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发明专利：基于自主驾驶的机车运输的任务级联锁实现方法及系统,ZL201910727252.7
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发明专利：一种轨道电路电子接收器,ZL201811611396.8
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发明专利：一种矿井下机车无人驾驶系统及控制方法,ZL202010928668.8
