In order to remote control a tunnel drilling rig in a coal mine, due to the shortcomings of the larger volume and mass of the programmable logical controller（PLC） system and not convenience for carrying, the remote control node is designed by microcontroller unit （MCU）. The node was taken of STM32 MCU as the core and communicated via CAN bus. The composition of nodes was introduced, and for two different types of switches, analog processing circuit and CAN interface circuit, and state machine, digital filter design were applied in the software. Finally, the experiment verifies the correctness of the node design. The applicationin of the tunnel drilling rig shows that not only is node data acquired correctly and transmitted with stability, but also the volume is small.