266results about How to "Realize collaborative control" patented technology

The invention relates to an autonomous multi-robot collaboration control method which belongs to the automatic control field and aims to solve the problems that the multi-robot in the prior art can not realize the collaboration control in a real sense, has low efficiency and is not adaptable to the complex task. Based on a wireless sensor network, a control center establishes a collaboration task allocation plan for each robot according to the state and the position of a task object to be executed and the capability and the location of the robots, thereby achieving the effect of cooperative control of the multi-robot. Therefore, the robot can operate collaboratively under the unified allocation of the control center using the wireless sensor only, without occupying other network resources. The autonomous multi-robot collaboration control method ensures the collaboration of the multiple robots in the real sense within a wide range.

The invention relates to denitrition catalyst with a mercury removal effect. The catalyst has a chemical general formula of: MXn-V2O5-Y / TiO2, wherein, M is a metallic element selected from Fe, Cu, Mn or Co, X is halogen Cl or Br, Y is WO3 or MoO3, and n=2-4, and the elements are in a weight ratio of: 1-10 of M, 1-1.5 of V, 7.5-8.5 of W or Mo, and 75-100 of TiO2. The catalyst is prepared by the steps of: dipping V2O5-WO3 / TiO2 or V2O5-MoO3 / TiO2 with MCln or MBrn, then conducting frying and calcination. With the catalyst of the invention, catalytic reduction of NOx and catalytic oxidation of Hg<0> can be simultaneously completed in an original flue gas denitrition catalytic reactor, and the generated divalent mercury ions are washed and cured in desulfurized gypsum in a subsequent flue gas wet desulphurization process. Thus, cooperative control of the discharge of NOx and Hg<0> can be realized without increasing flue gas purification facilities of coal-fired power plants.

The invention provides an intelligent home environment cooperative control method and system based on an emotional robot, aiming to improve users' satisfaction. The method includes performing fusion analysis on the acquired users' emotional states and intelligent home environment data; and generating control instructions to adjust the intelligent home environment based on the analyzed results. The system includes an emotional robot, a home gateway, and intelligent home environment equipment, the emotional robot is communicated with the intelligent home environment equipment via the home gateway, the emotional robot includes an emotional cognition module and a cooperative control center module, the intelligent home environment equipment is used for acquiring intelligent home environment data, the emotional cognition module is used for determining users' emotional states, and the cooperative control center module is used for performing fusion analysis on the acquired users' emotional states and intelligent home environment data and adjusts the intelligent home environment. The intelligent home environment cooperative control method and system are suitable for the industrial automation information and man-machine interaction technology field.

The invention provides a shift hydraulic control circuit of a dual-clutch gearbox, comprising a shift hydraulic circuit which is constituted by two shift two-position three-way electromagnetic valves and a shift multiway valve and which controls the action of a shift cylinder, and the movement of the shift multiway valve is controlled by the pressure control device. Compared with the shift hydraulic pressure circuit in the prior art, the circuit of the shift magnetic valve in the invention has selectivity, can reduce the usage amount of the electromagnetic valve by a half and can obviously reduce the complexity degree of the hydraulic system; the combination of the clutch hydraulic circuit, the two shift two-position three-way electromagnetic valve, the shift multiway valve and the pressure control device greatly simplifies the dual-clutch gearbox shift hydraulic pressure control system, optimizes the hydraulic circuit, leads the design and manufacturing of the valve block to be easier, lowers the system cost, leads the volume of the valve block to be small and is suitable for the use requirement of coupes.

The invention provides a cooperative control method for mine unmanned vehicles. The cooperative control method comprises the following steps: transmitting a first control command to each of a plurality of mine unmanned vehicles, wherein the first control command includes a first path plan for indicating the mine unmanned vehicle to drive automatically according to the first path plan; receiving vehicle information transmitted by the plurality of mine unmanned vehicles; determining that at least two of the plurality of mine unmanned vehicles have path conflicts according to the vehicle information; and transmitting a second control command to at least one of the at least two mine unmanned vehicles, wherein the second control command is used for indicating at least one mine unmanned vehicleto automatically drive according to a conflict avoidance strategy. The cooperative control method for the mine unmanned vehicles provided by the invention can control a plurality of mine unmanned minecars synchronously, so as to realize the cooperative control of the plurality of mine unmanned mine cars.

The invention provides a hub motor driving automobile integrative design and cooperative control test platform and an implementation method. The platform comprises a whole vehicle control system, an active distributed driving system, an EMB electronic mechanical braking system, an active steering system, a power battery pack, a battery management system, a whole vehicle frame structure and a suspension module; the whole vehicle control system comprises a whole vehicle controller, a control mechanism sensor and a communication system; the active distributed driving system comprises four motor controllers, four hub motors, four wheels, an accelerator pedal and a hub motor sensor; the EMB electronic mechanical braking system comprises an EMB controller, four EMB brakes, a brake pedal sensor,a wheel cylinder pressure sensor and an EMMB brake angle and displacement sensor; the active steering system comprises a steering system control mechanism, a steering execution structure, a steering controller, and a steering knuckle angle and torque sensor. The whole vehicle frame is simple in structure, simple in process and high in expansibility.

The invention relates to an energy-saving environment-friendly sintering waste gas waste-heat utilization and pollutant purification process and system. The energy-saving environment-friendly waste gas waste-heat utilization and pollutant purification process includes that sintering waste gas is divided into a low-temperature low-sulfur sintering waste gas, a middle-temperature high-sulfur sintering waste gas and a high-temperature middle-sulfur sintering waste gas according to waste gas temperature and pollutant discharge characteristics; content of sintering waste gas SO2 of the low-temperature low-sulfur is below the national discharge standard, and the SO2 can be directly discharged after dust removal; after the sintering waste gas in a middle-temperature high-sulfur section is subjected to dust removal and desulfurization processing, the SO2 meets the national discharge standard and can be discharged; the sintering waste gas in a high-temperature middle-sulfur section mixed with ring-cold waste gas is led into a sintering machine, and hot-wind igniting and hot-wind sintering are performed. The invention further provides a system for implementing the energy-saving environment-friendly sintering waste gas waste-heat utilization and pollutant purification process. Waste heat of the sintering waste gas can be recycled in classification and gradiently utilized, so that energy can be saved; the low-sulfur waste gas can be discharged directly, so that desulfurization cost of the waste gas is lowered; part of the high-sulfur waste gas participate in circulation, so that total discharge amount of pollutants is decreased, splitting decomposition of dioxin happens due to high temperature, and the purification function of the sintering waste gas is achieved.

The application discloses a multiple-intersection traffic signal optimization control method, which comprises the following steps: firstly, determining key intersections in a regional road network and the priority of each main line corresponding to each key intersection; establishing a traffic signal control mathematic model of the regional road network according to the bus traffic priority principle; then performing iterative refinement on the phase difference between the intersection on each main line in the traffic signal control mathematic model and the adjacent intersection of each main line by adopting a fundamental particle swarm, thereby obtaining a globally optimal solution in the fundamental particle swarm; by utilizing the globally optimal solution as an initial value of the upper-layer coordinated particle swarm, performing refinement on an upper-layer coordinated particle swarm according to the initial value; and acquiring the optimal value of the phase difference between the intersection on each main line in the traffic signal control mathematic model and the adjacent intersection of each main line, thereby controlling the traffic signals. Therefore, the application is capable of not only realizing coordinated control of signals among the intersections in the regional road network, but also realizing the bus traffic priority and thus relieving the traffic jam situations.

The invention discloses a multi-intelligent-agent system collaborative fault-tolerant control method based on finite time control. The method comprises the steps of firstly, selecting an intelligent agent as a leader node in all the intelligent agents, constructing a multi-intelligent-agent system communication topology and expressing by an undirected graph through communication links among the multiple intelligent agents, calculating a weighted adjacent matrix, establishing a finite time controller based on the state error based on a finite time theory for the established multi-intelligent-agent system with the leader nodes, establishing different finite time controllers for each intelligent agent, and obtaining a global dynamic equation of the multi-intelligent-agent system, so that thesystem can achieve cooperative fault-tolerant control within a specified time from the time a fault occurs. The defects of a non-finite-time closed-loop control system are overcome, and the robustnessand the disturbance resistance of a multi-intelligent-agent system are improved.

The invention discloses a non-isolation type three-phase three-level V2G charge-discharge topological structure. The non-isolation type three-phase three-level V2G charge-discharge topological structure comprises a main circuit module and a control circuit module, wherein the main circuit module comprises three parts in cascading manner, including a DC / DC part, an H bridge balance circuit and a DC / AC part; a vehicle-mounted power battery is connected to a direct current positive bus and a direct current negative bus through a bidirectional half-bridge converter; the H bridge balance circuit and two voltage-division capacitors C1 and C2 are arranged between the direct current positive bus and the direct current negative bus, and the direct current positive bus and the direct current negative bus are connected with the output end of the bidirectional half-bridge converter in parallel; the direct current buses are connected with a diode clamping type three-level PWM converter; a three-phase alternating current power supply live wire is connected to connecting places of upper and lower bridge arms of each phase of the bridge arms through a three-phase LC filter; the direct current buses are positioned in the H bridge balance circuit; according to the H bridge balance circuit, an IGBT switch tube Tb1 is in anti-parallel connection with a rapid recovery diode, or the switch tube Tb1 with an in-vivo parasitic diode is connected with a one-way conducive free-wheeling diode Db1 in series to form one side bridge arm, and a balance inductor Lb1 is connected in the middle thereof; the other end of the balance inductor is connected to a direct current side middle point; the bridge arms on the two sides are connected with a shared negative electrode and a shared positive electrode; and namely, the upper ends of the bridge arms are both connected to the direct current positive bus while the lower ends of the bridge arms are both connected to the direct current negative bus.

The invention discloses an actor-critic algorithm-based distributed traffic signal lamp joint control method. The method includes the steps of: conducting mathematical modeling on a network composed of multiple agents; modeling a Markov decision process of a single traffic intersection in a distributed traffic signal lamp control system, and defining a state set, an action set and a single-step reward value; constructing a multi-agent joint control mode, and establishing communication connection between the agents to exchange respective information; establishing a flexible dominant actor-critic algorithm, adding a strategy entropy of a next state into the single-step reward value, constructing a value function, and adding a dominant function; based on the flexible dominant actor-critic algorithm, taking the purpose of minimizing the average waiting time of vehicles, adopting a joint flexible dominant actor-critic algorithm by the agents of each traffic intersection for learning and control of signal lamps. According to the invention, through cooperative control of signal lamps at different traffic intersections, the overall road smoothness of the traffic network is improved.

The invention relates to a fuel cell hydrogen supply control method, computer equipment and a storage medium. The first feedforward duty ratio uinject,pump_c for compensating influence of a circulating pump on the pressure, the second feedforward duty ratio uinject,current_c for compensating influence of electrochemical reaction of an electric pile on the pressure, the third feedforward duty ratiouinject,purge_c for compensating influence of an exhaust gas emission valve on the pressure, and the feedback duty ration Deltauinject are calculated, and then summed to obtain a target duty ration uinject of a hydrogen spraying device, and further, the starting time length of the hydrogen spraying device is controlled. Thus, the pressure in the anode side follows the pressure in the cathode sidebasically, the pressure difference between the anode and cathode sides is minimized, the fluctuation amplitude of pressure difference between the two sides of a proton exchange membrane is reduced, the proton exchange membrane is protected against damage, and is more endurable, and an electric pile anode-side water management control method can be cooperated to realize coordinated control of a hydrogen injection system, the circulating pump and the tail gas emission valve, and further the electric pile anode side works in proper water content and pressure state.

The invention provides a method for realizing edge control in an Internet of Things gateway. The method is provided with a system architecture composed of a cloud server and an Internet of Things gateway. The cloud server is used for configuration management, state monitoring and remote control of the Internet of Things gateway, the controlled equipment and the sensor; the Internet of Things gateway is used for realizing protocol conversion, data analysis and edge control functions in a control process, the Internet of Things gateway comprises a controller part and a collector part, and the controller part comprises a control configurator, a control scheduler, an input device, a control machine and an actuator. According to the method, a parameterized control algorithm is built in an Internet of Things gateway; The control logic is placed in the Internet of Things gateway close to the controlled device, the specific device is dynamically bound through the configuration means, differentcontrol instructions are called, and therefore universal device control on the edge side is achieved on the basis of the Internet of Things gateway, real-time control and remote control over the device can be facilitated through the method, expandability is high, and remote control is convenient.

The invention relates to a plant protection UAV (unmanned aerial vehicle) cluster cooperative control method. Compared with the prior art, the method irons out a defect that a plant protection UAV cluster method cannot achieve the automatic cooperative control for the agricultural pest monitoring and pesticide application. The method comprises the following steps: initialization of the UAV cluster; task overall arrangement of individual UAVs; the space overall arrangement of the individual UAVs; the motion planning of a father UAV and a son UAV; the control motion of the search of the UAV cluster in a free motion space; the detection, recognition and pesticide application through the father UAV. The method achieves the cooperative control of the plant protection UAV cluster, enables the UAV cluster to perform the automatic pesticide application after the pest recognition through a conventional mature pest image recognition method.

The invention discloses an energy management and intelligent control-based solar cooling tower, which comprises a solar battery, a first motor, a water pump, a second motor and speed reducer, a fan, a hybrid converter connected with the output end of the solar battery, an intelligent controller, and a sensor group; the output end of the hybrid converter is connected with the input ends of the first motor and the second motor and speed reducer; the signal output end of the sensor group is connected with the signal input end of the intelligent controller; the output end of the intelligent controller is connected with the signal input end of the hybrid converter; and the signal output end of the hybrid converter is connected with the signal input end of the intelligent controller. In the control process, the intelligent controller reasonably distributes the flowing direction of the electric energy through the hybrid converter by an energy management method, and performs intelligent speedregulating control on the first motor and the second motor and speed reducer by a water inlet temperature negative feedback method and a minimum enthalpy difference control method, and an energy-saving effect is achieved on the premise of ensuring operating reliability.

The invention discloses an iron ore sintering flue gas PM10 and PM2.5 emission reduction method, belonging to the technical field of reduction of emission of pollutants in an iron ore sintering process. According to the method, in an iron ore sintering process, an agglomeration solution is sprayed in a sintering flue gas channel, and fine particulate matter in sintering flue gas is agglomerated and grows up under the action of the agglomeration solution, and then is removed by a dedusting device; the agglomeration agent comprises polymeric aluminium chloride, sodium carboxymethylcellulose, polyacrylamide and a solid additive. According to the iron ore sintering flue gas PM10 and PM2.5 emission reduction method, the droplets of the agglomeration solution adsorbing fine particulate matter are nucleated and collided and grow up under low pressure to form large particle agglomerates, the agglomerated and grown fine particulate matter is removed by the dedusting device, and high-efficiency emission reduction of the fine particulate matter is realized. Therefore, the method can provide a brand-new means for reduction of emission of fine particulate matter in an iron ore sintering process.

The embodiment of the invention provides a method and a device for controlling a flotation cell liquid level. The method mainly comprises the following steps of: obtaining a transfer function of the floatation cell liquid level according to a pre-established control model of the floatation cell liquid level; calculating a feedforward function of the floatation cell liquid level according to the transfer function of the floatation cell liquid level and a pre-established feedforward feedback control model; and calculating the feedforward feedback regulating quantity of the opening degree of a valve of the floatation cell liquid level according to a feedforward function of a feedforward controller of the floatation cell liquid level and the input ore pulp flow. In the method and the device provided by the embodiment of the invention, a feedforward feedback control algorithm and a delay effect algorithm are adopted, so cooperative control of the floatation flow liquid level is realized and the floatation flow is stabilized integrally through the cooperative action of the opening degree of each floatation cell tailings valve and the pump speed of an intermediate pump in the floatation flow.

The invention relates to a treatment device and a method of electrolytic aluminum carbon anode roasting flue gas and a usage. The treatment device comprises a flue gas cooling system, an electrical tar precipitator, a preoxidation system and a semi-dry purification system that are sequentially connected, wherein an outlet of the flue gas cooling system is connected with an inlet of the electrical tar precipitator; an outlet of the electrical tar precipitator is connected with an inlet of the semi-dry purification system via a middle flue; and the middle flue is provided with the preoxidation system. Most pitch smoke in the flue gas is removed by the electrical tar precipitator; the preoxidation system oxidizes No into high-valence NOx and performs oxidative decomposition on the pitch smoke into CO2 and H2O; and then, SO2, high-valence NOx, fluoride and the pitch smoke are removed in the semi-dry purification system. Synergic control of various pollutants is achieved; the purification efficiency is higher; and the increasingly strict emission standard of the electrolytic aluminum carbon anode roasting flue gas can be met.

The invention relates to a system and method for deeply removing sulfur oxides in coal-fired flue gas. The system comprises a wet-process single-tower high-efficiency desulfurization system, an absorbent injection system and a wet electrostatic flue gas purification system, wherein the wet-process single-tower high-efficiency desulfurization system is communicated with the absorbent injection system; the absorbent injection system is communicated with the wet electrostatic flue gas purification system; the wet electrostatic flue gas purification system is communicated with a chimney. Comprehensive purification of SOx in the coal-fired flue gas can be realized, ultra-low SOx emission is realized, the gas standard is achieved, deep purification of SO2 and SO3 can be further realized, and the SOx emission concentration is lower than 20mg / Nm<3>.

Embodiments of the invention provide a method and system for implementing communication among heterogeneous controllers. The method comprises: receiving a first link layer discovery protocol message transmitted by an intra-domain switch of a first domain controller; determining a second link layer discovery protocol message according to the first link layer discovery protocol message; encapsulating the second link layer discovery protocol message, thereby obtaining a southbound protocol bearing message; transmitting the southbound protocol bearing message to a super controller, so that the super controller obtains inter-domain link information; acquiring intra-domain network information of each domain controller; encapsulating the intra-domain network information, thereby obtaining a first message; and transmitting the first message to the super controller, so that the super controller obtains the intra-domain network information of each domain controller and performs communication among the heterogeneous controllers according to the inter-domain link information and the intra-domain network information. The embodiments of the invention aim at supporting cooperation among the heterogeneous controllers.

The invention provides a shower water temperature and flow detection control system, and belongs to the technical field of detection and control. The system consists of a temperature detection module, a flow detection module, a water temperature and flow control module, a touch screen, a data storage unit, and a single-chip microcomputer. The system achieves the real-time detection of the temperature of a bathroom, the temperature of outgoing water of a shower and the flow of outgoing water of the shower, enables the collected temperature of the bathroom and the preset temperature of outgoing water of the shower to be processed, and obtains the target temperature of outgoing water of the shower. The system enables the collected actual temperature of outgoing water of the shower to be compared with the target temperature of outgoing water of the shower, and obtains the temperature deviation of outgoing water. The system enables the collected flow of outgoing water of the shower to be compared with the preset temperature of outgoing water of the shower, and obtains the flow deviation of outgoing water of the shower. The system enables the temperature deviation of outgoing water and flow deviation of outgoing water of the shower to be processed, obtains a control signal, and controls cold and hot solenoid valves to adjust the flow of cold and hot water, achieves the closed loop control of the temperature and flow of the outgoing water of the shower, and guarantees that the temperature and flow of the outgoing water of the shower remains in a temperature section which makes a person feel comfortable.

The invention discloses a multi-unmanned aerial vehicle cooperative control simulation system and a construction method and simulation method thereof. The simulation system comprises a comprehensive situation display and control system. The comprehensive situation display and control system is connected with the plurality of unmanned aerial vehicle simulation training systems through UDP network communication. The comprehensive situation display and control system comprises a two-dimensional control module, a three-dimensional situation display module and a multi-machine server module. The unmanned aerial vehicle simulation training system comprises a flight control seat and a task load seat, data interaction is carried out between the flight control seat and the task load seat, and data interaction is carried out between the flight control seat and the comprehensive situation display and control system. According to the invention, cooperative control of multiple unmanned aerial vehicles can be realized, an experimental platform is provided for a multi-unmanned aerial vehicle cooperative control algorithm, the flight state and the load information are separately displayed, and independent training of task loads is facilitated.

The invention discloses a method for inhibiting emission of fine particles in the process of iron-ore sintering by an agglomeration process and belongs to the technical field of emission reduction of pollutants in the process of iron-ore sintering. The method comprises the following steps: (1) preparing agglomeration liquid, namely uniformly mixing components such as sodium carboxymethyl cellulose, polyacrylamide and an additive to obtain an agglomeration agent, and mixing the agglomeration agent and water to obtain the agglomeration liquid; (2) agglomerating fine particles, namely spraying the agglomeration liquid into flue gas to cause fine particles in the sintering flue gas to be agglomerated to grow larger under the action of the agglomeration liquid; and (3) trapping by a dust removing device, namely trapping and removing the fine particles agglomerated to grow larger by the dust removing device. The method disclosed by the invention has the advantages that agglomeration liquid droplets adsorbing the fine particles are nucleated and collide with each other and grow to form large-particle agglomerates under the condition of low pressure, and a dust-removing device is adopted to remove the fine particles agglomerated to be larger, so that an all-new emission-reducing path is provided for reducing the emission of fine particles in the process of iron-ore sintering.

Embodiments of the invention disclose a multi-joint robot integrated cooperative control device and method, relating to the technical field of robot control, solving the problem of low degree of openness of a multi-joint robot control algorithm and shortening development cycle. The multi-joint robot integrated cooperative control device comprises a PC, a DSP control unit, an FPGA data collection unit, an isolated drive unit, a joint motor, and a cooperative control algorithm. Algorithm simulation and real-time code generation are performed on the PC, the code is downloaded to the DSP control unit to run in real time, and finally, the FPGA data collection unit and the isolated drive unit control the joint motor to run, so as to realize multi-joint robot integrated cooperative control. The device and method are suitable for controlling running of the multi-joint robot.

The invention discloses a three-phase four-bridge-arm photovoltaic grid-connected inverter and a multi-target cooperative fault control method. The photovoltaic grid-connected inverter comprises a power distribution network equivalent circuit, a common coupling point, a three-phase four-bridge-arm grid-connected inverter main circuit and a control system. The control system respectively acquires avoltage signal of the common coupling point and an output current signal of the three-phase four-bridge-arm grid-connected inverter, and calculates and analyzes the voltage signal and the output current signal to finally obtain a driving signal; and the driving signal drives the main circuit of the three-phase four-bridge-arm grid-connected inverter to work and performs multi-target cooperative fault control. By the adoption of the method, the problem that active power fluctuation, reactive power fluctuation and output current quality are difficult to control at the same time is solved, cooperative control over multiple targets is achieved, and the design difficulty of a control algorithm is reduced.

The invention discloses a decoupling control method of a fuel cell air inlet system. The decoupling control method comprises the steps of establishing a fuel cell air inlet system model, designing a controller and the like, establishing an air system control-oriented model, and designing an active disturbance rejection controller based on feedback linearization. Firstly, two independent second-order affine systems are obtained through feedback linearization, and output and control input are decoupled; the self-adaptive anti-interference control is used for tracking the flow entering the cathode and the cathode pressure, and multiple sets of simulation are achieved under different working conditions according to data, measured in an experiment, of the compressor and the throttle valve. Themethod not only has good performance, but also has strong robustness to unknown model uncertainty and disturbance.

The invention aims to provide a joint automatic control device for inner flaps / outer flaps of a hydrofoil catamaran. The joint automatic control device comprises a catamaran. Two sheets are respectively mounted at the left end and the right end of the lower side of the catamaran, a front hydrofoil is mounted at the front ends of the lower sides of the two sheets, a rear hydrofoil is mounted at the rear ends of the lower sides of the two sheets, a first outer flap, a second outer flap, a first inner flap and a second inner flap are respectively mounted at the rear end of the front hydrofoil by the aid of a first connecting shaft, a third outer flap, a fourth outer flap, a third inner flap and a fourth inner flap are respectively mounted at the rear end of the rear hydrofoil by the aid of a second connecting shaft, and the first outer flap, the second outer flap, the third outer flap, the fourth outer flap, the first inner flap, the second inner flap, the third inner flap and the fourth inner flap are respectively connected with respective servo motors. The joint automatic control device has the advantages that the joint automatic control device is simple in structure and reasonable in design, multifunctional and multi-objective cooperative control is implemented, and the safety, the seaworthiness and the maneuverability of the hydrofoil catamaran are improved; the front hydrofoil and the rear hydrofoil are respectively connected with the two sheets of the hydrofoil catamaran, so that the mechanical structural strength is improved.

The invention provides a built-in type advanced detection drilling device of a driving and anchoring integrated machine, the driving and anchoring integrated machine and an advanced detection drillingmethod, and belongs to the technical field of coal mine underground roadway drilling. The built-in type advanced detection drilling device of the driving and anchoring integrated machine comprises adrilling rig, a swing mechanism, a lifting mechanism and a sliding base; the drilling rig has a driving head-on advanced drilling function and is mounted on the swing mechanism; the swing mechanism drives the drilling rig to swing so as to adjust the drilling direction and angle; the lifting mechanism is connected with the swing mechanism and the sliding base to drive the swing mechanism to ascendand descend; and the sliding base is arranged in a cutting arm cavity of the driving and anchoring integrated machine to drive the lifting mechanism to move along the cutting arm cavity of the driving and anchoring integrated machine. According to the built-in type advanced detection drilling device of the driving and anchoring integrated machine, the adaptability of the driving and anchoring integrated machine is improved, and the on-board wet-type dust removal function and the advanced detection function of the driving and anchoring integrated machine are simultaneously integrated.

The invention proposes a space base and ground base integrated wireless communication test method based on a Ka band. The method comprises the following steps: selecting a loading flight platform, assorting space and ground equipment installation windows, designing ground-based telemetry and security control communication links, designing forward and return communication links of a space base, designing a communication link antenna pointing angle of a ground base, designing the communication link antenna pointing angle of the space base, determining a flight path, designing a reserved capturepoint, performing space base and ground base telemetry and collaborative guidance, and performing space base and ground base telemetry and collaborative control. The method is a technical approach that can be directly applied to realize integrated wireless communications in the Ka-band space base and ground base integrated wireless communication in a carrier environment of a spacecraft, and particularly meets the real-time coordinated communication of space base and ground base at the Ka band and the multi-system and multi-functional communication requirements, and the space base and ground base integrated wireless communication test method can achieve the functions of space base forward spread spectrum telemetry, space base return spread spectrum telemetry, ground base frequency modulation high code rate telemetry, ground base spread spectrum external survey, ground base spread spectrum telemetry, ground base spread spectrum guide beacon and ground base spread spectrum low code rate telemetry.