments, but does not therefore limit the present invention among affiliated scope of embodiments.
Fig. 1 is the embedded Control system for computer block schematic illustration that the present invention is based on 1553B bus.
Fig. 2 is Fig. 1 bus interface board schematic diagram.
Fig. 3 is Fig. 1 single board computer schematic diagram.
Embodiment
Consult Fig. 1.In embodiment described below, embedded Control computing machine based on 1553B bus comprises: adopt 1/2ATR closed reinforcement type electronic box, side surrounding convinces heat channel by patient analysis, aviation socket interface, the CompactPCI slot of internal reservation 3 6U and 1 3U, the 6U CompactPCI of third generation Intel Core i7 series processors and Mobile Intel QM77Express chipset structure is adopted to reinforce the single board computer of heat loss through conduction type, adopt 1553B Avionics data bus standard, there is BC, RT, the bus interface board of the multi-functional 6U CompactPCI of BM, adopt isolation DC/DC module, 200W power, 3U CompactPCI reinforces the power module of heat loss through conduction type and adopts 3 groove, 32 6U CompactPCI and 1 groove 3U, based on the CompactPCI backboard of standard PCI bus.Wherein, aviation socket and outside carry out communicating and being connected, and its interface has DC28V power input interface, Avionics data bus 1553B interface, gigabit ethernet interface, serial ports com interface, USB interface, PS/2 mouse-keyboard interface, video interface, I/O interface, video VGA output interface.
CompactPCI backboard is arranged on 1/2ATR cabinet bottom surface, and the external signal line of CompactPCI backboard and power lead winding displacement mode are connected on the aviation socket interface of cabinet, single board computer and bus interface board insert 2 6UCompactPCI slots, power module inserts on the CompactPCI backboard of 3U CompactPCI slot, power module is powered to single board computer and bus interface board, 32 CompactPCI buses are adopted to communicate between single board computer and bus interface board, bus interface board adopts digital signal processor DSP to add on-site programmable gate array FPGA framework, digital signal processor DSP is communicated with the 1553B IP kernel of on-site programmable gate array FPGA by internal bus, after CompactPCI bus being adopted, cabling mode is connected to A type connector J1, B22 type connector J2, the A channel of 1553B and channel B interface, rear cabling completes the start bit of 1553B bus by B22 type connector J5 and on-site programmable gate array FPGA, the encapsulation of check bit generation and repeat-back 1553B protocol layer, 1553B interface driving circuit and transformer circuit complete the Physical layer link of 1553B bus.
Consult Fig. 2.The instruction and data that the digital signal processor DSP of bus interface board receives single board computer by CompactPCI bus is mutual, the 1553B IP kernel that digital signal processor DSP controls on-site programmable gate array FPGA by internal bus again performs command adapted thereto, and last interface driving circuit and transformer circuit complete the Physical layer link of 1553B signal.Bus interface board adopts digital signal processor DSP to add on-site programmable gate array FPGA framework, digital signal processor DSP is communicated with the 1553B IP kernel of on-site programmable gate array FPGA by internal bus, and the control of the 1553B IP kernel of CompactPCI interface communication between single board computer and on-site programmable gate array FPGA.1553B interface driving circuit and transformer circuit, complete the Physical layer link of 1553B bus.Digital signal processor DSP can adopt the TMS320DM642 type of TI company,
On-site programmable gate array FPGA mainly completes start bit, the check bit generation of 1553B bus, and the encapsulation of the 1553B protocol layers such as repeat-back, has BM, BC, RT global function module.On-site programmable gate array FPGA can adopt the EP2C35 model of altera corp.
Consult Fig. 3.Single board computer completes the communication to external unit by the interface such as PS/2, COM, audio frequency, video, network, USB, SATA, PCIe, is completed control and the data interaction of docking port control panel by CompactPCI bus interface.Single board computer can adopt third generation Intel Core i7 series processors and Mobile Intel QM77Express chipset structure, CPU directly connects twin-channel DDR3 internal memory, and after being adopted by the interface such as CompactPCI bus, PS/2, COM, audio frequency, video, network, USB, SATA, PCIe, cabling mode is connected to A type connector J1, B22 type connector J2, B19 type connector J3, A type connector J4, B22 type connector J5.CPU adopts third generation Intel Core i7-3615QE type, and its major parameter has: dominant frequency 2.3GHz, three grades of buffer memory 6MB, 4 core 8 threads, maximum power dissipation 45W.
Single board computer, under environmental monitoring, adopts voltage sensor to monitor in real time to 12V and 5V supply voltage, reaches and carry out alarm in under-voltage and situation that is superpressure.Adopt temperature sensor to monitor in real time temperature to CPU and bridge integrated chip, reach and carry out alarm when ultralow temperature and superhigh temperature.Therefore, single board computer can take necessary safeguard measure according to current voltage and temperature environment.
Single board computer is under user software ruuning situation, adopt WatchDog Timer, user software designs, when user software enters infinite loop or race flies phenomenon in conjunction with programmable Timer scope, the i.e. software reset of triggering watch dog timer, makes user software from bringing into operation.
The large power consuming devices of single board computer is in CPU and bridge integrated chip group, be connected with heating radiator compression type for CPU with PCH chip heat conductive insulating pad when adopting passive heat radiation device, heating radiator is installed fixing by top screw perforation, and carries out heat loss through conduction with the locking strip physical connection of whole plate.PCH adopts Intel Mobile QM77 type high-speed chip group, and its primary interface has: VGA, USB2.0, USB3.0, SATA3, PCIe, lpc bus, iic bus, spi bus, DP/HDMI/DVI/SDVO digital visual interface, HAD audio frequency, SMbus, LVDS etc.
Solid state hard disc adopts capacity 64G, and multilevel-cell (MLC) nand flash memory of 24nm technique, lasting read/write speed can reach 480/170MB/s.
Internal memory adopts dual channel mode, each channel capacity 2GB, and 4GB, dominant frequency 1600MHz are with the DDR3 internal memory of ECC verification altogether.BIOS adopts AMI EFI, 16Mb SPI flash memory, supports CMOS backup.
In single board computer, PS/2 mouse, keyboard interface are main input interface, receive peripheral operation instruction.CPU adds bridge integrated chip main moving calculation machine system software and user software, calculates and process peripheral operation instruction, then by CompactPCI bus interface, the instruction and data that user software runs is transferred to bus interface board.Department of computer science unifies during user software runs, and is shown by department of computer science the to be unified relevant information of user software of VGA video interface, simultaneously veneer calculate serial ports, gigabit networking, that USB, PCIe and SATA interface completes other external datas is mutual.
Claims (8)
1. an embedded Control computing machine comprises: adopt 1/2 ATR closed reinforcement type electronic box, side surrounding convinces heat channel by patient analysis, aviation socket interface, the CompactPCI slot of internal reservation 3 6U and 1 3U, the 6U CompactPCI of third generation Intel Core i7 series processors and Mobile Intel QM77Express chipset structure is adopted to reinforce the single board computer of heat loss through conduction type, 1553B Avionics data bus standard is adopted to have BC, RT, the bus interface board of the multi-functional 6U CompactPCI of BM, adopt isolation DC/DC module, 200W power, 3U CompactPCI reinforces the power module of heat loss through conduction type and adopts 3 groove, 32 6U CompactPCI and 1 groove 3U, based on the CompactPCI backboard of standard PCI bus, it is characterized in that: CompactPCI backboard is arranged on 1/2ATR cabinet bottom surface, and the external signal line of CompactPCI backboard and power lead winding displacement mode are connected on the aviation socket interface of cabinet, bus interface board adopts digital signal processor DSP to add on-site programmable gate array FPGA framework, single board computer and bus interface board insert 2 6U CompactPCI slots, power module inserts on the CompactPCI backboard of 3U CompactPCI slot, power module is powered to single board computer and bus interface board, 32 CompactPCI buses are adopted to communicate between single board computer and bus interface board, digital signal processor DSP is communicated with the 1553B IP kernel of on-site programmable gate array FPGA by internal bus, after CompactPCI bus being adopted, cabling mode is connected to A type connector J1, B22 type connector J2, the A channel of 1553B and channel B interface, rear cabling completes the start bit of 1553B bus by B22 type connector J5 and on-site programmable gate array FPGA, the encapsulation of check bit generation and repeat-back 1553B protocol layer, 1553B interface driving circuit and transformer circuit complete the Physical layer link of 1553B bus.
2. embedded Control computing machine as claimed in claim 1, it is characterized in that: the instruction and data that digital signal processor DSP receives single board computer by CompactPCI bus is mutual, the 1553B IP kernel that DSP controls on-site programmable gate array FPGA by internal bus again performs command adapted thereto, and last interface driving circuit and transformer circuit complete the Physical layer link of 1553B signal.
3. embedded Control computing machine as claimed in claim 1, is characterized in that: digital signal processor DSP is by the control of the 1553B IP kernel of the CompactPCI interface communication between internal bus and single board computer and on-site programmable gate array FPGA.
4. embedded Control computing machine as claimed in claim 1, it is characterized in that: single board computer is under user software ruuning situation, adopt WatchDog Timer, user software designs in conjunction with programmable Timer scope, when user software enters infinite loop or race flies phenomenon, the i.e. software reset of triggering watch dog timer, makes user software from bringing into operation.
5. embedded Control computing machine as claimed in claim 1, it is characterized in that: the large power consuming devices of single board computer adds in bridge integrated chip group at CPU, be connected with heating radiator compression type for CPU with PCH chip heat conductive insulating pad when adopting passive heat radiation device, heating radiator is installed fixing by top screw perforation, and carries out heat loss through conduction with the locking strip physical connection of whole plate.
6. embedded Control computing machine as claimed in claim 1, it is characterized in that: single board computer completes communicating to external unit by PS/2, COM, audio frequency, video, network, USB, SATA with PCIe interface, completed control and the data interaction of docking port control panel by CompactPCI bus interface.
7. embedded Control computing machine as claimed in claim 5, it is characterized in that: CPU adds bridge integrated chip group moving calculation machine system software and user software, calculate and process peripheral operation instruction, then by CompactPCI bus interface, the instruction and data that user software runs is transferred to bus interface board.
8. embedded Control computing machine as claimed in claim 1, it is characterized in that: department of computer science unifies in user software operation, shown by VGA video interface department of computer science the unified relevant information of user software, simultaneously veneer calculate serial ports, gigabit networking, that USB, PCIe and SATA interface completes other external datas is mutual.
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| CN106773945A (en) * | 2016-12-12 | 2017-05-31 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of framework of airborne standard interface processing module |
| CN107272663A (en) * | 2017-07-28 | 2017-10-20 | 北京精密机电控制设备研究所 | A kind of quick checking device of 1553B bus types servo-drive system test equipment |
| CN109359070A (en) * | 2018-08-07 | 2019-02-19 | 中国航空无线电电子研究所 | High-speed bus switching module based on electronic switch |
| CN109542180A (en) * | 2018-11-20 | 2019-03-29 | 合肥泾渭信息通讯有限公司 | A kind of system configuration device and electronic equipment based on hardware platform |
| CN109725563A (en) * | 2018-12-05 | 2019-05-07 | 天津津航计算技术研究所 | 100,000,000 1553B of one kind hair control bus termination board |
| CN110955620A (en) * | 2019-12-13 | 2020-04-03 | 中国兵器装备集团自动化研究所 | 1553B bus protocol system based on PCIE |
| CN113032306A (en) * | 2021-03-19 | 2021-06-25 | 北京华力智飞科技有限公司 | Simulation machine and simulation test method |
| CN113238983A (en) * | 2021-06-22 | 2021-08-10 | 江苏嘉擎信息技术有限公司 | Railway safety computer and railway safety management platform |
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| CN110955620A (en) * | 2019-12-13 | 2020-04-03 | 中国兵器装备集团自动化研究所 | 1553B bus protocol system based on PCIE |
| CN110955620B (en) * | 2019-12-13 | 2023-06-13 | 中国兵器装备集团自动化研究所 | 1553B bus protocol system based on PCIE |
| CN113032306A (en) * | 2021-03-19 | 2021-06-25 | 北京华力智飞科技有限公司 | Simulation machine and simulation test method |
| CN113238983A (en) * | 2021-06-22 | 2021-08-10 | 江苏嘉擎信息技术有限公司 | Railway safety computer and railway safety management platform |
| CN113238983B (en) * | 2021-06-22 | 2023-12-22 | 江苏嘉擎信息技术有限公司 | Railway safety computer and railway safety management platform |
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