CN114416608A - External equipment simulation platform based on virtual robot controller bus structure and simulation method thereof - Google Patents
External equipment simulation platform based on virtual robot controller bus structure and simulation method thereof Download PDFInfo
- Publication number
- CN114416608A CN114416608A CN202111471733.XA CN202111471733A CN114416608A CN 114416608 A CN114416608 A CN 114416608A CN 202111471733 A CN202111471733 A CN 202111471733A CN 114416608 A CN114416608 A CN 114416608A
- Authority
- CN
- China
- Prior art keywords
- external
- equipment
- simulation unit
- robot controller
- bus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000006870 function Effects 0.000 claims description 26
- 238000004891 communication Methods 0.000 claims description 21
- 230000002093 peripheral effect Effects 0.000 claims description 15
- 230000003993 interaction Effects 0.000 claims description 7
- 238000013507 mapping Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000009432 framing Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000007405 data analysis Methods 0.000 claims description 2
- 238000013461 design Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/10—Program control for peripheral devices
- G06F13/105—Program control for peripheral devices where the programme performs an input/output emulation function
- G06F13/107—Terminal emulation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/40—Bus structure
- G06F13/4063—Device-to-bus coupling
- G06F13/4068—Electrical coupling
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
- G06F13/4282—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2213/00—Indexing scheme relating to interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F2213/0002—Serial port, e.g. RS232C
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Computer Hardware Design (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of combined use of computer hardware and software, in particular to an external equipment simulation platform based on a virtual robot controller bus structure and a simulation method thereof, wherein the platform comprises an external equipment simulation unit, and the external equipment simulation unit specifically comprises: the internal bus mounting equipment simulation unit and the external bus mounting equipment simulation unit comprise the following specific steps: s1, dividing the external device into two parts according to the characteristics of the external bus and the internal bus; s2, mounting a device simulation unit part on the external bus; s3, an internal bus mounting equipment simulation unit part, the invention simulates the mounted equipment from the internal bus mounting equipment simulation unit and the external bus mounting equipment simulation unit respectively, the software design framework is more efficient and clear, the compatibility is stronger, and a scheme is provided for adding new external equipment simulation.
Description
Technical Field
The invention relates to the field of combined use of computer hardware and software, in particular to an external equipment simulation platform based on a virtual robot controller bus structure and a simulation method thereof.
Background
With the rapid development of computer technology, the tight combination of computer hardware and software has become the development trend of the intelligent industry at present. In a large robot system, software and hardware respectively play roles and are matched in a tacit manner, so that the robot can normally operate. The large industrial robot system has the advantages of strong function, high price and wide application. In order to ensure the proper functioning of a large industrial robot system, the control of its state is an essential part of the industrial robot research.
Along with the popularization of the intelligent industry, people put forward higher and higher requirements on the quality of industrial robots: good stability, high safety performance, multiple functions, low price and the like. The robot state is effectively simulated and monitored, the service life of the physical robot can be prolonged, the fault of the physical robot can be eliminated, and the loss caused by the design error of the robot control program can be further reduced.
In an industrial robot system, stable operation and cooperation of hardware equipment are the premise for realizing the functions of the hardware equipment. The peripheral equipment has single function and high price, and the virtual design of the peripheral equipment is the key point for optimizing and improving the whole robot system. With the rapid development of computer software technology, virtualization design has become a solution for simplifying management, saving cost and optimizing resources. Therefore, the method for virtualizing the external equipment based on the virtual robot controller bus structure is low in hardware cost and has positive practical significance.
In the prior art, a technical scheme for simulating external equipment by reasonably designing a virtualized RTC chip, a virtualized FLASH chip, virtual CAN equipment and the like in comparison with a system frame does not exist for a while, and the technical scheme CAN realize optimization and improvement of the whole system, and CAN realize corresponding functions by simulating the external equipment to reduce hardware cost.
Disclosure of Invention
In order to solve the above problems, the present invention provides a virtual robot controller bus structure-based peripheral device simulation platform and a simulation method thereof.
The external equipment simulation platform based on the virtual robot controller bus structure comprises an external equipment simulation unit, wherein the external equipment simulation unit specifically comprises:
the internal bus mounting equipment simulation unit is used for realizing interaction with the virtual robot controller by simulating a chip function;
and the external bus mounting equipment simulation unit simulates related equipment functions to realize interaction with the virtual robot controller.
The chips of the internal bus mounting equipment simulation unit and the external bus mounting equipment simulation unit are provided with communication modes with the robot controller, and the chips also have register addresses, so that the simulation of each different external chip is different, and the register addresses and the communication mode contents of the different external chips need to be paid attention to.
The internal bus mounting equipment simulation unit simulates RTC and FLSAH chips, and realizes the simulation of hardware equipment by using a software technology.
The internal bus mounting equipment simulation unit comprises a real-time clock chip and a charged erasable programmable read-only memory chip.
The real-time clock chip utilizes a time interface of a system to simulate, actually utilizes a system event to simulate the working characteristic of an RTC chip, and reads and writes the chip in a bus mode.
The external bus mounting equipment simulation unit comprises universal asynchronous receiving and transmitting equipment and controller local area network equipment which are used for carrying out data receiving and transmitting or forwarding functions.
The external bus mounting equipment simulation unit simulates CAN and UART equipment and simulates external hardware equipment by software.
The controller area network device integrates the functions of a physical layer and a data link layer of a CAN protocol according to the working characteristics of the controller area network device, and encapsulates the functions into a communication interface to finish the framing processing type work of communication data.
The universal asynchronous receiving and transmitting transmitter device formulates time and space rules of communication level 01 according to internal working characteristics of the universal asynchronous receiving and transmitting transmitter device, and then both communication parties carry out data analysis according to the corresponding rules, so that information transmission is completed.
The simulation method of the external equipment simulation platform based on the virtual robot controller bus structure comprises the following specific steps:
s1, dividing the external device into two parts according to the characteristics of the external bus and the internal bus;
s2, an external bus mounting equipment simulation unit part, which performs physical mapping on each external equipment part such as a controller area network, an Ethernet media access controller, a universal asynchronous transceiver transmitter and a serial peripheral interface, and simulates the equipment function according to the working characteristics of each equipment;
s3, mounting a device simulation unit part on the internal bus, and various chips outside, simulating the working characteristics of the chips by software, and designing corresponding communication modes and register addresses according to different chips.
The invention has the beneficial effects that: the invention simulates the mounted equipment from the internal bus mounted equipment simulation unit and the external bus mounted equipment simulation unit respectively, the software design framework is more efficient and clear, the compatibility is stronger, a scheme is provided for adding new external equipment simulation, a complete and novel virtualization technology thought for simulating the external equipment is provided, an interface interacting with a human chip of a virtual machine robot is provided by using a software technology, and the function of interacting with other equipment is realized and completed.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic view of the structure of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1, the external device simulation platform based on the virtual robot controller bus structure includes an external device simulation unit, where the external device simulation unit specifically includes:
the internal bus mounting equipment simulation unit is used for realizing interaction with the virtual robot controller by simulating a chip function;
and the external bus mounting equipment simulation unit simulates related equipment functions to realize interaction with the virtual robot controller.
The invention simulates the mounted equipment from the internal bus mounted equipment simulation unit and the external bus mounted equipment simulation unit respectively, the software design framework is more efficient and clear, the compatibility is stronger, a scheme is provided for adding new external equipment simulation, a complete and novel virtualization technology thought for simulating the external equipment is provided, an interface interacting with a human chip of a virtual machine robot is provided by using a software technology, and the function of interacting with other equipment is realized and completed.
The internal bus mounting equipment simulation unit and the external chips of the external bus mounting equipment simulation unit are communicated with the robot controller in a communication mode, and the internal bus mounting equipment simulation unit and the external chips of the external bus mounting equipment simulation unit also have own register addresses.
The internal bus mounting equipment simulation unit simulates RTC and FLSAH chips, and realizes the simulation of hardware equipment by using a software technology.
The internal bus mounting equipment simulation unit comprises a real-time clock chip (RTC) and a charged erasable programmable read-only memory chip (EEPROM).
The simulation of the charged erasable programmable read-only memory chip is actually a charged erasable programmable read-only memory, a memory area is applied by software according to the working characteristics of the charged erasable programmable read-only memory, then a read-write interface is realized by the design of reading and writing the internal data, and the read-write access is carried out on the memory area, thereby completing the simulation of the function of the charged erasable programmable read-only memory chip, namely the EEPROM.
The real-time clock chip, i.e. the RTC, is simulated by using a time interface of the system, and actually, the working characteristics of one RTC chip are simulated by using system events, and the chip is read and written by a bus mode.
The external bus mounting equipment simulation unit comprises universal asynchronous receiving and transmitting transmitter equipment, namely UART, used for carrying out data receiving and transmitting or forwarding functions and controller area network equipment, namely CAN.
The external bus mounting equipment simulation unit simulates CAN and UART equipment and simulates external hardware equipment by software.
The controller area network device, namely the CAN uses a virtual serial port.
For controller area network equipment (CAN), the functions of a physical layer and a data link layer of a CAN protocol are integrated, and the functions are encapsulated into a communication interface to finish framing processing type work of communication data.
The controller area network (controllerarenetword) can be called as a short term, the Ethernet media access controller (Ethernet mediaaccess controller) can be called as an email short term, the universal asynchronous transceiver (universal asynchronous receiver/Transmitter) uart can be called as a short term, and the serial peripheral interface (serial peripheral interface) can be called as a spi class for short term for physical mapping.
The serial port is used as a common simple communication mode, external interfaces are reserved for most devices basically, however, communication interface protocols of different controllers are different, configuration information of the serial port such as baud rate and format are also different, simulation requirements of the UART device are obvious, a virtual serial port is used, the principle is that a serial port device is virtualized by means of software, and then serial port assistant software is used as the serial port device, so that read-write interaction with a serial port program is achieved.
The UART makes time and space rules of communication level 01 according to internal working characteristics of the UART, and then both communication parties analyze data according to corresponding rules, thereby completing information transmission.
The simulation method of the external equipment simulation platform based on the virtual robot controller bus structure comprises the following specific steps:
s1, dividing the external device into two parts according to the characteristics of the external bus and the internal bus;
s2, an external bus mounted equipment simulation unit part, which performs physical mapping on each external equipment part such as can, emac, uart and spi and simulates the equipment function according to the working characteristics of each equipment;
s3, mounting a device simulation unit part on the internal bus, and various chips outside, simulating the working characteristics of the chips by software, and designing corresponding communication modes and register addresses according to different chips.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. External equipment simulation platform based on virtual robot controller bus structure, its characterized in that: the device comprises an external equipment simulation unit, wherein the external equipment simulation unit specifically comprises:
the internal bus mounting equipment simulation unit is used for realizing interaction with the virtual robot controller by simulating a chip function;
and the external bus mounting equipment simulation unit simulates related equipment functions to realize interaction with the virtual robot controller.
2. The virtual robot controller bus structure-based peripheral device simulation platform according to claim 1, wherein: the internal bus mounting equipment simulation unit and the external chips of the external bus mounting equipment simulation unit are communicated with the robot controller in a communication mode, and the internal bus mounting equipment simulation unit and the external chips of the external bus mounting equipment simulation unit also have own register addresses.
3. The virtual robot controller bus structure-based peripheral device simulation platform according to claim 1, wherein: the internal bus mounting equipment simulation unit simulates RTC and FLSAH chips, and realizes the simulation of hardware equipment by using a software technology.
4. The virtual robot controller bus structure-based peripheral device simulation platform according to claim 1, wherein: the internal bus mounting equipment simulation unit comprises a real-time clock chip and a charged erasable programmable read-only memory chip.
5. The virtual robot controller bus structure-based peripheral device simulation platform according to claim 4, wherein: the real-time clock chip utilizes a time interface of a system to simulate, actually utilizes a system event to simulate the working characteristic of an RTC chip, and reads and writes the chip in a bus mode.
6. The virtual robot controller bus structure-based peripheral device simulation platform according to claim 1, wherein: the external bus mounting equipment simulation unit comprises universal asynchronous receiving and transmitting equipment and controller local area network equipment which are used for carrying out data receiving and transmitting or forwarding functions.
7. The virtual robot controller bus structure-based peripheral device simulation platform according to claim 1, wherein: the external bus mounting equipment simulation unit simulates CAN and UART equipment and simulates external hardware equipment by software.
8. The virtual robot controller bus structure-based peripheral device simulation platform according to claim 6, wherein: the controller area network device integrates the functions of a physical layer and a data link layer of a CAN protocol according to the working characteristics of the controller area network device, and encapsulates the functions into a communication interface to finish the framing processing type work of communication data.
9. The virtual robot controller bus structure-based peripheral device simulation platform according to claim 6, wherein: the universal asynchronous receiving and transmitting transmitter device formulates time and space rules of communication level 01 according to internal working characteristics of the universal asynchronous receiving and transmitting transmitter device, and then both communication parties carry out data analysis according to the corresponding rules, so that information transmission is completed.
10. The simulation method of the virtual robot controller bus structure-based external device simulation platform using any one of claims 1 to 9, wherein: the method comprises the following specific steps:
s1, dividing the external device into two parts according to the characteristics of the external bus and the internal bus;
s2, an external bus mounting equipment simulation unit part, which performs physical mapping on each external equipment part such as a controller area network, an Ethernet media access controller, a universal asynchronous transceiver transmitter and a serial peripheral interface, and simulates the equipment function according to the working characteristics of each equipment;
s3, mounting a device simulation unit part on the internal bus, and various chips outside, simulating the working characteristics of the chips by software, and designing corresponding communication modes and register addresses according to different chips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111471733.XA CN114416608A (en) | 2021-12-06 | 2021-12-06 | External equipment simulation platform based on virtual robot controller bus structure and simulation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111471733.XA CN114416608A (en) | 2021-12-06 | 2021-12-06 | External equipment simulation platform based on virtual robot controller bus structure and simulation method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114416608A true CN114416608A (en) | 2022-04-29 |
Family
ID=81265787
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111471733.XA Pending CN114416608A (en) | 2021-12-06 | 2021-12-06 | External equipment simulation platform based on virtual robot controller bus structure and simulation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114416608A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1567201A (en) * | 2003-06-11 | 2005-01-19 | 深圳市蓝津信息技术有限公司 | Restructurable virtual device for software bus and chip structure |
| US20080320181A1 (en) * | 2007-06-21 | 2008-12-25 | Seamicro Corp. | Hardware-Based Virtualization of BIOS, Disks, Network-Interfaces, & Consoles Using a Direct Interconnect Fabric |
| CN103944782A (en) * | 2014-04-22 | 2014-07-23 | 华南理工大学 | Multifunctional electric vehicle CAN bus on-board equipment simulator |
| WO2016090908A1 (en) * | 2014-12-12 | 2016-06-16 | 国家电网公司 | Memory simulation testing board system and testing method for embedded application of intelligent electric meter |
| CN105893234A (en) * | 2014-12-30 | 2016-08-24 | 伊姆西公司 | Method for software testing and computing device |
| CN106406423A (en) * | 2016-08-30 | 2017-02-15 | 长沙丰灼通讯科技有限公司 | Method for simulating synchronous bus to generate clock signal employing software algorithm |
| CN109917277A (en) * | 2019-05-16 | 2019-06-21 | 上海燧原智能科技有限公司 | Virtual measuring method, device, equipment and storage medium |
| CN111209154A (en) * | 2020-01-02 | 2020-05-29 | 上海航天计算机技术研究所 | Method for realizing virtual 1553B bus equipment |
| CN111552262A (en) * | 2019-02-11 | 2020-08-18 | 西门子股份公司 | System for verifying a control program of an automation system and method thereof |
| CN112052179A (en) * | 2020-09-21 | 2020-12-08 | 华云数据控股集团有限公司 | Simulation method, simulation system and computer readable medium for software system |
| EP3819091A1 (en) * | 2019-11-11 | 2021-05-12 | Rockwell Automation Technologies, Inc. | Robotic digital twin control with industrial context simulation |
-
2021
- 2021-12-06 CN CN202111471733.XA patent/CN114416608A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1567201A (en) * | 2003-06-11 | 2005-01-19 | 深圳市蓝津信息技术有限公司 | Restructurable virtual device for software bus and chip structure |
| US20080320181A1 (en) * | 2007-06-21 | 2008-12-25 | Seamicro Corp. | Hardware-Based Virtualization of BIOS, Disks, Network-Interfaces, & Consoles Using a Direct Interconnect Fabric |
| CN103944782A (en) * | 2014-04-22 | 2014-07-23 | 华南理工大学 | Multifunctional electric vehicle CAN bus on-board equipment simulator |
| WO2016090908A1 (en) * | 2014-12-12 | 2016-06-16 | 国家电网公司 | Memory simulation testing board system and testing method for embedded application of intelligent electric meter |
| CN105893234A (en) * | 2014-12-30 | 2016-08-24 | 伊姆西公司 | Method for software testing and computing device |
| CN106406423A (en) * | 2016-08-30 | 2017-02-15 | 长沙丰灼通讯科技有限公司 | Method for simulating synchronous bus to generate clock signal employing software algorithm |
| CN111552262A (en) * | 2019-02-11 | 2020-08-18 | 西门子股份公司 | System for verifying a control program of an automation system and method thereof |
| CN109917277A (en) * | 2019-05-16 | 2019-06-21 | 上海燧原智能科技有限公司 | Virtual measuring method, device, equipment and storage medium |
| EP3819091A1 (en) * | 2019-11-11 | 2021-05-12 | Rockwell Automation Technologies, Inc. | Robotic digital twin control with industrial context simulation |
| CN111209154A (en) * | 2020-01-02 | 2020-05-29 | 上海航天计算机技术研究所 | Method for realizing virtual 1553B bus equipment |
| CN112052179A (en) * | 2020-09-21 | 2020-12-08 | 华云数据控股集团有限公司 | Simulation method, simulation system and computer readable medium for software system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103150279B (en) | Method allowing host and baseboard management controller to share device | |
| CN112422453A (en) | Message processing method, device, medium and equipment | |
| CN109828941A (en) | AXI2WB bus bridge implementation method, device, equipment and storage medium | |
| CN111666242B (en) | Multi-channel communication system based on FT platform LPC bus | |
| CN101963798B (en) | Embedded-type rail transit station equipment information collection method | |
| CN109525474A (en) | A kind of multiplex roles protocol-intelligent converter and conversion method based on Linux platform | |
| CN103309830A (en) | Driver of CPCI bus CAN communicating module under VxWorks operating system and driving method | |
| CN107911391A (en) | A kind of AXI protocol based on FPGA and the method for SPI protocol conversion | |
| CN104714907B (en) | A kind of pci bus is converted to ISA and APB bus design methods | |
| CN104714904A (en) | RapidIO controller adopting window mapping mechanism and control method of RapidIO controller | |
| CN108600017A (en) | Multi-protocols serial ports expansion method | |
| CN111459632A (en) | Serial port agent for calling terminal application program and implementation method | |
| CN117032812A (en) | Management method, device and apparatus of server, storage medium and electronic device | |
| CN105893036B (en) | A kind of Campatible accelerator extended method of embedded system | |
| CN105487403A (en) | Establishment of motion control system based on CAN and simulation modeling method | |
| CN103678244B (en) | A kind of smart machine without using application processor | |
| CN114416608A (en) | External equipment simulation platform based on virtual robot controller bus structure and simulation method thereof | |
| CN209105202U (en) | A kind of multiplex roles protocol-intelligent converter based on Linux platform | |
| CN103984663A (en) | Diverse satellite-borne electronic equipment in parallel system | |
| CN112464595A (en) | Cross-platform communication middleware visual modeling method | |
| CN206452412U (en) | A kind of HART instrumental analysis platforms based on Internet of Things | |
| CN115903569A (en) | Full-digital comprehensive modular avionics system | |
| CN113609052A (en) | Chip simulation system based on FPGA and microprocessor and implementation method | |
| CN221326968U (en) | Control system of intelligent motor control box | |
| WO2024212718A1 (en) | Information transmission apparatus, system, and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |