CN206575233U - A kind of non-contact electric energy and bidirectional signal transmission system - Google Patents
A kind of non-contact electric energy and bidirectional signal transmission system Download PDFInfo
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- CN206575233U CN206575233U CN201720290476.2U CN201720290476U CN206575233U CN 206575233 U CN206575233 U CN 206575233U CN 201720290476 U CN201720290476 U CN 201720290476U CN 206575233 U CN206575233 U CN 206575233U
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Abstract
The utility model belongs to inductively electric energy and signal transmission technology field, and in particular to a kind of non-contact electric energy and bidirectional signal transmission system.The system completes the transmission of electric energy and signal of communication by same group of magnet coil simultaneously, and the system can realize the non-contact transmission of electric energy and the transmitted in both directions of signal of communication.The Transmission system that the utility model is provided is applied in non-contact electric energy and signal transmission, using one group of transmission channel, i.e., one group magnet coil, while the transmission of electric energy and signal is completed, and signal is transmitted in both directions.
Description
Technical field
The utility model belongs to inductively electric energy and signal transmission technology field, and in particular to a kind of non-contact electric energy and
Bidirectional signal transmission system.
Background technology
Inductively coupled power transfer technology is that one kind realizes that electric energy is closely non-based on electromagnetic field of high frequency near-field coupling principle
Contact the technology of transmission.At present, obtained more next in fields such as household electrical appliances, oil drilling, implantable medical equipment, charging electric vehicles
More it is widely applied.
Under many application scenarios, the synchronous transfer of electric energy and signal of communication is generally required, electric energy is is provided by electric unit
Energy, signal communication is then used to transmit control instruction, status information, sensor measured value etc..Current extensive application mode is,
Electric energy is transmitted and signal is transmitted and transmitted respectively by different electromagnetic coil structure, mechanical dimension is caused and weight is excessive, electricity
The problem of magnetic radiation is high, oneself power consumption is high.
In addition, in the prior art, although some researchers have attempted to electric energy and signal synchronizing transmission, and real
Show the one-way transmission of signal, but it haves the shortcomings that narrow (widely apply needs two-way communication to application under scene, for example
Oil drilling, automobile charging, household electrical appliances charging etc.).
Utility model content
In view of the above-mentioned problems, the utility model provides a kind of non-contact electric energy and bidirectional signal transmission system.The transmission
System is applied in non-contact electric energy and signal transmission, can complete the biography of electric energy and signal simultaneously using one group of magnet coil
It is defeated, and signal is transmitted in both directions.
The utility model is achieved through the following technical solutions：
A kind of Transmission system of non-contact electric energy and two-way signaling, the system includes primary return and secondary loop；Institute
State primary return and the secondary loop inductively and be not electrically connected directly；
The primary return include power supply, high-frequency inverter, primary resonant compensation circuit, transmitting coil, the first controller,
First signal demodulation module and the first signal modulation module, wherein, the power supply, the high-frequency inverter, the primary resonant
Compensation circuit and the transmitting coil are sequentially connected electrically；The secondary loop includes electrical equipment, energy converter, secondary resonance
Compensation circuit, receiving coil, second controller, secondary signal demodulation module and secondary signal modulation module, wherein, it is described to receive
Coil, the secondary resonance compensation circuit, the energy converter and the electrical equipment are sequentially connected electrically.
Further, in the primary return, first signal modulation module and the primary resonant compensation circuit
Electrical connection, first signal demodulation module is electrically connected with first controller and the transmitting coil, first control
Device is electrically connected with the high-frequency inverter.
Further, in the secondary loop, the secondary signal demodulation module is electrically connected with the receiving coil, institute
State secondary signal demodulation module to electrically connect with the second controller, the second controller and the secondary signal modulation module
Electrical connection, the secondary signal modulation module is electrically connected with the secondary resonance compensation circuit.
Further, the transmitting coil and the receiving coil are one group of magnet coil.
Advantageous effects of the present utility model：
(1) Transmission system described in the utility model, compared to split-type design, one group of coil has been used due to reducing, can
Mechanical dimension and weight are effectively reduced, electromagnetic radiation is reduced, also reduces the power attenuation of electric energy transmission system itself, Neng Gou
Applied under many size-constrained scenes (such as in oil drilling drill collar).
(2) transmitted while ensure that electric energy and signal of communication, wherein signal of communication can realize transmitted in both directions.
Brief description of the drawings
Fig. 1 is inductively electric energy and signal transmission system theory diagram；
Fig. 2 is the circuit structure diagram of the utility model non-contact electric energy and bidirectional signal transmission system；
(by electric energy sender to electric energy recipient) during the forward direction transmission of Fig. 3 signals, signal demodulation flow chart；
(by electric energy recipient to electric energy sender) during the transmission of Fig. 4 signals reverses, signal demodulation flow chart.
Embodiment
In order that the purpose of this utility model, technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing and implementation
Example, the utility model is explained in further detail.It should be appreciated that specific embodiment described herein is used only for explaining
The utility model, is not used to limit the utility model.
On the contrary, the utility model cover it is any be defined by the claims do in spirit and scope of the present utility model
Replacement, modification, equivalent method and scheme.Further, it is right below in order that the public has a better understanding to the utility model
It is detailed to describe some specific detail sections in detailed description of the present utility model.Do not have for a person skilled in the art
The description of these detail sections can also understand the utility model completely.
Embodiment 1
A kind of Transmission system of non-contact electric energy and two-way signaling, as shown in figure 1, the system includes primary return and secondary
Level loop；The primary return and the secondary loop are not electrically connected inductively and directly；
The primary return include power supply, high-frequency inverter, primary resonant compensation circuit, transmitting coil, the first controller,
First signal demodulation module and the first signal modulation module, wherein, the power supply, the high-frequency inverter, the primary resonant
Compensation circuit and the transmitting coil are sequentially connected electrically；The secondary loop includes electrical equipment, energy converter, secondary resonance
Compensation circuit, receiving coil, second controller, secondary signal demodulation module and secondary signal modulation module, wherein, it is described to receive
Coil, the secondary resonance compensation circuit, the energy converter and the electrical equipment are sequentially connected electrically.
Electric energy is reverse into high-frequency ac current by high-frequency inverter in the primary return, passes through the primary resonant
Loop is compensated, high-frequency alternating magnetic field is produced in transmitting coil, produced high-frequency alternating magnetic field is directly (empty by transmission medium
Gas and water, oil etc.) it is transferred on the receiving coil of the secondary loop.The electric energy that secondary loop is received is humorous by the secondary
Compensation circuit shake to strengthen energy transmission efficiency, alternating current is changed into by direct current by the energy converter, and be filtered steady
The processing such as pressure, is finally transferred to electrical equipment so as to its normal work by the electric energy handled well.
The transmitting coil and the receiving coil constitute transformer device structure, and the transformer device structure is couple electrical energy knot
Structure.The contour structures of couple electrical energy structure are according to application scenarios, such as donut, parallel ring.The constraint of this structure,
So that transmission range will not very greatly (usual 0-20cm scopes), otherwise transimission power and efficiency can be reduced, or even can not meet reality
With requiring.
In the primary return, first signal modulation module is electrically connected with the primary resonant compensation circuit, institute
State the first signal demodulation module to electrically connect with first controller and the transmitting coil, first controller and the height
Frequency inverter is electrically connected.
Wherein in the primary return, high-frequency inverter, for being converted into AC power with dc source, and frequency can
To adjust；
Primary resonant compensation circuit, for coordinating with transmitting coil, forms LC resonance circuits；
Transmitting coil, for constituting transformer device structure with receiving coil, completes electric energy sending function；
First controller, for high-frequency inverter, the control of primary resonant compensation circuit, the caching of data signal and processing,
And be connected with other electric units, in the present embodiment, first controller for ST companies STM32ARM chips or
The intra-companies such as NXP companies have the ARM chips such as timer；
First signal modulation module, including resonant capacitance group and capacitance selection switch, can change primary resonant compensation electricity
The resonant capacitance on road, is engaged with the reverse frequency of the high-frequency inverter, and high-frequency inverter is operable with 2 kinds of different inversions
Frequency, represents data signal 1 or 0 respectively, i.e., can complete signal modulation.
First signal demodulation module comprising high-frequency inverter output voltage and electric current are proceeded through sampling, filtering, shaping,
The circuit of Zero-cross comparator, enters the first signal solution mode transfer from high-frequency inverter output voltage signal and current signal two paths of signals
Block, in first signal demodulation module, two paths of signals exports after phase difference generator and carries phase information all the way
Signal, the signal for then carrying phase information enters phase difference detecting circuit, and phase difference decision device is big according to phase difference value
Small judgement output digit signals 1 or 0, that is, complete signal demodulation.
Signal is completed after demodulation, is transferred to the first controller, and signal after demodulation is stored in internal slow by the first controller
Other electric units are sent in storage or by interface.
In the secondary loop, the receiving coil, the secondary resonance compensation circuit, the energy converter and institute
State electrical equipment to be sequentially connected electrically, the secondary signal demodulation module is electrically connected with the receiving coil, the secondary signal solution
Mode transfer block is electrically connected with the second controller, and the second controller is electrically connected with the secondary signal modulation module, described
Secondary signal modulation module is electrically connected with the secondary resonance compensation circuit.
Wherein in the secondary loop, energy converter is used to AC power being converted into dc source, and is filtered
Ripple voltage stabilizing etc. is handled；
Secondary resonance compensation circuit is used to coordinate with receiving coil, forms LC resonance circuits；
Receiving coil is used to constitute transformer device structure with transmitting coil, completes electric energy receive capabilities；
Second controller is used for the control of secondary resonance compensation circuit, the caching of data signal and processing, and electric with other
Unit is connected.In the present embodiment, the second controller is adopted as STM32 ARM chips or NXP companies of ST companies etc.
Intra-company has the ARM chips such as timer；
Secondary signal modulation module, including resonant capacitance group and capacitance selection switch, can change secondary resonance compensation electricity
The resonant capacitance on road, and the on off state of resonant capacitance selecting switch, on off state difference corresponding digital signals 1 can be controlled
Or 0, that is, complete signal modulation.
Sampling of the secondary signal demodulation module comprising secondary current, filtering, shaping, Zero-cross comparator circuit, after shaping
Signal enters frequency detection circuit, and frequency detection circuit completes signal demodulation according to different frequency values judgement output 1 or 0.
The transmitting coil and the receiving coil are one group of magnet coil.The Transmission system passes through same group of electromagnetic wire
Circle completes the transmission of electric energy and signal of communication simultaneously, and the system can realize the non-contact transmission and signal of communication of electric energy
Transmitted in both directions.
The transmitted in both directions of the signal of communication includes：Signal of communication is transferred to the forward direction of electric energy recipient from electric energy sender
Transmission and signal of communication be transferred to from electric energy recipient electric energy sender reverse transfer (electric energy sender also known as original
Side, the coil on this side is referred to as primary coil, and electric energy recipient is also known as secondary, and the coil on this side is referred to as secondary coil)；
The positive transmission is modulated by changing the voltage or power frequency of electric energy sender to electric energy recipient, and
By detecting secondary resonance current IsFrequency be demodulated；The reverse transfer is adjusted by way of changing current phase
System, sending electric energy can be by detecting the phase place change of electric current come demodulated signal.
Transmitting non-contact electric energy is carried out using the Transmission system and two-way signaling transmission is specially：
1. transmitting non-contact electric energy
Fig. 2 is the circuit structure diagram of the Transmission system of non-contact electric energy and two-way signaling in the present embodiment；In relative separation
Power supply and electrical equipment between carry out electric energy transmission, be specially：As shown in Fig. 2 primary side is series resonance, secondary is
Parallel resonance.Wherein, Vin is control source, and primary side high frequency DC-AC converters are (for high-frequency inversion selected in the present embodiment
Device) by Q1~Q4, totally four switching tubes are constituted, and the working frequency of Transmission system is general in 10KHz~100KHz.Lp is transmission system
The primary side of system is formed in parallel from inductance value, Cp by Cp1, Cp2, and Cp is primary compensation capacitor, and is in cascaded structure with Lp；Ps is first
Modulator and the first demodulator, Kp switch for primary resonant capacitance selection, and Ip is primary current.
The secondary of system is parallel-connection structure, and Ls is Transmission system secondary self-induction, and Cs is formed in parallel by Cs1, Cs2, and Cs is pair
Side compensating electric capacity, Cs and Ls is in parallel-connection structure.RL is load；Ss be the second modulator and the and demodulator, Ks is secondary resonance
Capacitance selection is switched.Mutual inductance value M between system original secondary is smaller, and generally 0.1~0.4.The natural resonance frequency f of primary sidep
For
Understand, the natural resonance frequency of primary side and primary side from inductance value Lp, compensating electric capacity value Cp, secondary from inductance value Ls and
Mutual inductance M is relevant.When natural resonance frequency of the AC magnetic field change frequency in system that energy is transmitted, energy transimission power and
Efficiency is all larger.
Following previously arranged signal is sent to secondary (electric energy recipient) from primary side (electric energy sender) turns into positive transmission, on the contrary
As reverse transfer.
The forward direction transmission of 2 signals
2.1 signal modulation
During signal forward direction transmission, signal modulation is completed in the first signal modulation module of primary side.
Wherein, the first signal modulation module, including resonant capacitance group and capacitance selection switch, can change primary resonant benefit
The resonant capacitance of circuit is repaid, is engaged with the reverse frequency of the high-frequency inverter, its basic thought is：
1. signal modulation is carried out by changing the working frequency (i.e. voltage or power frequency) of former secondary.
2. keep primary side to always work in resonant condition, primary resonant compensation circuit is changed while changing working frequency
The value of resonant capacitance.
3. secondary is always worked near natural resonance frequency, to reduce during signal transmission because frequency shift is passed to energy
The defeated influence caused.
As shown in Fig. 2 secondary is parallel-connection structure, the knot of secondary in signal process is modulated in the first signal modulation module
Structure parameter keeps constant.Primary side is series compensation, and Cp1 is primary compensation capacitor, and primary compensation capacitor increases when Cp2 is modulated signal
Amount, Kp switchs for primary resonant capacitance selection.Primary side DC-AC converters (high-frequency inverter) are made up of Q1~Q4, wherein Q1, Q4
A bridge arm is constituted, simultaneously turns on or turns off, Q2, Q3 constitute another bridge arm, while section is opened or closes, two groups of switching tube switches
Time complete complementary, forms full-bridge inverting.Its switching frequency changes according to signal modulation process, it is assumed that use f0Represent signal
" 0 ", uses f1Represent signal " 1 ".
When transmitting data signal " 0 ", the modulation switch Kp of the first signal modulation module is closure conducting state, and primary side is mended
Capacitance is repaid for Cp1+Cp2；System primary side forms series loop by DC-AC converters, Cp1+Cp2, Lp, and arrange parameter makes now
The natural resonance frequency of system primary and secondary side be f0, i.e.,：
DC-AC converters are adjusted, make its reverse frequency with keeping f0Unanimously.Then former secondary is operated in resonant condition, energy
Measure transmittability maximum.Now detect secondary resonance current IsFrequency, this frequency is consistent with primary side reverse frequency, is f0。
When transmitting data signal " 1 ", the modulation switch K of the first signal modulation modulepTurn off, primary compensation capacitor value is
Cp1, system primary side is by DC-AC converters, Cp1、LpSeries loop is formed, then primary side natural resonance frequency is changed into f1：
DC-AC converters are adjusted, make its frequency and f1It is consistent, now system primary side remains operating in resonant condition.
Detect secondary resonance current IsFrequency, secondary resonance current frequency following primary side reverse frequency, is also f1.Due to primary side always
System natural resonance frequency point is operated in, therefore, inverter voltage and resonance current now are also same-phase, DC-AC converters
Also it is operated in Sofe Switch state.
2.2 signals are demodulated
During signal forward direction transmission, signal demodulation is completed in the secondary signal modulation module of secondary.According to above-mentioned
Signal frequency modulation modulation system, system represents data signal " 0 " and " 1 " by the different operating frequency of former secondary.For signal
Demodulation, in system secondary detection secondary resonance current IsFrequency f, if f and f0The virtual value of difference is less than preset value △ f0, then
Think to receive signal " 0 "；And if f and f1The virtual value of difference is less than preset value △ f1, then it is assumed that receive signal " 1 ".
System operating frequency is between 10-100KHz, and for relatively high speed signal transmission, its frequency is relatively low, if
Two modulating frequency differences are obvious, then can directly measure its frequency with general high speed processing chip.Therefore, the second letter
Number modulation module can directly carry out signal demodulation with chip detection.First have to first turn the current signal for detecting different frequency
The square-wave signal of same frequency is changed to, with switching levels, this detection circuit can be realized with zero-crossing comparator.Converted-wave accesses micro- place
Device chip (MCU) is managed, chip demodulation is carried out, chip demodulates flow chart as shown in figure 3, its process is：1) initialization MCU (including
Initialize clock, IO, timer, interruption setting), it is correctly configured, initiation culture capture module；2) frequency signal is inputted
Afterwards, MCU frequency acquisition module real-time capture calculates signal frequency；3) decision device judges the frequency f and reference frequency of input signal
Rate f0、f1Difference, | f-f0|<△f0When (△ f0For preset value), it is believed that 0 is received, | f-f1|<△f1When (△ f1It is default
Value), it is believed that 1 is received, that is, completes signal demodulation.
3. signals reverse is transmitted
The reverse transfer of signal refers to signal transmission of the signal from secondary to primary side, intends using based on current phase modulation
Signals reverse is transmitted, and primary side waveform is influenceed by changing the compensating electric capacity of secondary, so as to load signal.
In inductively coupled power transfer system, when secondary is operated in complete resonant condition, it hinders in the reflection of primary side
Resist for purely resistive, if primary side is also operated in complete resonant condition, input voltage is identical with the phase of electric current.If keeping primary side
Working frequency is constant, changes the circuit structure of secondary, it is reflexed to the resonance shape that the impedance of primary side is not purely resistive, then primary side
State will be broken, and phase difference will be produced between the input voltage and electric current of primary side.
In circuit structure of the present utility model, its primary side natural resonance frequency can be provided by formula (1), in KsDuring conducting,
Compensating electric capacity increment Cs2Circuit is accessed, under conditions of primary side reverse frequency is constant, no matter real the equiva lent impedance for reflexing to primary side is
Portion or imaginary part have reduction, reduce (note knots modification is Δ L) equivalent to the inductance value of secondary resonance circuit, so as to cause primary side
Primary side resonant frequency is f after the change of natural resonance frequency, changep1Such as：
Therefore, when signal of communication is transferred to electric energy recipient from electric energy sender, i.e., positive transmission, by changing electric energy
The voltage of transmission or the mode of power frequency are modulated, and at the same time adjust the resonant capacitance of primary coil so that different electricity
Primary coil is all in resonant condition under energy transmission frequency.In the present embodiment, calculated according to formula (1)-formula (4) and obtain phase
4 parameters answered, and this 4 parameters are stored in first controller and the second controller, being modulated or
During demodulation, use is directly read, therefore, there is no need to set software in controller again to calculate this 4 parameters.
3.1 signal modulation
When signals reverse is transmitted, signal modulation is completed in the secondary signal modulation module of secondary.
Specific modulated process is to keep the reverse frequency of primary side to be fixed as system natural resonance frequency fp.When transmission numeral
During signal " 0 ", the signal modulation switch K of controller control secondary signal modulation modulesShut-off, disconnects increment compensating electric capacity Cs2,
Now the former secondary of system is operated in natural resonance frequency.The resonance current I of primary sidepWith inverter bridge output voltage UinPhase is consistent.
When transmitting data signal " 1 ", controller control signal modulation switch KsConducting, increment compensating electric capacity Cs2Circuit is accessed, now
Negative perception is presented in the impedance that secondary reflexes to primary side, and primary circuit is in capacitive, and inversion frequency is less than primary side natural resonance frequency fp, Uin
Phase lags behind resonance current IpWaveform；I.e. under different modulation conditions, the phase difference of the voltage and current of primary side changes
Become, that is, complete modulation.
3.2 signals are demodulated
When signals reverse is transmitted, signal demodulation is completed in the first signal demodulation module of primary side.
As shown in Figure 4：
The voltage and current of high-frequency inverter output is through over sampling, filtering, shaping, Zero-cross comparator circuit, the electricity after output
Signal and current signal two paths of signals are pressed, voltage signal and current signal two paths of signals are produced by signal adapter, phase difference
The signal for carrying phase information all the way is exported after device, is then entering phase difference detecting circuit, phase difference decision device is according to phase
Position size of the difference judgement output digit signals 1 or 0, that is, complete signal demodulation.
According to signal modulation feature, when transmitting signal " 0 ", there is no phase difference or phase between primary side input voltage and electric current
Potential difference very little, when transmitting signal " 1 ", there is obvious phase difference between primary side input voltage and electric current.Therefore it can detect primary side
Input voltage UinWith electric current Ip, it is more than a certain preset value △ P when detecting corresponding phase difference1, then it is assumed that receive signal
" 1 ", is less than a certain preset value △ P when detecting phase difference0, then it is assumed that receive signal " 0 ".
Therefore, when signal of communication is transferred to electric energy sender from electric energy recipient, by way of changing current phase
It is modulated, sending electric energy can be by detecting that the phase difference of electric current changes come demodulated signal；Wherein, current phase is changed
Mode is specially the resonant capacitance for adjusting receiving coil in secondary loop.
Claims (4)
1. the Transmission system of a kind of non-contact electric energy and two-way signaling, it is characterised in that the system includes primary return and secondary
Level loop；The primary return and the secondary loop are not electrically connected inductively and directly；
The primary return includes power supply, high-frequency inverter, primary resonant compensation circuit, transmitting coil, the first controller, first
Signal demodulation module and the first signal modulation module, wherein, the power supply, the high-frequency inverter, primary resonant compensation
Circuit and the transmitting coil are sequentially connected electrically；The secondary loop includes electrical equipment, energy converter, secondary resonance compensation
Circuit, receiving coil, second controller, secondary signal demodulation module and secondary signal modulation module, wherein, the reception line
Circle, the secondary resonance compensation circuit, the energy converter and the electrical equipment are sequentially connected electrically.
2. a kind of Transmission system of non-contact electric energy and two-way signaling according to claim 1, it is characterised in that it is described just
In level loop, first signal modulation module is electrically connected with the primary resonant compensation circuit, the first signal solution mode transfer
Block is electrically connected with first controller and the transmitting coil, and first controller is electrically connected with the high-frequency inverter.
3. a kind of Transmission system of non-contact electric energy and two-way signaling according to claim 1, it is characterised in that at described time
Level loop in, the secondary signal demodulation module is electrically connected with the receiving coil, the secondary signal demodulation module with it is described
Second controller is electrically connected, and the second controller is electrically connected with the secondary signal modulation module, the secondary signal modulation
Module is electrically connected with the secondary resonance compensation circuit.
4. a kind of non-contact electric energy and bidirectional signal transmission system according to claim 1, it is characterised in that the emission lines
Circle and the receiving coil are one group of magnet coil.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720290476.2U CN206575233U (en) | 2017-03-23 | 2017-03-23 | A kind of non-contact electric energy and bidirectional signal transmission system |
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| CN201720290476.2U CN206575233U (en) | 2017-03-23 | 2017-03-23 | A kind of non-contact electric energy and bidirectional signal transmission system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108879896A (en) * | 2018-06-26 | 2018-11-23 | 深圳市鑫汇达机械设计有限公司 | A kind of Baffle Box of Bluetooth and wireless charger of wireless charging |
| CN109245536A (en) * | 2018-08-24 | 2019-01-18 | 李建科 | A kind of circuit topological structure suitable for the transmission of two-way near field electric energy |
| CN111894562A (en) * | 2020-06-09 | 2020-11-06 | 中国科学院地质与地球物理研究所 | Signal transmission method and system of rotary steering drilling tool |
-
2017
- 2017-03-23 CN CN201720290476.2U patent/CN206575233U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108879896A (en) * | 2018-06-26 | 2018-11-23 | 深圳市鑫汇达机械设计有限公司 | A kind of Baffle Box of Bluetooth and wireless charger of wireless charging |
| CN109245536A (en) * | 2018-08-24 | 2019-01-18 | 李建科 | A kind of circuit topological structure suitable for the transmission of two-way near field electric energy |
| CN111894562A (en) * | 2020-06-09 | 2020-11-06 | 中国科学院地质与地球物理研究所 | Signal transmission method and system of rotary steering drilling tool |
| CN111894562B (en) * | 2020-06-09 | 2021-05-04 | 中国科学院地质与地球物理研究所 | Signal transmission method and system of rotary steering drilling tool |
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