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发明专利：一种具有自诊断功能的矿井运输用应答器系统及应答方法,ZL202011171030.0
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发明专利：一种基于井下CBTC系统的无人驾驶机车系统及追踪方法,ZL202010928830.6
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发明专利：一种基于UWB井下自动放矿系统及控制方法,ZL202010927996.6
