CN113347229B - Network type electric hydraulic control system based on double-layer network architecture - Google Patents
Network type electric hydraulic control system based on double-layer network architecture Download PDFInfo
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- CN113347229B CN113347229B CN202110516869.1A CN202110516869A CN113347229B CN 113347229 B CN113347229 B CN 113347229B CN 202110516869 A CN202110516869 A CN 202110516869A CN 113347229 B CN113347229 B CN 113347229B
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- 238000004891 communication Methods 0.000 claims abstract description 67
- 239000002131 composite material Substances 0.000 claims abstract description 57
- 239000013307 optical fiber Substances 0.000 claims abstract description 37
- 238000012545 processing Methods 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 claims abstract description 7
- 230000003287 optical effect Effects 0.000 claims description 10
- 150000001875 compounds Chemical group 0.000 claims description 7
- 238000002955 isolation Methods 0.000 claims description 4
- 239000000835 fiber Substances 0.000 claims 2
- 238000005065 mining Methods 0.000 abstract description 10
- 230000005540 biological transmission Effects 0.000 description 5
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/02—Details
- H04L12/10—Current supply arrangements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L49/00—Packet switching elements
- H04L49/35—Switches specially adapted for specific applications
- H04L49/351—Switches specially adapted for specific applications for local area network [LAN], e.g. Ethernet switches
Abstract
The application discloses a network type electric hydraulic control system based on a double-layer network architecture, which relates to the field of mining equipment and comprises a composite function box, an electric hydraulic control host and an upper computer; a backbone network switch module is integrated in the composite function box, and comprises an electric network interface and an optical fiber network interface; the method comprises the following steps that cable series connection between frames is established among a preset number of electro-hydraulic control hosts to form an electric Ethernet network, and any one electro-hydraulic control host in the electric Ethernet network is in Ethernet data communication connection with a composite function box through an electric network interface and is used for uploading communication data in the electric Ethernet network to the composite function box; and the upper computer is used for carrying out data processing on communication data in the composite function box in the optical fiber Ethernet backbone network and forwarding the communication data after the data processing to the target electric hydraulic control host.
Description
Technical Field
The application relates to the field of mining equipment, in particular to a network type electric hydraulic control system based on a double-layer network architecture.
Background
The system commonly deployed on the fully mechanized mining face comprises an electric hydraulic control system, a visualization system, a voice system, a personnel positioning system, a three-machine system and the like so as to realize support control, audio access, video access, positioning of personnel, a coal mining machine and the like, coal mining machine control, scraper machine control, belt machine control, pump station control and the like. The systems generally run independently, and have a few working faces, and a small amount of linkage and locking protection exist among the systems.
At present, a network type electro-hydraulic control system applied to a fully mechanized mining face integrates a multi-port switch inside an electro-hydraulic control host, uses 2 hundred mega electrical interfaces to connect adjacent electro-hydraulic control hosts, and can be used for transmitting data of the electro-hydraulic control system and a small amount of videos or other network data.
However, the deployment connection method often has the disadvantages of low bandwidth, large delay, unbalanced network load, high failure rate and poor anti-interference performance, thereby resulting in low practicability and poor stability of the industrial ethernet data of the fully mechanized mining face.
Disclosure of Invention
In view of this, the application provides a network type electric hydraulic control system based on a double-layer network architecture, which is used for solving the technical problems of low practicability and poor stability of industrial ethernet data of the current fully mechanized coal mining face.
According to an aspect of the present application, there is provided a network type electric hydraulic control system based on a two-layer network architecture, the system including: the system comprises a compound function box, an electro-hydraulic control host and an upper computer;
a backbone network switch module is integrated in the composite function box, and comprises an electric network interface and an optical fiber network interface;
the method comprises the steps that cable series connection between every preset number of electro-hydraulic control hosts is established to form an electric Ethernet sub-network, and any one electro-hydraulic control host in the electric Ethernet sub-network is in Ethernet data communication connection with a composite function box through an electric network interface and is used for uploading communication data in the electric Ethernet sub-network to the composite function box;
the upper computer is used for carrying out data processing on communication data in the composite function box in the optical fiber Ethernet backbone network and forwarding the communication data after data processing to a target electrohydraulic control host matched with the communication data through the optical fiber Ethernet backbone network and the electrohydraulic Ethernet subnet.
Furthermore, a power supply module is integrated in the composite function box;
and the power supply module is used for supplying power to each electronic Ethernet network which establishes Ethernet data communication connection with the composite function box.
Furthermore, the composite multifunctional boxes are connected in series through optical cables and electric cables, the electric cables are used for supplying power to the optical fiber Ethernet backbone, and the optical cables are used for establishing data connection in the optical fiber Ethernet backbone so as to forward communication data after data processing to the matched target electric-hydraulic control host through the data connection and the electric Ethernet sub-network.
Furthermore, the electro-hydraulic control host is provided with at least two inter-rack communication interfaces for establishing inter-rack cable series connection with the adjacent electro-hydraulic control host through the inter-rack communication interfaces.
Furthermore, a plurality of network equipment interfaces and sensor interfaces are arranged on the electro-hydraulic control host, and the network equipment interfaces and the sensor interfaces are respectively used for establishing Ethernet data communication connection between the network equipment and the sensors and the electro-hydraulic control host, so that the electro-hydraulic control host forwards and uploads network equipment data and sensor data to the compound function box.
Furthermore, a sub-network switch module is arranged in all the electro-hydraulic control hosts and is used for forwarding communication data of each electro-hydraulic control host, network equipment and sensors connected with each electro-hydraulic control host in the same electro-ethernet sub-network.
Further, the network equipment comprises a camera, a voice communicator, a loudspeaker box, a WiFi AP and personnel positioning equipment.
Furthermore, an isolation coupler is integrated in the composite function box and used for isolating host communication data in different Ethernet networks.
Furthermore, the electronic Ethernet subnetworks of different composite function boxes are connected through a coupler and used for isolating communication data of the different composite function boxes.
Further, the optical network interface is any one of a hundred million network interface, a gigabit network interface and a ten-gigabit network interface, and the electrical network interface is any one of a hundred million network interface and a gigabit network interface.
By means of the technical scheme, compared with the network architecture of the existing electric hydraulic control system, the network type electric hydraulic control system based on the double-layer network architecture provided by the application can ensure the network bandwidth by creating the double-layer network architecture comprising the optical fiber Ethernet backbone network and the electric Ethernet sub-network, so that the electric hydraulic control system can better meet the access requirements of a large number of network devices such as high-definition cameras, wifi and the like; the data transmission from the network equipment to the upper computer only needs to be forwarded through a small number of main machines of the sub-network and the optical fiber backbone network of the composite multifunctional box, and the method has the characteristics of few nodes and small time delay; in addition, because the number of network devices in the same subnet is small, the load of the switch in the host connected to the composite multifunctional box is slightly larger than that of other hosts in the same subnet, the optical fiber network of the backbone network is not influenced by the operation interference of the high-power device, and for the subnet, only the data communication in the subnet is influenced, and the data communication of other subnets is not influenced. And when the inter-rack communication interface of each sub-network has the problems of disconnection and the like, the communication of the subsequent host in the sub-network is only influenced, and the network data communication of the backbone network and other sub-networks is not influenced, so the technical scheme in the application also has the characteristics of low load imbalance degree, low failure rate and strong anti-interference performance.
The above description is only an outline of the technical solution of the present application, and the present application can be implemented in accordance with the content of the description so as to make the technical means of the present application more clearly understood, and the detailed description of the present application will be given below so that the above and other objects, features, and advantages of the present application can be more clearly understood.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application to the disclosed embodiment. In the drawings:
fig. 1 shows a schematic structural diagram of a network-type electric hydraulic control system based on a two-layer network architecture according to an embodiment of the present application;
fig. 2 shows a schematic diagram of an example of a structure of a network-based electric hydraulic control system based on a two-layer network architecture according to an embodiment of the present application.
In the figure:
1-composite function box, 2, 21, 22, 23, 24, 25, 26, 27, 28, 29, 210, 211, 212, 2N +1, 2N +2, 2N +3, 2N +4, 2N + 5-electro-hydraulic control host computer and 3-host computer.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the preferred embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the present application and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular orientation, and thus are not to be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "plurality" means two or more and, unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The preferred embodiments of the present application will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein only to illustrate and explain the present application and not to limit the present application.
The application provides a network type electric hydraulic control system based on double-layer network architecture, refer to fig. 1, and specifically may include: the device comprises a composite function box 1, an electro-hydraulic control host 2 and an upper computer 3; a backbone network switch module is integrated in the composite function box 1, and comprises an electric network interface and an optical fiber network interface; the method comprises the following steps that cable series connection between every preset number of electro-hydraulic control hosts 2 is established to form an electric Ethernet network, and any one electro-hydraulic control host 2 in the electric Ethernet network is in Ethernet data communication connection with a composite function box 1 through an electric network interface and is used for uploading communication data in the electric Ethernet network to the composite function box 1; the upper computer 3 is used for processing the communication data in each composite function box 1 in the optical fiber Ethernet backbone network, and forwarding the communication data after data processing to a target electric-hydraulic control host matched with the communication data through the optical fiber Ethernet backbone network and the electric Ethernet subnet.
The preset number represents the number of the electro-hydraulic control hosts 2 connected in series in each electro-ethernet sub-network, the preset number can be any value larger than or equal to 2, and specific values can be set according to actual application requirements. Because the communication data in the same electronic Ethernet network are sequentially forwarded to the composite function box 1 through the electro-hydraulic control hosts 2 connected in series, the load of the switch in each electro-hydraulic control host 2 connected to the composite function box 1 is slightly larger than the load of other electro-hydraulic control hosts 2 in the same electronic Ethernet network. In order to ensure the load balance, the number of the electro-hydraulic control hosts 2 in the same power grid and the power grid should not be too large, and when the total number of the electro-hydraulic control hosts 2 needing data communication is large, a mode of dividing a plurality of power grids can be adopted, so that the stability of the electro-hydraulic control system is ensured.
In a specific application scenario, a power supply module and a backbone network switching module are integrated inside the composite multifunctional box 1, and 2 or more optical fiber network interfaces and 2 or more electrical network interfaces are built in the composite multifunctional box, where an optical fiber network interface may be any one of a hundred mega network interface, a gigabit network interface, and a ten-million network interface, and an electrical network interface may be any one of a hundred mega network interface and a gigabit network interface. The composite multifunctional box 1 can supply power to each electric Ethernet sub-network establishing Ethernet data communication connection with the composite functional box 1 through the power supply module, and can forward communication data of each electric Ethernet sub-network to an upper computer through the backbone network switching module. In addition, an isolation coupler is further integrated in the composite multifunctional box 1 and used for isolating communication data such as RS485/CAN and the like of each electronic Ethernet sub-network which establishes Ethernet data communication connection with the current composite functional box. In a specific application scenario, the composite multifunctional box 1 may be a power supply box, a switch box, or other similar functional boxes including a switch module. Correspondingly, in the electric hydraulic control system, the electronic Ethernet sub-networks of different compound function boxes 1 are also connected through a coupler and used for isolating communication data of the different compound function boxes. The isolation coupler arranged in the composite multifunctional box 1 and the coupler connected outside can isolate communication data of each electronic Ethernet sub-network, and further can ensure the accuracy of data transmission in the electronic hydraulic control system.
Specifically, when an optical fiber ethernet backbone network is constructed, the composite multifunctional boxes 1 may be connected in series by an optical cable and a cable (in a specific application scenario, the composite multifunctional boxes may also be connected by a photoelectric composite cable), the cable is used to supply power to the optical fiber ethernet backbone network, and the optical cable is used to establish data connection in the optical fiber ethernet backbone network, so as to forward communication data after data processing to a matched target electrohydraulic control host through the data connection and the electric ethernet backbone network. The optical cable can be selected as the mining optical cable, and the cable can be selected as the mining cable. It should be noted that the present application is also applicable to other applicable scenarios, and other types of optical cables and cables with better related performance may be selected, which is not specifically limited herein.
For the electric Ethernet sub-network, each electro-hydraulic control host 2 is provided with at least two inter-rack communication interfaces for establishing inter-rack cable series connection with the adjacent electro-hydraulic control host 2 through the inter-rack communication interfaces so as to support data communication such as RS485/CAN and the like and perform data communication with other electro-hydraulic control hosts 2 in the same electric Ethernet sub-network. Correspondingly, each electro-hydraulic control host 2 is also internally provided with a sub-network switch module, and the sub-network switch module is used for supporting and forwarding communication data of each electro-hydraulic control host 2 in the same electric Ethernet sub-network.
In a specific application scenario, the electric hydraulic control system may further include various types of network devices and sensors, and correspondingly, the electric hydraulic control host 2 is provided with a plurality of network device interfaces and sensor interfaces, which are respectively used for establishing ethernet data communication connection between the network devices and the sensors and the electric hydraulic control host 2, and acquiring sensor data and ethernet communication data of the network devices, so that the electric hydraulic control host 2 forwards and uploads the network device data and the sensor data to the composite function box 1 through the subnet network switch module. The network devices include, but are not limited to, cameras, voice communicators, speakers, WiFi APs, personnel positioning devices, and other devices that require transmission via the ethernet.
When the system works, network equipment and sensors in the system are connected to network equipment interfaces of the electric-hydraulic control hosts 2 nearby, network equipment data, sensor data and communication data of each electric-hydraulic control host 2 are transmitted to the composite multifunctional box 1 after being forwarded by a plurality of electric-hydraulic control hosts 2 in the same electric Ethernet backbone network, and then are forwarded by a backbone network switch module, the communication data in the current composite multifunctional box 1 are forwarded to an upper computer 3 through each series-connected composite multifunctional box 1 connected in an optical fiber Ethernet backbone network, the communication data are processed by the upper computer 3, a target electric-hydraulic control host for sending the data is determined based on the communication data, a target Ethernet network containing the target electric-hydraulic control host and a target composite function box connected with the target electric Ethernet network are further positioned, and the processed data are forwarded to the target composite function box through the optical fiber Ethernet backbone network, and the target compound function box forwards the processed data to the target electric hydraulic control host through the connected target electric Ethernet sub-network, so as to complete the transmission of the data.
By taking a schematic structural example of a network type electric hydraulic control system based on a double-layer network architecture corresponding to fig. 2 as an example, the technical scheme in the application is described in detail. In fig. 2, the electro-hydraulic control host includes a plurality of (21-2N +5), every 3 electro-hydraulic control hosts are divided into an electrical ethernet network (for example, the host 21, the host 22, and the host 23 form an electrical ethernet network, the host 24, the host 25, and the host 26 form an electrical ethernet network, and the like), the composite multifunctional box and the upper computer are connected by an optical fiber to form an optical fiber ethernet backbone network, and an ethernet double-layer architecture including an optical fiber ethernet backbone network and a plurality of electrical ethernet subnets is formed in one step. In this embodiment, every 3 electrohydraulic control hosts are connected in series to form an electric ethernet network (that is, the preset number is set to be 3), the electric ethernet network is further connected to one electric network interface of the composite multifunctional box nearby, each composite multifunctional box has 2 electric network interfaces, two electric ethernet networks can be connected in total, that is, 6 electrohydraulic control hosts, and when the number of the electric ethernet networks corresponding to the electrohydraulic control hosts is large, a plurality of composite multifunctional boxes for connecting the electric ethernet network can be arranged in the optical fiber ethernet backbone network. In the application, every 6 electro-hydraulic control hosts are connected through a coupler and used for isolating data packet communication of a power supply, CAN/485 and the like; the composite multifunctional boxes are connected through optical fibers, and the other optical fiber network interface of one composite multifunctional box close to the upper computer is connected to the upper computer. On each electro-hydraulic control host, various sensors are connected to sensor interfaces, each network device is connected to a network device interface of the host, and the network devices include but are not limited to cameras, voice communicators, sound boxes, positioning modules, wifi APs and the like; the data of every 3 electro-hydraulic control hosts of the same electro-ethernet network are gathered to the connected composite multifunctional boxes through the inter-rack communication interfaces and the electric network interfaces, and are forwarded to the upper computer through the optical fiber network interfaces among the composite multifunctional boxes, and the data processed by the upper computer is forwarded to the target electro-hydraulic control host through the optical fiber ethernet backbone network and the electro-ethernet network.
Compared with the network architecture of the conventional electric hydraulic control system, the network type electric hydraulic control system based on the double-layer network architecture ensures the network bandwidth by establishing the double-layer network architecture comprising the optical fiber Ethernet backbone network and the electric Ethernet sub-network, so that the electric hydraulic control system can meet the access requirements of a large number of network equipment such as high-definition cameras, wifi and the like; the data transmission from the network equipment to the upper computer only needs to be forwarded through a small number of main machines of the sub-network and the optical fiber backbone network of the composite multifunctional box, and the method has the characteristics of few nodes and small time delay; in addition, because the number of network devices in the same subnet is small, the load of the switch in the host connected to the composite multifunctional box is slightly larger than that of other hosts in the same subnet, the optical fiber network of the backbone network is not influenced by the operation interference of the high-power device, and for the subnet, only the data communication in the subnet is influenced, and the data communication of other subnets is not influenced. And when the inter-rack communication interface of each sub-network has the problems of disconnection and the like, the communication of the subsequent host in the sub-network is only influenced, and the network data communication of the backbone network and other sub-networks is not influenced, so the technical scheme in the application also has the characteristics of low load imbalance degree, low failure rate and strong anti-interference performance.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (9)
1. A network type electric hydraulic control system based on a double-layer network architecture is characterized in that the system is an Ethernet double-layer architecture comprising an optical fiber Ethernet backbone network and a plurality of electric Ethernet subnetworks, and comprises: the system comprises a compound function box, an electro-hydraulic control host and an upper computer;
a backbone network switch module is integrated in the composite function box, and comprises an electric network interface and an optical fiber network interface;
the method comprises the steps that cable series connection between every preset number of electro-hydraulic control hosts is established to form an electric Ethernet sub-network, and any one electro-hydraulic control host in the electric Ethernet sub-network is in Ethernet data communication connection with a composite function box through an electric network interface and is used for uploading communication data in the electric Ethernet sub-network to the composite function box;
the electro-hydraulic control host is provided with a plurality of network equipment interfaces and sensor interfaces, and the network equipment interfaces and the sensor interfaces are respectively used for establishing Ethernet data communication connection between the network equipment and the sensors and the electro-hydraulic control host so as to forward and upload network equipment data and sensor data to the compound function box through the electro-hydraulic control host;
the upper computer is used for carrying out data processing on communication data in the composite function box in the optical fiber Ethernet backbone network and forwarding the communication data after data processing to a target electrohydraulic control host matched with the communication data through the optical fiber Ethernet backbone network and the electrohydraulic Ethernet subnet.
2. The system of claim 1, wherein a power supply module is integrated inside the complex function box;
and the power supply module is used for supplying power to each electronic Ethernet sub-network which establishes Ethernet data communication connection with the composite function box.
3. The system of claim 1, wherein the multiple function boxes are connected in series by an optical cable and an electrical cable, the electrical cable is used for supplying power to the optical fiber Ethernet backbone, and the optical cable is used for establishing a data connection in the optical fiber Ethernet backbone so as to forward the communication data after data processing to the matched target electrohydraulic host through the data connection and the electric Ethernet sub-network.
4. The system of claim 1, wherein the electrohydraulic host has at least two inter-rack communication interfaces disposed thereon for establishing an inter-rack cable series connection with an adjacent electrohydraulic host through the inter-rack communication interfaces.
5. The system according to claim 1, wherein a sub-network switch module is built in all the electro-hydraulic control hosts, and is used for forwarding communication data of each electro-hydraulic control host, network equipment and sensors connected with each electro-hydraulic control host in the same electric Ethernet sub-network.
6. The system of claim 1 or 5, wherein the network device comprises a camera, a voice communicator, a speaker, a WiFi AP, a person location device.
7. The system of claim 1, wherein the multifunctional box is integrated with an isolation coupler therein for isolating host communication data in different ethernet networks.
8. The system of claim 1, wherein the electronic ethernet networks of different complex function boxes are connected by a coupler for isolating the communication data of different complex function boxes.
9. The system of claim 1, wherein the fiber optic network interface is any one of a hundred mega, gigabit, and ten gigabit fiber optic network interface, and wherein the electrical network interface is any one of a hundred mega and a gigabit electrical network interface.
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| CN203289494U (en) * | 2013-06-06 | 2013-11-13 | 武汉誉德合同能源管理有限公司 | Network system capable of guaranteeing real-time performance of large number of network terminal nodes |
| CN103573281A (en) * | 2013-08-30 | 2014-02-12 | 中国矿业大学 | Hydraulic support electrohydraulic control system |
| CN107201901A (en) * | 2017-07-11 | 2017-09-26 | 中国矿业大学 | Closely high gas layer group thin coal seam unmanned working face mining device and method |
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| US7042912B2 (en) * | 2001-12-18 | 2006-05-09 | Nortel Networks Limited | Resynchronization of control and data path state for networks |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203289494U (en) * | 2013-06-06 | 2013-11-13 | 武汉誉德合同能源管理有限公司 | Network system capable of guaranteeing real-time performance of large number of network terminal nodes |
| CN103573281A (en) * | 2013-08-30 | 2014-02-12 | 中国矿业大学 | Hydraulic support electrohydraulic control system |
| CN107201901A (en) * | 2017-07-11 | 2017-09-26 | 中国矿业大学 | Closely high gas layer group thin coal seam unmanned working face mining device and method |
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