CN108444376A - Ultra-large real-time distributed strain measurement system - Google Patents
Ultra-large real-time distributed strain measurement system Download PDFInfo
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- CN108444376A CN108444376A CN201810138125.9A CN201810138125A CN108444376A CN 108444376 A CN108444376 A CN 108444376A CN 201810138125 A CN201810138125 A CN 201810138125A CN 108444376 A CN108444376 A CN 108444376A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/16—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
- G01B7/18—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge using change in resistance
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Abstract
The invention discloses a kind of ultra-large real-time distributed strain measurement system, including application server and at least one CAN servers for connect with the application server, each CAN servers pass through the multiple field acquisition unit arrays of multichannel CAN bus connection；CAN servers can control multiple field acquisition unit array synchronizations by multichannel CAN bus under the control of application server and acquire strain information, collected strain information is transferred to CAN servers by field acquisition unit array by CAN bus, which is transferred to application server by CAN servers.The present invention is by the way of three-tier architecture, realize multiple field acquisition unit array synchronization acquisition strain informations, solve front-end collection, communication and the stationary problem of distributed system, it is set to have the function of distributed acquisition, monitoring and parameter on-line tuning in real time, which can be applied to 10,000 points or more of large test application and data collecting system.
Description
Technical field
The present invention relates to a kind of ultra-large real-time distributed strain measurement systems.
Background technology
In the design of the large scale systems such as aircraft, ship, generally requires and make a strength test or intensity detection, needed in experiment
Extensive or even ultra-large stress signal carried out to structure and synchronize real-time acquisition, to understand on each position of structure
Stress distribution, and then find structural strength weak spot and reinforced, improve system design.In this kind of experiment, generally require
It is carried out at the same time the real-time data acquisition of even 10,000 points or more of thousands of points.Since sampled point is too many, cause signal scaling, wiring,
The problems such as handling, is anti-interference is numerous, and not only experiment preparation short time consumption is long, but also measuring accuracy is not easy to ensure.In addition, due to
Signal is too many, and processing is difficult in real time, and measurement data is all often ex-post analysis, therefore this kind of experiment is mostly destructive, experiment
It is of a high price.In addition, in some application systems, such as bridge, drive, bear continual to answer masterpiece in use for a long time
With, it is also desirable to the stress variation of Knowing material at any time prevents from causing catastrophic failure because of fatigue of materials.
Invention content
For problems of the prior art, the object of the present invention is to provide a kind of ultra-large real-time distributed
Strain measurement system realizes multiple field acquisition unit array synchronization acquisition strain signals.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of ultra-large real-time distributed strain measurement system, including application server and connect with the application server
At least one CAN servers, each CAN servers pass through multichannel CAN bus and connect multiple field acquisition unit arrays；CAN
Server can control multiple field acquisition unit array synchronizations by multichannel CAN bus under the control of application server and acquire
Collected strain information is transferred to CAN servers, CAN services by strain information, field acquisition unit array by CAN bus
The strain information is transferred to application server by device by Ethernet.
Optionally, the field acquisition unit array includes multiple live strain measurement units and strains survey with the scene
Measure multiple strain gauges of unit connection；Strain signal is transferred to scene by strain gauge for acquiring strain signal
Strain signal is converted to strain information by strain measurement unit, live strain measurement unit.
Optionally, the live strain measurement unit include signal acquisition interface module, it is control module, power module, more
A signal access module and CAN interface module, wherein signal acquisition interface module connects multiple signal access modules, often
A signal access module link control module, control module connect the CAN bus by CAN interface module；Signal connects
Enter module to be input in control module for strain signal or self-test signal to be converted to metrical information, control module will measure
Information is input to by CAN interface module in CAN servers.
Optionally, the signal access module includes analog switch module, PICOSTRAIN measurement modules and self-checking
Circuit, wherein the input terminal connection signal acquisition interface module of analog switch module, the output end connection of analog switch module
The output end of the input terminal of PICOSTRAIN measurement modules, PICOSTRAIN measurement modules connects the control by spi bus
The input terminal of module, the input terminal of control module are also connected with the output end of analog switch module；The connection simulation of self-checking circuit
The input terminal of switch module；
Self-test signal is input to analog switch module by self-checking circuit for exporting self-test signal；
Analog switch module is used to receive the strain signal that signal acquisition interface module transmits or self-checking circuit is defeated
The self-checking signal gone out, and the strain signal or self-test signal are input to PICOSTRAIN measurement modules；
PICOSTRAIN measurement modules are input to for measuring signal to be converted to metrical information in control module.
Optionally, multiple CAN bus management cards are provided in CAN servers, and any two CAN bus management card is mutual
Even, multiple CAN bus management card for realizing multichannel CAN bus synchronization.
Optionally, each CAN bus management card include CPCI interface modules, the first DPRAM double port memories module,
2nd DPRAM double port memories module, CLPD control units, the first ARM control modules, the 2nd ARM control modules, the first CAN
Bus interface module, the second CAN interface module and synchronizing signal input/output module, wherein the one of CPCI interface modules
End connects the CAN servers, and the other ends of CPCI interface modules connects one end and the of the first DPRAM double port memory modules
One end of two DPRAM double port memory modules, the other end of the first DPRAM double port memory modules connect the first ARM and control mould
One end of one end and CLPD control units of block, the other end of the 2nd DPRAM double port memory modules connect the 2nd ARM and control mould
One end of one end of one end and CLPD control units of block, CLPD control units connects CPCI interface modules by cpci bus
The other end；The other end of one end connection CLPD control units of first ARM control modules, one end of the 2nd ARM control modules connects
Connect the other end of CLPD control units；The other end of first ARM control modules connects the first CAN interface module and synchronous letter
The other end of one end of number input/output module, the 2nd ARM control modules connects the second CAN interface module and synchronizing signal
One end of input/output module, the other end of one end connection CLPD control units of synchronizing signal input/output module；Together
It is same in the CAN bus management card that the other end connection of step signal input/output module is connected with the CAN bus management card
Walk signal input/output module；
Wherein, the first CAN interface module is used to the strain information that CAN bus is transmitted being sent to the first ARM controls
Module；
The strain information received is transmitted to the first DPRAM double port memory modules and deposited by the first ARM control modules
Storage；
Strain information is sent to CAN servers by the first DPRAM double port memories module by CPCI interface modules；
Second CAN interface module is used to the strain information that CAN bus is transmitted being sent to the 2nd ARM control modules；
The strain information received is transmitted to the 2nd DPRAM double port memory modules and deposited by the 2nd ARM control modules
Storage；
Strain information is sent to CAN servers by the 2nd DPRAM double port memories module by CPCI interface modules；
CPLD control units send out master control selection signal selection for receiving the selection information that application server is sent out
One ARM control modules or the 2nd ARM control modules are main control unit, and main control unit is used to send to CPLD control units and synchronize
After CPLD control units receive the synchronous control command, it is defeated to synchronizing signal input to send synchronization output signal for control command
Outgoing interface module after synchronizing signal input/output interface module receives the synchronization output signal, sends sync break signal extremely
Synchronizing signal input in CAN bus management card where the whole CAN bus management cards and main control unit of on-line joining process is defeated
Outgoing interface module, synchronizing signal input/output interface module send sync break signal to whole CAN bus pipes of on-line joining process
It is removed in the first ARM control modules in reason card and the CAN bus management card where the 2nd ARM control modules and main control unit
ARM control modules outside main control unit, sync break signal trigger the first ARM control modules and the 2nd ARM control modules difference
Synchronizing information frame is sent to the CAN bus of each Self management, realizes the synchronization of whole field acquisition unit arrays.
Compared with prior art, the present invention has the following technical effects：The present invention is by the way of three-tier architecture, including shows
Field array of acquisition units, CAN servers and application server realize multiple field acquisition unit array synchronizations acquisition strain letters
Number, front-end collection, communication and the stationary problem of distributed system are solved, it is made to have distributed acquisition in real time, monitoring and parameter
The function of on-line tuning, the measuring system can be applied to 10,000 points or more of large test application and data collecting system.
Explanation and illustration in further detail is made to the solution of the present invention with reference to the accompanying drawings and detailed description.
Description of the drawings
Fig. 1 is the fundamental diagram of the present invention；
Fig. 2 is the schematic diagram of live strain measurement unit；
Fig. 3 is the schematic diagram of CAN bus management card.
Specific implementation mode
The present invention provides a kind of ultra-large real-time distributed strain measurement system, referring to Fig. 1, including application server and
At least one CAN servers being connect with the application server, each CAN servers are connected multiple existing by multichannel CAN bus
Field array of acquisition units；CAN servers can control multiple scenes by multichannel CAN bus under the control of application server and adopt
Collect cell array synchronous acquisition strain information, field acquisition unit array transmits collected strain information by CAN bus
To CAN servers, which is transferred to application server by CAN servers by Ethernet.Through the above technical solutions,
By the way of three-tier architecture, including field acquisition unit array, CAN servers and application server, realize that multiple scenes are adopted
Collect cell array synchronous acquisition strain signal, solve front-end collection, communication and the stationary problem of distributed system, it is made to have point
Cloth acquires in real time, monitor and the function of parameter on-line tuning, the large test which can be applied to 10,000 points or more are answered
With and data collecting system.The present invention can not only mitigate the workload that experiment prepares significantly, shorten experiment time, improve
Test efficiency improves test accuracy, moreover it is possible to understand experiment process in real time, find the weak link of measured piece in time, or even avoid
The thorough damage of measured piece, saves a large amount of testing expenses.In the above-described embodiments, CAN servers support ICP/IP protocol, when
When CAN servers are provided with multiple, multiple CAN server via Ethernets interchangers are interconnected with application server, and it is unlimited to realize
The real-time tether management in collection point of amount；Application server is located at control centre, is communicated by Ethernet and CAN server groups, converges
Collect real-time strain data, and real-time display and management exercise process.Using complex synchronous technology, the real-time of experiment is improved, it is right
Abnormal data instant playback and alarm, change ex-post analysis is Realtime Alerts.
The present embodiment collects the data of front end field acquisition unit array acquisition by universal serial bus, constitutes a kind of distribution
The test system of formula, not only shortens the length of measured signal line on a large scale, decreases interference of the environment to measured signal, carries
High reliability.In addition, the measuring system install convenient in the present embodiment so that the positioning of signal is more convenient, can substantially contract
Short experiment time and raising maintenance efficiency.CAN servers individually at cabinet, can random placement, fieldbus length is at 100 meters
In the range of can be with Arbitrary distribution.This system architecture largely reduces the quantity and difficulty of wiring, can substantially contract
Short experiment time.
Specifically, in another embodiment, field acquisition unit array include multiple live strain measurement units and with
Multiple strain gauges of scene strain measurement unit connection；Strain gauge is believed for acquiring strain signal, and by strain
Number it is transferred to live strain measurement unit, strain signal is converted to strain information by live strain measurement unit.In the present embodiment
In, field acquisition unit array is provided with 8, that is, CAN bus is provided with 8 tunnels, and live strain measurement unit is provided with 8, often
The strain gauge of a scene strain measurement unit connection is provided with 2.Wherein, strain gauge is by the way of V-F measurements
Indirect detection strains the variation of sheet resistance, due to the sprocket pulse (ps grades) using high frequency, measurement is made to have very high precision (ten thousand
/ mono-), design is light-duty, is measured convenient for in-site installation.In addition, in the present embodiment, live strain measurement unit uses aluminium
Alloy shell designs, and can mitigate the influence of electromagnetic interference.Live strain measurement unit has the function of that automatic zero set, connection stress pass
After sensor, zero compensation can be carried out in distal end.
Specifically, in another embodiment, referring to Fig. 2, live strain measurement unit includes signal acquisition interface module, control
Molding block, power module, multiple signal access modules and CAN interface module, wherein the connection of signal acquisition interface module is more
A signal access module, each signal access module link control module, control module connect institute by CAN interface module
State CAN bus；Signal access module is input to control module for strain signal or self-test signal to be converted to metrical information
In, metrical information is input to by CAN interface module in CAN servers by control module.
Specifically, in another embodiment, the signal access module includes analog switch module, PICOSTRAIN measurements
Module and self-checking circuit, wherein the input terminal connection signal acquisition interface module of analog switch module, analog switch module
Output end connection PICOSTRAIN measurement modules input terminal, the output end of PICOSTRAIN measurement modules passes through spi bus
The input terminal of the control module is connected, the input terminal of control module is also connected with the output end of analog switch module；Self-checking
Circuit connects the input terminal of analog switch module.In the present embodiment, signal acquisition interface module will receive 4 road strain signals
It is sent to analog switch module, while 4 road self-test signals are sent to analog switch module by self-checking module, control module is defeated
Going out analog switch control signal control analog switch module selects 4 road strain signals of output or 4 road self-test signals as measurement
Signal is input in PICOSTRAIN measurement modules, and measuring signal is converted to metrical information and inputted by PICOSTRAIN measurement modules
Into control module, metrical information is input to by CAN interface module in CAN servers by control module, and final defeated
Enter into application server；Just whether application server judges the range of self-test signal by metrical information, determine Measurement channel
Often；If self-test signal over range illustrates that Measurement channel is faulty；If self-test signal is in range, while strain signal is abnormal, then
Illustrate that strain gauge installation is problematic；Then pass through equipment self-inspection, it can be determined that abnormal type, to be provided for maintenance of equipment
It is convenient.If self-test signal and strain signal are without exception, show that system is in normal condition, can start to measure work；It is no
Then, it needs to check adjustment system to normal condition.In the present embodiment, PICOSTRAIN measurement modules pass through with control module
Spi bus connects, and every a measurement period, control module reads the metrical information in a PICOSTRAIN measurement module,
And metrical information is transmitted to CAN servers by CAN bus.There is live strain measurement unit self-test and data to store energy
Power improves the availability and reliability of test equipment.
Specifically, in another embodiment, multiple CAN bus management cards, and any two are provided in CAN servers
CAN bus management card interconnects, multiple CAN bus management card for realizing multichannel CAN bus synchronization.In the present embodiment
In, 8 CAN bus management cards are provided in each CAN servers, each CAN bus management card manages 8 tunnel CAN bus, that is,
One CAN server admin, 64 CAN bus, live strain measurement unit are provided with 8, and each scene strain measurement unit connects
16 strain gauges are connect, using CAN servers as the real-time distributed strain measurement system of cell formation, it can realize 16 per unit ×
The acquisition of 8 × 8 × 8 totally 8192 road strain signals.
Specifically, in another embodiment, referring to Fig. 3, each CAN bus management card include CPCI interface modules,
First DPRAM double port memories module, the 2nd DPRAM double port memories module, CLPD control units, the first ARM control modules,
2nd ARM control modules, the first CAN interface module, the second CAN interface module and synchronizing signal input and output mould
Block, wherein one end of CPCI interface modules connects the CAN servers, and the other end of CPCI interface modules connects the first DPRAM
One end of one end of double port memory module and the 2nd DPRAM double port memory modules, the first DPRAM double port memory modules
The other end connects one end of one end and CLPD control units of the first ARM control modules, the 2nd DPRAM double port memory modules
The other end connects one end of one end and CLPD control units of the 2nd ARM control modules, and one end of CLPD control units passes through
Cpci bus connects the other end of CPCI interface modules；One end of first ARM control modules connects the another of CLPD control units
End, the other end of one end connection CLPD control units of the 2nd ARM control modules；The other end of first ARM control modules connects
One end of first CAN interface module and synchronizing signal input/output module, the other end connection the of the 2nd ARM control modules
One end of two CAN interface modules and synchronizing signal input/output module, one end of synchronizing signal input/output module
Connect the other end of CLPD control units；Other end connection and CAN bus management card of synchronizing signal input/output module
Synchronizing signal input/output module in the CAN bus management card being connected.
In the above-described embodiments, which can be achieved the control of 8 tunnel CAN bus, the first ARM control modules
The transmitting-receiving of 4 tunnel CAN bus data is each responsible for the 2nd ARM control modules.The strain signal of 4 tunnel CAN bus transmission passes through the
One CAN interface module is sent to the first ARM control modules, and the first ARM control modules are answered what the 4 tunnel CAN bus was transmitted
Change information is sent to the first DPRAM double port memory modules and is stored；First DPRAM double port memory modules are connect by CPCI
Strain information is sent to CAN servers by mouth mold block.Similarly, in addition the strain information of 4 tunnel CAN bus transmission passes through the 2nd CAN
Bus interface module is sent to the 2nd ARM control modules, the strain information that the 2nd ARM control modules transmit the 4 tunnel CAN bus
The 2nd DPRAM double port memory modules are sent to be stored；2nd DPRAM double port memories module passes through CPCI interface modules
Strain information is sent to CAN servers.
In the above-described embodiments, in order to ensure CAN server admins multiple CAN bus management cards connection multiple CAN
The synchronism of bus uses inter-sync mode, and specifically, application server selects in a CAN bus management card
First ARM control modules or the 2nd ARM control modules are main control unit.
CPLD control units send out master control selection signal selection for receiving the selection information that application server is sent out
One ARM control modules or the 2nd ARM control modules are main control unit, and main control unit is used to send to CPLD control units and synchronize
After CPLD control units receive the synchronous control command, it is defeated to synchronizing signal input to send synchronization output signal for control command
Outgoing interface module after synchronizing signal input/output interface module receives the synchronization output signal, sends sync break signal extremely
Synchronizing signal input in CAN bus management card where the whole CAN bus management cards and main control unit of on-line joining process is defeated
Outgoing interface module, synchronizing signal input/output interface module send sync break signal to whole CAN bus pipes of on-line joining process
It is removed in the first ARM control modules in reason card and the CAN bus management card where the 2nd ARM control modules and main control unit
ARM control modules outside main control unit, sync break signal trigger the first ARM control modules and the 2nd ARM control modules difference
Synchronizing information frame is sent to the CAN bus of each Self management, realizes the synchronization of whole field acquisition unit arrays.
The present invention can be realized ensures whole synchronism while measuring signal extends, and is more suitable for dividing on a large scale
Cloth data acquire, while live strain measurement unit has local storage function, can retain in the case of communication failure
Gathered data, reliability higher.
Aircraft, rocket, the test of naval vessel iso-stress and large scale industry measurement and control area are the composite can be widely applied to, can effectively be solved
The problem that certainly experimentation cost height, period are grown also can guarantee the safety of the large-scale monitoring objective such as ship, bridge, mine, reservoir, tool
There is high application value.
Claims (6)
1. a kind of ultra-large real-time distributed strain measurement system, which is characterized in that including application server and with the application
At least one CAN servers of server connection, each CAN servers connect multiple collection in worksite lists by multichannel CAN bus
Element array；CAN servers can control multiple field acquisition unit battle arrays under the control of application server by multichannel CAN bus
Collected strain information is transferred to CAN services by row synchronous acquisition strain information, field acquisition unit array by CAN bus
The strain information is transferred to application server by device, CAN servers by Ethernet.
2. ultra-large real-time distributed strain measurement system as described in claim 1, which is characterized in that the collection in worksite
Cell array includes multiple live strain measurement units and multiple strain gauges for being connect with the scene strain measurement unit；
Strain signal is transferred to live strain measurement unit, live strain measurement list by strain gauge for acquiring strain signal
Strain signal is converted to strain information by member.
3. ultra-large real-time distributed strain measurement system as claimed in claim 2, which is characterized in that the scene strain
Measuring unit includes signal acquisition interface module, control module, power module, multiple signal access modules and CAN interface
Module, wherein the multiple signal access modules of signal acquisition interface module connection, each signal access module link control module,
Control module connects the CAN bus by CAN interface module；Signal access module is used for strain signal or self-test
Signal is converted to metrical information and is input in control module, and control module inputs metrical information by CAN interface module
Into CAN servers.
4. ultra-large real-time distributed strain measurement system as claimed in claim 3, which is characterized in that the signal access
Module includes analog switch module, PICOSTRAIN measurement modules and self-checking circuit, wherein the input of analog switch module
Connection signal acquisition interface module, the output end of analog switch module is held to connect the input terminal of PICOSTRAIN measurement modules,
The output end of PICOSTRAIN measurement modules connects the input terminal of the control module, the input of control module by spi bus
End is also connected with the output end of analog switch module；Self-checking circuit connects the input terminal of analog switch module；
Self-test signal is input to analog switch module by self-checking circuit for exporting self-test signal；
Strain signal or self-checking circuit output of the analog switch module for receiving the transmission of signal acquisition interface module
Self-checking signal, and the strain signal or self-test signal are input to PICOSTRAIN measurement modules；
PICOSTRAIN measurement modules are input to for measuring signal to be converted to metrical information in control module.
5. ultra-large real-time distributed strain measurement system as described in claim 1, which is characterized in that in CAN servers
Multiple CAN bus management cards are provided with, and any two CAN bus management card interconnects, multiple CAN bus management card is used for
Realize the synchronization of multichannel CAN bus.
6. ultra-large real-time distributed strain measurement system as claimed in claim 5, which is characterized in that each CAN
Bus management card include CPCI interface modules, the first DPRAM double port memories module, the 2nd DPRAM double port memories module,
CLPD control units, the first ARM control modules, the 2nd ARM control modules, the first CAN interface module, the second CAN bus
Interface module and synchronizing signal input/output module, wherein one end of CPCI interface modules connects the CAN servers, CPCI
The other end of interface module connects one end and the 2nd DPRAM double port memory modules of the first DPRAM double port memory modules
One end, the other ends of the first DPRAM double port memory modules connect one end and the CLPD control units of the first ARM control modules
One end, the other ends of the 2nd DPRAM double port memory modules connect one end and the CLPD control units of the 2nd ARM control modules
One end, one end of CLPD control units connect the other end of CPCI interface modules by cpci bus；First ARM control modules
One end connects the other end of CLPD control units, the other end of one end connection CLPD control units of the 2nd ARM control modules；The
One end of the other end the first CAN interface module and synchronizing signal input/output module of connection of one ARM control modules, second
The other end of ARM control modules connects one end of the second CAN interface module and synchronizing signal input/output module, synchronous
The other end of one end connection CLPD control units of signal input/output module；Synchronizing signal input/output module it is another
Synchronizing signal input/output module in the CAN bus management card that end connection is connected with the CAN bus management card；
Wherein, the first CAN interface module is used to the strain information that CAN bus is transmitted being sent to the first ARM control modules；
The strain information received is transmitted to the first DPRAM double port memory modules and stored by the first ARM control modules；
Strain information is sent to CAN servers by the first DPRAM double port memories module by CPCI interface modules；
Second CAN interface module is used to the strain information that CAN bus is transmitted being sent to the 2nd ARM control modules；
The strain information received is transmitted to the 2nd DPRAM double port memory modules and stored by the 2nd ARM control modules；
Strain information is sent to CAN servers by the 2nd DPRAM double port memories module by CPCI interface modules；
CPLD control units send out master control selection signal selection first for receiving the selection information that application server is sent out
ARM control modules or the 2nd ARM control modules are main control unit, and main control unit is used to send synchronous control to CPLD control units
System order after CPLD control units receive the synchronous control command, sends synchronization output signal to synchronizing signal input and output
Interface module after synchronizing signal input/output interface module receives the synchronization output signal, sends sync break signal and extremely exists
The synchronizing signal input and output in CAN bus management card where the whole CAN bus management cards and main control unit of line connection
Interface module, synchronizing signal input/output interface module send whole CAN bus management of the sync break signal to on-line joining process
Except master in the CAN bus management card where the first ARM control modules and the 2nd ARM control modules and main control unit in card
Control the ARM control modules outside unit, sync break signal trigger the first ARM control modules and the 2nd ARM control modules respectively to
The CAN bus of each Self management sends synchronizing information frame, realizes the synchronization of whole field acquisition unit arrays.
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| CN205692169U (en) * | 2016-05-25 | 2016-11-16 | 江苏斯因信息科技有限公司 | Energy supervision system based on Internet of Things Yu cloud computing |
| CN106839963A (en) * | 2016-12-29 | 2017-06-13 | 北京航天测控技术有限公司 | A kind of bus deformeters of AXIe 0 and strain testing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109245864A (en) * | 2018-11-27 | 2019-01-18 | 威海威高生物科技有限公司 | ETH-CAN communication front-end detection device and wrong self checking method based on self feed back |
| CN109245864B (en) * | 2018-11-27 | 2023-09-19 | 威海威高生物科技有限公司 | ETH-CAN communication front-end detection device based on self-feedback and error self-detection method |
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