CN107831702A - A kind of synchronous serial signal acquisition and control device based on gigabit Ethernet - Google Patents
A kind of synchronous serial signal acquisition and control device based on gigabit Ethernet Download PDFInfo
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- CN107831702A CN107831702A CN201711150792.0A CN201711150792A CN107831702A CN 107831702 A CN107831702 A CN 107831702A CN 201711150792 A CN201711150792 A CN 201711150792A CN 107831702 A CN107831702 A CN 107831702A
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- gigabit ethernet
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of synchronous serial signal acquisition and control device based on gigabit Ethernet, the device includes SSI signal pickup assemblies, main control unit, gigabit Ethernet communicator and host computer；Gigabit Ethernet communicator realizes the connection with SSI signal pickup assemblies by main control unit；SSI signal pickup assemblies are directly connected with external sensor, gather sensor raw data；Host computer is carried out data transmission with gigabit Ethernet communicator using udp protocol, and hardware connection is needed using the netting twine for supporting gigabit transmission rate.The present invention uses gigabit Ethernet communication interface, compared with traditional PCI, usb bus, transmission rate greatly improves, therefore greater number of acquisition channel can be supported, and the peripheral sensors of higher frequency acquisition, meanwhile, Ethernet interface is easy to connect and communication distance is farther, it can be also attached with plurality of devices such as Ethernet switch, personal PC, industrial computers, there is networking flexibility, transmission is reliable, cost is cheap.
Description
Technical field
The present invention relates to the collection of industrial measurement and control FIELD Data and control device, more particularly to it is a kind of based on gigabit Ethernet
Synchronous serial signal acquisition and control device.
Background technology
Data acquisition is the important step of field of industrial production, and the premise for realizing Industry Control is exactly by industrial production
Significant data is acquired and is transferred to control device, and data acquisition must is fulfilled for the requirement of real-time and accuracy, ability
Ensure that industrial processes obtain good detection and control.In the industrial applications such as streamline, mechanical arm, displacement, angle
Monitoring etc. positional information is particularly important, and these information are typically collected by position sensors such as photoelectric encoders.Absolute value
A kind of widely used synchronous serial interface SSI (the Synchronous Serial of the sensors such as encoder, linear movement pick-up
Interface), SSI signaling rates are fast, line is simple and has preferable antijamming capability, and farthest transmission range is reachable
500m.But industrial computer and PC do not provide SSI interfaces typically, current SSI data collecting cards are connect using PCI, CPCI, PXI etc. more
Mouthful, it is expensive and installation complexity is used, it is necessary to be fixed in the slot of industrial computer, while the host computer of these interfaces use and
Exploitation is required to install corresponding driving, and use is complex.
Gigabit Ethernet (Gbit Ethernet) is the one kind defined by the standards of IEEE 802.3 with Gigabits per second speed
Transmit ethernet frame network transmission technology, establish on the basis of standard ethernet technology, include CSMA/CD agreements, with
The technical specifications such as the management object too defined in net frame, full duplex, flow control and IEEE802.3 standards, have sent out at present
Open up as mainstream network technology.Gigabit ethernet interface is used for data acquisition device, has that transmission rate is fast, has a wide range of application, even
Connect conveniently, the advantage such as maintenance cost is low.At present, gigabit ethernet card has been widely used for all kinds of PC computers and industrial computer.
Therefore, a kind of synchronous serial signal acquisition and control device based on gigabit Ethernet is designed, can accurately at high speed
Collection and upload SSI signals, while the portability of device, flexibility are improved, its application scenario is also not limited to industrial computer,
It can also connect other any equipment equipped with gigabit Ethernet mouth such as personal PC, or even can also be by with being wirelessly transferred
Ethernet switch be converted to wireless transmission method, this greatly reduces signal acquisition cost, while has expanded data acquisition
The usage scenario of device, these all have positive facilitation to the automation in industrial production and control.
The content of the invention
The problem of present invention is difficult to directly gather SSI signals and the collection of SSI signals multi-channel high-speed for industrial computer, carry
A kind of synchronous serial signal acquisition and control device based on gigabit Ethernet is gone out.
The purpose of the present invention is achieved through the following technical solutions：A kind of synchronous serial signal based on gigabit Ethernet
Acquisition control device, the device include SSI (synchronous serial) signal pickup assembly, main control unit, gigabit Ethernet communicator,
And host computer；
SSI signal pickup assemblies include differential level modular converter, voltage protection module and DB-25 connection mouth seat；SSI signals
Sensor, DB-25 connection mouth seat, voltage protection module and differential level modular converter are sequentially connected；Voltage protection module prevents electricity
Wafer damage caused by pressing through height；One group of differential clock signal that differential level modular converter exports SSI signal transducers and
One group of differential data signals is respectively converted into single-ended signal and is transferred to main control unit；
Gigabit Ethernet communicator includes gigabit Ethernet physical layer management chip and Ethernet interface seat；Gigabit ether
MAC-layer interface and transmission medium interface in net physical layer management chip connection main control unit, to realize ethernet physical layer
Function, such as realize physics encoding and decoding and realize serioparallel exchange；Ethernet interface seat connects gigabit Ethernet by difference cabling
Physical layer management chip, host computer is connected by surpassing five class network cables, while be built-in with LED, indicate network connection and biography
Defeated state；
Nucleus module of the main control unit as signal acquisition and control device, the function for whole device is realized and sequential control
System, a portion resource are connect to realize embedded gigabit Ethernet MAC layer controller by MAC-layer interface and transmission medium
The existing connection with outside gigabit Ethernet physical layer management chip of cause for gossip, another part resource is realizing to SSI signal acquisitions
The SECO of device, meanwhile, some resource is realizing SSI signal pickup assemblies, gigabit Ethernet communicator
With the Collaborative Control of host computer, such as parsing to PC control order and realization, SSI signal pickup assembly SECO processes
Coordination of SECO process etc. is uploaded with data；
Host computer includes control panel and display panel two parts, and control panel is used to set collection and configured transmission, this
A little parameters correspond to specific control instruction and are issued to main control unit through Ethernet transmission, and display panel is used to show main control unit
The sensing data of biography.
Further, the main control unit is based on FPGA, and chip model is the SPARTAN6 series of Xilinx companies
Fpga chip XC6SLX16FTG256, using AS configuration modes, i.e. active series arrangement pattern carries out hardware configuration, and configuration uses
PROM chips be Xilinx companies XCF04SVO20C chips, while retain jtag interface be used for debug, master clock frequency is
50MHz；Holding state is on main control unit after electricity, the collection issued until receiving host computer starts control command, then
Acquisition parameter is configured according to control command and starts acquisition control sequential, control SSI signal pickup assemblies carry out signal acquisition, together
When, often complete a data acquisition, main control unit i.e. start a data upload process, by gigabit Ethernet communicator to
Host computer sends the data that this time collects, once host computer issues halt instruction, main control unit stops collection and uploaded
Process, into holding state；
Further, the SSI signal pickup assemblies include differential level modular converter, voltage protection module and DB-25
Interface block, differential level modular converter use MAX490490ESA chips, and the differential signal of input can be converted to+5V numerals
Signal, voltage protection module use 5.1V voltage-stabiliser tubes, circuit and wafer damage, DB-25 connection caused by avoiding input voltage too high
The signal arrangement of mouth seat is close, and area occupied is smaller, and easily can be attached with sensor；Gigabit Ethernet communicator
Including gigabit Ethernet physical layer management chip and Ethernet interface seat, gigabit Ethernet physical layer management chip uses
The RTL8211EG chips of Realtek companies, using 25MHz crystal oscillators, it is configured to Gbit (gigabit) communication pattern, MAC-layer interface choosing
With gmii interface, transmission medium interface selects MDIO interfaces, and the company with main control unit is realized by gmii interface and MDIO interfaces
Connect, gmii interface is used for the data communication of gigabit Ethernet MAC layer and physics interlayer, and MDIO interfaces are used to realize to Ethernet thing
The configuration of layer parameter is managed, Ethernet interface seat uses HR911130A model standard RJ-45 connectors, realizes ethernet physical layer pipe
The physical connection of chip and network cable is managed, while embedded two LED are used to indicate Ethernet connection and communications status；All moulds
The power supply of block uses the power management chip of TI companies, and the input voltage of device is 12V, and main control unit uses single 3.3V
Powered with 1.2V, other modules it is also required to provide 3.3V all the way and 5V powers all the way.
Further, the control flow that the device uses is as follows：(1) user sets collection ginseng by PC control panel
Number and configured transmission, acquisition parameter include collection clock frequency, acquisition channel number and channel data bit wide etc., and configured transmission includes
The IP address of harvester and host computer, port numbers etc.；(2) user starts gatherer process, and host computer passes through under gigabit Ethernet
Send out enabled instruction and control instruction and receive instruction to main control unit, main control unit, collection clock frequency, collection are configured according to instruction
The acquisition parameter such as port number and channel data bit wide simultaneously starts synchronous serial signal acquisition sequential；(3) SSI signal acquisition modules are opened
Beginning work simultaneously transfers data to main control unit, and main control unit is encoded data according to 16 systems, and is entered according to udp protocol
Host computer is uploaded to by gigabit Ethernet in real time after row package, data transfer is transmitted in the form of parcel, at package
Reason and transmission process holding time are extremely short, therefore can realize the real-time upload of data；(4) host computer processing passes through gigabit ether
The packet that net receives, packet content is parsed, the data received are entered into row format conversion and with binary system or Gray code
Form be shown in the display panel of host computer；(5) if data acquisition terminates, user stops gatherer process, and host computer issues
Halt instruction stops to main control unit, collection sequential.
The beneficial effects of the invention are as follows：The present invention has designed and Implemented industrial computer to the synchronous, high-precision of multichannel SSI signals
Degree and high-speed collection；SSI signal pickup assemblies with voltage protection can realize accurate, the stable collection of SSI signals；Thousand
Mbit ethernet uploads mode, and compared with traditional PCI, usb bus, transmission rate greatly improves, and can support greater number of adopt
Collect the sensor device of passage and Geng Gao frequency acquisitions, meanwhile, Ethernet interface is easy to connect and communication distance is farther, can also be with
The plurality of devices such as Ethernet switch, personal PC, industrial computer are attached, and are had networking flexibility, are transmitted reliable, cost is cheap etc.
Feature.
Brief description of the drawings
Fig. 1 is the overall structure block diagram of the present invention；
Fig. 2 is the hardware block diagram of the acquisition control device of the present invention；
Fig. 3 is the SSI signal pickup assembly circuit diagrams of the present invention；
Fig. 4 is the gigabit Ethernet communicator circuit diagram of the present invention；
Fig. 5 is the gigabit Ethernet communicator PCB figures of the present invention；
Fig. 6 is the host computer interface schematic diagram of the present invention.
Embodiment
The present invention is further illustrated below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of synchronous serial signal acquisition and control device based on gigabit Ethernet provided by the invention, bag
Include SSI signal pickup assemblies, main control unit, gigabit Ethernet communicator and host computer；Gigabit Ethernet communicator leads to
Main control unit realization and the connection of SSI signal pickup assemblies are crossed, and control and data of the realization to SSI signal pickup assemblies are adopted
Collection；SSI signal pickup assemblies are directly connected with external sensor, gather sensor raw data；Host computer and gigabit Ethernet
Communicator is carried out data transmission using udp protocol, and hardware connection is needed using the network cable for supporting gigabit transmission rate.This
Invention uses gigabit Ethernet communication mode, and compared with traditional PCI, usb bus, transmission rate greatly improves, therefore can prop up
Greater number of acquisition channel, and the peripheral sensors of higher frequency acquisition are held, meanwhile, Ethernet interface is easy to connect and logical
Communication distance is farther, can be also attached with plurality of devices such as Ethernet switch, personal PC, industrial computers.
As shown in Fig. 2 synchronous serial signal acquisition and control device hardware components include SSI signal pickup assemblies, master control list
Member, and gigabit Ethernet communicator；SSI signal pickup assemblies include differential level modular converter, voltage protection module and DB-
25 interface blocks；The one group of clock and one group of data difference that differential level modular converter exports SSI (synchronous serial) signal transducer
Sub-signal is converted to single-ended signal and is transferred to main control unit；Voltage protection module be connected to DB-25 connection mouth signal input part and
Between level switch module, wafer damage caused by overtension is prevented；BD25 interface blocks are used to export with SSI signal transducers
End is directly connected to；Gigabit Ethernet communicator includes gigabit Ethernet physical layer management chip and Ethernet interface seat；Gigabit
Ethernet physical layer managing chip such as realizes physics encoding and decoding and realizes serioparallel exchange to realize physical layer function, connects
MAC-layer interface and transmission medium interface in main control unit；Ethernet interface seat connects physical layer management chip and grid line
Cable, while it is built-in with LED instruction network connection and transmission state；Nucleus module of the main control unit as signal pickup assembly,
Function for realizing whole device is realized and SECO, and a portion resource is realizing embedded gigabit Ethernet MAC
Layer controller, realizes the connection with external physical layer-management chip, and another part resource is used for realizing to SSI signal pickup assemblies
SECO, meanwhile, some resource to realization device integral control function.
As shown in figure 3, SSI signal pickup assemblies include differential level modular converter, voltage protection module and two DB-25
Standard interface, differential level modular converter use MAX490490ESA chips, the differential signal of input can be converted into+5V numbers
Word signal, device export the clock signal of a pair of difference to sensor, and the data that sensor then inputs a pair of difference to device are believed
Number, clock signal is controlled by main control unit and produced, and is exported after device conversion, data-signal is then produced by sensor, through this
Main control unit is transferred in a serial fashion after device conversion；Voltage protection module uses 5.1V voltage-stabiliser tubes, the electricity with particular value
Resistance composition protection circuit, circuit and wafer damage caused by input voltage can be avoided too high；Single BD-25 standard interfaces can connect
Four road SSI signals are connect, have grounding pin as insulation blocking per between the signal of road.
As shown in figure 4, gigabit Ethernet communicator includes gigabit Ethernet physical layer management chip and Ethernet interface
Seat, gigabit Ethernet physical layer management chip use Realtek companies RTL8211EG chips, chip operating voltage 3.3V,
Using 25MHz crystal oscillators, Gbit (gigabit) communication pattern is configured to；Chip is realized and master control list using gmii interface and MDIO interfaces
The connection of member, gmii interface are used for the data communication of gigabit Ethernet MAC layer and physics interlayer, comprising 8 receive data/address bus,
8 send data/address bus and 1 reception clock and 1 tranmitting data register, and MDIO interfaces are used to realize joins to ethernet physical layer
Several configurations, Ethernet interface seat use HR911130A model standard RJ-45 connectors, realize ethernet physical layer managing chip
With the physical connection of transmission cable, while embedded two LED are used to indicate Ethernet connection and communications status, and device is used to connect
Network cable be necessary for support gigabit speed CAT5E UTP cable or other cables, after connection ether reticulum Link lamps it is bright representative with
Too net hardware successful connection, when having data transfer, transmission lamp flicker.
As shown in figure 5, the PCB parts wiring needs of gigabit Ethernet communicator are specifically designed, it is square in figure
Chip is gigabit Ethernet physical layer management chip, and chip is connected with lower lower section Ethernet interface seat by three pairs of differential signals
Connect, for suppression circuit EMI, improve antijamming capability, while meet high-speed communication requirement, carry out difference cabling；Chip and a left side
Upper angle fpga chip is attached by gmii interface and MDIO interfaces, and because gmii interface is high-speed interface, therefore 8 receive
Data/address bus and 8 transmission data/address bus, and their corresponding clock signals carry out snakelike isometric cabling.
As shown in fig. 6, test host computer includes control panel and display panel two parts, control panel is used to set phase
Parameter, including configured transmission and acquisition parameter two parts are answered, configured transmission is used for the IP for setting host computer and acquisition control device
Address and port numbers, the setting must be consistent with the parameter built in acquisition control device, and acquisition parameter can then set each
The data bit width of passage, these parameters correspond to specific control instruction and are issued to main control unit through Ethernet transmission；Display panel
The sensing data uploaded for showing main control unit, can be shown with the form of binary system and Gray code respectively；User
Operating process is as follows：(1) user sets acquisition parameter, including collection clock frequency, acquisition channel by PC control panel
Number and channel data bit wide etc.；(2) user starts gatherer process by start button, and acquisition control device is started working, host computer
Constantly show the data collected；(3) data acquisition terminates, then user stops gatherer process by conclusion button, gatherer process stops
Only.
Claims (4)
- A kind of 1. synchronous serial signal acquisition and control device based on gigabit Ethernet, it is characterised in that：The device is believed including SSI Number harvester, main control unit, gigabit Ethernet communicator and host computer；The SSI signal pickup assemblies include differential level modular converter, voltage protection module and DB-25 connection mouth seat；SSI signals Sensor, DB-25 connection mouth seat, voltage protection module and differential level modular converter are sequentially connected；Differential level modular converter will One group of differential clock signal of SSI signal transducers output and one group of differential data signals are respectively converted into single-ended signal and transmitted To main control unit；The gigabit Ethernet communicator includes gigabit Ethernet physical layer management chip and Ethernet interface seat；Gigabit ether MAC-layer interface and transmission medium interface in net physical layer management chip connection main control unit, to realize ethernet physical layer Function；Ethernet interface seat connects gigabit Ethernet physical layer management chip by difference cabling, by surpassing five class network cables Host computer is connected, while is built-in with LED, indicates network connection and transmission state；Nucleus module of the main control unit as signal acquisition and control device, the function for whole device is realized and sequential control System, a portion resource are connect to realize embedded gigabit Ethernet MAC layer controller by MAC-layer interface and transmission medium The existing connection with outside gigabit Ethernet physical layer management chip of cause for gossip, another part resource is realizing to SSI signal acquisitions The SECO of device, meanwhile, some resource is realizing SSI signal pickup assemblies, gigabit Ethernet communicator With the Collaborative Control of host computer, including parsing and realization, SSI signal pickup assembly SECO to PC control order Journey and data upload the coordination of SECO process；The host computer includes control panel and display panel two parts, and control panel is used to set collection and configured transmission, this A little parameters correspond to specific control instruction and are issued to main control unit through Ethernet transmission, and display panel is used to show main control unit The sensing data of biography.
- 2. a kind of synchronous serial signal acquisition and control device based on gigabit Ethernet according to claim 1, its feature It is：The main control unit is based on FPGA, and chip model is the fpga chip serial SPARTAN6 of Xilinx companies XC6SLX16FTG256, using AS configuration modes, i.e. active series arrangement pattern carries out hardware configuration, configures the PROM cores of use Piece is the XCF04SVO20C chips of Xilinx companies, while retains jtag interface and be used to debug, master clock frequency 50MHz；It is main Holding state is in after electricity on control unit, the collection issued until receiving host computer starts control command, then according to control Order configuration acquisition parameter simultaneously starts acquisition control sequential, and control SSI signal pickup assemblies carry out signal acquisition, meanwhile, per complete Into a data acquisition, main control unit starts a data upload process, by gigabit Ethernet communicator to host computer The data that this time collects are sent, once host computer issues halt instruction, main control unit stops collection and upload procedure, entered Enter holding state.
- 3. a kind of synchronous serial signal acquisition and control device based on gigabit Ethernet according to claim 1, its feature It is：The SSI signal pickup assemblies include differential level modular converter, voltage protection module and DB-25 connection mouth seat, differential electrical Flat modular converter uses MAX490490ESA chips, the differential signal of input can be converted into+5V data signals, voltage protection Module uses 5.1V voltage-stabiliser tubes；Gigabit Ethernet communicator includes gigabit Ethernet physical layer management chip and Ethernet interface Seat, gigabit Ethernet physical layer management chip use the RTL8211EG chips of Realtek companies, using 25MHz crystal oscillators, configuration For Gbit communication patterns, MAC-layer interface selects gmii interface, and transmission medium interface selects MDIO interfaces, by gmii interface and MDIO interfaces realize the connection with main control unit, and gmii interface is used for the data communication of gigabit Ethernet MAC layer and physics interlayer, MDIO interfaces are used to realize the configuration to ethernet physical layer parameter, and Ethernet interface seat uses HR911130A model standards RJ- 45 joints, realize the physical connection of ethernet physical layer managing chip and network cable, at the same embedded two LED be used to indicating with Too net connection and communications status；The power supply of all modules uses the power management chip of TI companies, and the input voltage of device is 12V, main control unit are powered using single 3.3V and 1.2V, and other modules it is also required to provide 3.3V all the way and 5V powers all the way.
- 4. a kind of synchronous serial signal acquisition and control device based on gigabit Ethernet according to claim 1, its feature It is：The control flow that the device uses is as follows：(1) user sets acquisition parameter and transmission to join by PC control panel Number, acquisition parameter include collection clock frequency, acquisition channel number and channel data bit wide etc., configured transmission include harvester and The IP address of host computer, port numbers etc.；(2) user starts gatherer process, and host computer issues enabled instruction by gigabit Ethernet With control instruction to main control unit, main control unit reception instruction, collection clock frequency, acquisition channel number are configured according to instruction and led to The acquisition parameters such as track data bit wide simultaneously start synchronous serial signal acquisition sequential；(3) SSI signal acquisition modules are started working and incited somebody to action Data transfer is encoded data according to 16 systems to main control unit, main control unit, and is led to after carrying out package according to udp protocol Cross gigabit Ethernet and upload to host computer in real time, data transfer is transmitted in the form of parcel, and package is handled and is transmitted across Journey holding time is extremely short, therefore can realize the real-time upload of data；(4) host computer processing is received by gigabit Ethernet Packet, packet content is parsed, the data received are entered into row format conversion and shown with the form of binary system or Gray code In the display panel of host computer；(5) if data acquisition terminates, user stops gatherer process, and host computer issues halt instruction and arrived Main control unit, collection sequential stop.
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| CN112130485A (en) * | 2020-08-31 | 2020-12-25 | 南京理工大学 | High-speed multi-channel synchronous acquisition device and method |
| CN112506832A (en) * | 2020-12-07 | 2021-03-16 | 天津津航计算技术研究所 | USB JTAG acquisition and downloading integrated device |
| CN113485183A (en) * | 2021-07-01 | 2021-10-08 | 浙江大学 | Serial signal acquisition output control device based on PCI bus protocol |
| CN114442514A (en) * | 2020-11-02 | 2022-05-06 | 芯启源(上海)半导体科技有限公司 | USB3.0/3.1 control system based on FPGA |
| CN115529203A (en) * | 2022-09-29 | 2022-12-27 | 深圳市必联电子有限公司 | Network communication system suitable for intelligent home routing |
| CN115599010A (en) * | 2022-08-12 | 2023-01-13 | 北京中海技创科技发展有限公司（Cn） | Multi-channel embedded synchronous acquisition system and method thereof |
| CN117939031A (en) * | 2024-03-20 | 2024-04-26 | 深圳市度申科技有限公司 | Multi-camera synchronous image acquisition card and application method thereof in image acquisition |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112130485A (en) * | 2020-08-31 | 2020-12-25 | 南京理工大学 | High-speed multi-channel synchronous acquisition device and method |
| CN114442514A (en) * | 2020-11-02 | 2022-05-06 | 芯启源(上海)半导体科技有限公司 | USB3.0/3.1 control system based on FPGA |
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| CN115529203A (en) * | 2022-09-29 | 2022-12-27 | 深圳市必联电子有限公司 | Network communication system suitable for intelligent home routing |
| CN115529203B (en) * | 2022-09-29 | 2023-10-20 | 深圳市必联电子有限公司 | Network communication system suitable for intelligent home routing |
| CN117939031A (en) * | 2024-03-20 | 2024-04-26 | 深圳市度申科技有限公司 | Multi-camera synchronous image acquisition card and application method thereof in image acquisition |
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| CN107831702B (en) | 2019-08-13 |
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