563 results about "Signal interaction" patented technology

The invention discloses a satellite switching method and system for an NTN high and low orbit fusion network, and the method comprises the steps: S1, UE obtains the position of the UE through a GNSS, reports the position to a source satellite, and obtains a candidate satellite list which is allowed to be accessed and measurement configuration from the source satellite; s2, the UE starts measurement after receiving the candidate satellite list, and updates the candidate satellite list according to a measurement result; s3, the UE measures all satellites in the updated candidate satellite list; and sorting the low earth orbit satellites and the geostationary orbit satellites meeting the conditions according to the measurement result and the candidate satellite information, and switching the satellites according to the sorting result. The method has the characteristics that the success rate and the communication continuity of UE conditional switching are improved, the switching decision delay and the signaling interaction load are dynamically reduced, and the cooperative advantages of LEO low time delay and GEO wide coverage are fully exerted.

Various aspects of the present disclosure relate to methods, apparatuses, and systems that support configuration for radio sensing. For instance, implementations provide for configuration of sensing-related nodes with knowledge of background environments related to specific radio sensing scenarios to assist in sensing receiver processing. Further, knowledge of features of a background environment can be used as assistance information for extracting sensing information for target objects, such as based on information pertaining to signal interactions between a background environment and target objects.

The invention provides a disease course record generation method and system based on a mobile terminal and multi-modal data, and the method comprises the following steps: firstly constructing a directional collection channel and a ward round session associated with a specific patient through the signal interaction between the mobile terminal and a sickbed; in the session, multi-modal data streams with timestamps, such as voice, images and operation instructions, are obtained in real time, and audio semantic anchor points and visual semantic anchor points are extracted from the multi-modal data streams. And constructing an image-text semantic unit by calculating and associating the audio and video anchor points of which the semantic similarity exceeds a threshold. And taking the unit as a current observation state, and verifying the legality of the state transition through a finite-state machine model. And based on the image-text semantic units passing the verification, template slot filling and term standardization are carried out, and a structured disease course record data packet is generated and written back to the HIS system. The method has the effect of improving the working efficiency and quality of clinical documents.

According to the WIFI mesh channel dynamic allocation method and device provided by the invention, the size and position allocation of the RU are intelligently adjusted by monitoring the network flow, the equipment density and the channel interference in real time, so that the channel resource utilization rate is improved; a four-dimensional candidate channel scoring model and a decision engine are adopted for channel allocation and interference prediction, millisecond-level RU dynamic scheduling is achieved, and the low-delay service requirements of AR / VR, 4K videos and the like are met; a global channel state is determined through signaling interaction and collaborative decision among Mesh nodes, and conflicts and performance bottlenecks caused by local optimization are avoided; and a Wi-Fi 6 / 6E / 7 RU flexible division mechanism is supported, different frequency bands and bandwidth configurations are adapted, and efficient access of heterogeneous equipment is ensured. In a word, according to the scheme disclosed by the invention, the problems of static property, low efficiency and interference in RU allocation in the existing WiFi Mesh network are solved, and high-reliability and low-delay intelligent channel resource management is realized through dynamic priority layering, service type adaptation and interference avoidance technologies.

The invention discloses an intelligent operation and maintenance monitoring and management platform for an energy station, and belongs to the technical field of energy station management systems. The problems that in existing operation and maintenance, equipment association is fuzzy, an acquisition strategy is solidified, fault root causes are difficult to position, and disposal is low in efficiency are solved. The equipment association modeling module integrates multi-dimensional data such as energy transmission and signal interaction, calculates a comprehensive coupling degree and divides grades, and generates a core equipment coupling relation matrix; the acquisition strategy optimization module dynamically adjusts the acquisition frequency of the acquisition strategy optimization module and associated equipment according to the importance degree and the running state of the equipment, and generates a time sequence associated data set; the fault diagnosis and root cause tracing module is used for constructing a three-dimensional fault conduction topological graph, accurately judging faults, quantifying levels, positioning root causes, outputting a diagnosis report and carrying out operation and maintenance according to hierarchical logic; according to the invention, equipment association quantification, intelligent optimization of an acquisition strategy and efficient fault full-link disposal are realized, the intelligence and refinement level of operation and maintenance of the energy station is improved, and stable operation of equipment is guaranteed.

The present application relates to the technical field of wireless communications, and discloses a resource allocation method, apparatus and device, a storage medium and a product, comprising: receiving a scheduling request signaling sent by a user equipment, and determining a signaling interaction time between the user equipment and a base station; sending an initial allocation signaling to the user equipment based on the scheduling request signaling and the signaling interaction time; determining target cache data according to the data cache state and a historical data cache state reported by the user equipment last time; and allocating uplink resources to the user equipment based on the target cache data, and sending a target allocation signaling corresponding to the target cache data to the user equipment. According to the method, multiple cache time slots are allocated to the user according to the signaling interaction time between the user and the base station, so that multi-thread uplink resource allocation is initiated, the user equipment can instantly report a data cache state to a satellite, and user data can be more instantly allocated with resources and transmitted.

The invention discloses an intelligent necklace for a shepherd based on multimode fusion positioning and a control method of the intelligent necklace. The intelligent necklace for the shepherd based on multimode fusion positioning comprises a necklace body of a strip-shaped structure. A multi-mode hybrid positioning unit, a dual-mode communication unit and a power supply unit are arranged on the necklace body; the multimode hybrid positioning unit is composed of a speed sensing module, a satellite positioning module, an inertial navigation compensation module and a UWB auxiliary positioning module, and is used for generating a positioning signal. The dual-mode communication unit is electrically connected with the multi-mode hybrid positioning unit, and signal interaction between the multi-mode hybrid positioning unit and the mobile terminal is realized through 4G / Cat-M1 and LoRa protocols; the power supply unit supplies power to the multi-mode hybrid positioning unit and the dual-mode communication unit.

The invention discloses a whole vehicle power hardware-in-the-loop simulation test system and method under a P2.5 + P4 hybrid architecture. The whole vehicle power hardware-in-the-loop simulation test system comprises a controller, a test cabinet and an upper computer system, the hybrid power gearbox control system is electrically connected with the high-voltage control system; the test cabinet is electrically connected with the hybrid power gearbox control system, the high-voltage control system and the upper computer system; the upper computer system comprises a management module, a signal interface module, a controller interface module and a virtual simulation vehicle module, the management module is connected with the test cabinet and the signal interface module, and the signal interface module is used for realizing signal interaction between the controller interface module and the management module; the controller interface module is connected with the signal interface module, the Soft ECU module and the power simulation module. Standardized development of the power simulation test system is realized, the modular design supports rapid adaptation of different vehicle type platforms and power architectures, and repeated development is reduced.

The invention discloses an application method, system, equipment and medium of plant inspection navigation in a two-ticket intelligent management and control system based on AOA positioning, and belongs to the technical field of positioning navigation, and the application method comprises the following steps: setting a Bluetooth AOA transmitting base station and a Bluetooth AOA module positioning tag in an inspection area, carrying out signal interaction, and constructing an inspection space model; obtaining an interaction signal between the mobile Bluetooth transmitter and the Bluetooth AOA transmitting base station when an inspector carrying the mobile Bluetooth transmitter enters the inspection area, calculating the distance between the inspector and the Bluetooth AOA transmitting base station according to the signal intensity, and determining the real-time position of the inspector in the inspection space model; an inspection navigation route is generated according to the real-time position of the inspector, a preset inspection route and the work ticket information and the operation ticket information provided by the two-ticket intelligent management and control module; and when the inspector arrives at the inspection point and a preset card punching condition is satisfied, recording inspection card punching information and generating an inspection record. According to the invention, the inspection efficiency and safety are improved.

The invention provides a system platform and method for checking adjustment characteristics of a control system based on semi-physical simulation, and belongs to the technical field of power system control equipment detection. The system comprises an all-digital real-time simulation system (ADPSS), a water turbine governor to be tested, a physical interface communication module, a wave recording device and a signal interaction module. A full-electromagnetic example model constructed based on PSASP is built in the ADPSS, a closed-loop detection environment is constructed through the physical interface communication module and a water turbine governor to be detected, bidirectional signal transmission is achieved through the signal interaction module, and key parameters are recorded through the wave recording device. The method comprises the steps of simulation environment establishment, signal interactive transmission, multi-dimensional detection and check and result judgment and output. According to the method, multi-dimensional checking of the speed regulator acquisition and display function, the transfer function consistency, the grid-connected performance and the like and power grid stability influence verification can be completed without field installation, the coverage scene is comprehensive, the checking precision is high, and the method is suitable for performance detection of different types of speed regulators and has remarkable practical value.

The invention discloses a steering-by-wire system based on cross-system signal detection and a design method of the steering-by-wire system, and belongs to the technical field of automobile steering control, the system comprises a steering execution motor, a steering execution motor controller, a steering gear, a steering road feeling motor, a steering road feeling motor controller, a steering domain controller and a cross-system signal detection module, the cross-system signal detection module performs signal interaction with the steering domain controller, the braking system and the driving system, and is used for collecting and monitoring the running state of each system in real time and collecting multi-system signals to the steering domain controller; the steering domain controller is used for generating control instructions of the steering execution motor and the steering road sensing motor according to the multi-system signal and the steering state feedback signal so as to complete steering. By designing real-time signal interaction of multiple systems, when a fault occurs, a fault source can be quickly diagnosed, a control strategy can be adjusted, and efficient fault diagnosis and redundant fault-tolerant control are realized.

The embodiments of the present application provide a message forwarding method, device and system, which relate to the field of communication technology and can improve the technical problem of more signaling interactions and longer switching delay when the existing session management network element modifies the PDU session. The method includes: the session management network element sends a path identifier to the first device; wherein the first device includes the access network element corresponding to the PDU session and the user plane network element corresponding to the PDU session; the PDU session corresponds to the first terminal; the path identifier is used to indicate the first path from the access network element to the user plane network element; the first path includes part or all of the second path, and the second path is the path corresponding to the PDU session established in advance by the session management network element for the second terminal; the session management network element also sends the identification information of the destination address corresponding to the path identifier to the first device; so that the first device carries the path identifier corresponding to the destination address in the data according to the destination address of the received data, and forwards it through the path corresponding to the destination address.

The invention provides an unmanned aerial vehicle cluster path planning control method, which comprises the following steps: obtaining initial position information of an unmanned aerial vehicle cluster and geometric requirements of target configuration, determining a target position of each unmanned aerial vehicle, the initial position information of each unmanned aerial vehicle in the unmanned aerial vehicle cluster comprising latitude and longitude information and height information, the height information is obtained by each unmanned aerial vehicle through a barometer parameter of the unmanned aerial vehicle, and the latitude and longitude information is obtained by signal interaction between the unmanned aerial vehicle and the ultra-wideband positioning system; generating a smooth path of the unmanned aerial vehicle cluster from the current configuration to the target configuration by adopting a dynamic path planning algorithm according to the target position and the initial position information; in the path execution process, the position change of the unmanned aerial vehicle is monitored in real time, whether a potential collision risk exists or not is judged, and the path is adjusted to ensure flight safety; if the unmanned aerial vehicle completes the target configuration transformation, stopping path adjustment, and keeping the current configuration stable; and new morphological transformation is completed according to task requirements.

The invention provides a payment method and a related device, and the method comprises the steps: when an electronic device is in a PICC (Proximity Intelligent Card) mode, for example, the electronic device is in the PICC mode in an unlocked state, the electronic device receives a first carrier wave sent by a collection device in a PCD (Proximity Coupled Device) mode through NFC (Near Field Communication), and the first carrier wave has a first coding feature; and after receiving the first carrier wave, the electronic equipment opens a PCD mode, carries out NFC signaling interaction with the collection equipment, and completes payment by using the first payment application and the collection equipment. Thus, the electronic device in the PICC mode can complete payment of the payment application through NFC interaction, payment in a mode required by a user can be completed without excessive operation of the user, and the efficiency of payment by using the electronic device by the user is improved.

The invention provides an AI-driven multi-wireless-signal candid photographing detection device which comprises a mounting shell, a hardware acquisition layer, an edge computing layer, a cloud federation layer and a man-machine interaction layer, and all the layers achieve signal interaction through PCIe4.0 and SPI hardware interface communication protocols. The broadband patch antenna, the ceramic antenna and the helical antenna are adopted to cover a full target frequency band, the millimeter wave radar chip is matched, the 16 * 16 metamaterial RIS panel is additionally configured, and the weak signal receiving power is improved by synchronously controlling a reflection phase focusing signal, so that the problem of missing detection is solved; the multi-signal tensor decomposition unit and the CNN-LSTM signal classification unit construct frequency, intensity, time and phase four-order tensors, and overlapped signals are separated through Khatri-Rao space-time coding; a three-layer CNN and a two-layer LSTM are combined, precise classification of candid photographing signals is realized, the misjudgment rate is reduced, millimeter wave assisted precise distance measurement is combined with millimeter wave flight time data and an RSSI attenuation model, a distance measurement error is controlled through a dynamic weighting algorithm, and the problem of positioning misalignment is solved.

The invention discloses a real-time communication system, client equipment, a real-time communication method and a communication network. The real-time communication system comprises a webpage view subsystem which comprises a webpage real-time communication module and a view interface module; the native code subsystem comprises a native bridging module and a protocol processing module; and the operating system subsystem comprises a plurality of native interface modules. According to the real-time communication system, an interface generated after rendering of data generated based on a native code subsystem and an operating system subsystem is displayed through a view interface module for interface construction, media transmission and processing are achieved through introduction of a webpage real-time communication module, and signaling interaction is achieved through introduction of a protocol processing module. Through the system, the interface development efficiency can be effectively improved, the client development cost and technical barriers are reduced, and the cross-platform compatibility and media processing efficiency of real-time communication are improved.

The invention relates to the technical field of integrated control systems, in particular to an integrated control system and method for hollow filter stick forming equipment, and the method comprises the steps: taking an embedded controller for running a real-time operating system as a control decision module, and carrying out the unified execution of all control algorithms; an Ethernet protocol with microsecond-level period and precise clock synchronization is used as a real-time communication module to form a system backbone network; the execution and acquisition layer integrates a motion control module composed of a servo driver and a motor as a network slave station, a signal interaction module composed of a distributed I / O module, and a subsystem integration module formed by bridging a third party subsystem through a communication gateway. According to the system, all key units are deeply integrated into the same real-time network as slave stations, so that centralized management, real-time synchronization and refined closed-loop control of the whole system are realized.

The present application provides an inter-satellite communication method, system, and device for a low-orbit satellite, and an electronic device. The method comprises: obtaining a plurality of candidate signal frames in a candidate frame sequence of a low-orbit satellite, and identifying first network slices to which the candidate signal frames belong; obtaining a first physical frame of each first network slice, obtaining a target signal frame of the first physical frame from among the plurality of candidate signal frames, and filling the first physical frame with the target signal frame to obtain a second physical frame after filling; and determining a target inter-satellite laser link and a target receiving end that correspond to the second physical frame, and transmitting the second physical frame to the target receiving end by means of the target inter-satellite laser link. The applicability and practicability of the inter-satellite communication method for the low-orbit satellite are optimized, the compatibility with an Ethernet MAC protocol is realized, the development cost and the maintenance cost of inter-satellite communication of the low-orbit satellite are reduced, and the stability of signal interaction is improved.

The invention discloses a remote intelligent control system for multimedia equipment and an implementation method thereof, and belongs to the technical field of network communication, and the implementation method comprises the following steps: acquiring network environment information of the multimedia equipment, judging an NAT (Network Address Translation) type, and generating a mixed penetration protocol selection rule to determine an initial penetration protocol; the method comprises the following steps: acquiring port allocation characteristics of NAT equipment based on an initial penetration protocol, generating port prediction parameters through linear increment prediction and LSTM neural network training, and formulating a port prediction and keep-alive strategy; executing UDP (User Datagram Protocol) penetration according to a keep-alive strategy, starting a TCP (Transmission Control Protocol) standby mechanism when the UDP penetration fails, and generating a penetration scheme by combining HTTP tunnel encapsulation and firewall inbound rule configuration; equipment identification information collection, signaling interaction, penetration attempt and connection establishment are completed based on a penetration scheme, successful feedback is generated after verification is passed, and remote control is realized; according to the invention, the stability and efficiency of remote connection of the multimedia equipment in a complex network environment are improved.

The invention provides a railway passenger identification method and device, electronic equipment and a computer readable storage medium, and relates to the technical field of big data. According to the method, the signaling set of the target area within the specified time and the signaling interaction range of the railway station are utilized to preliminarily lock the to-be-determined users which stop in the railway station and generate signaling interaction, and then non-railway passengers which stop in only one railway station are excluded based on the residence information of the to-be-determined users in combination with the travel behavior characteristics of the railway passengers, so that the non-railway passengers are not stopped in the same railway station. And finally, various misjudgment conditions are comprehensively considered to exclude the journey of non-railway travelers, so that each section of railway journey of the railway travelers within the specified time is accurately identified.

The present application relates to the technical field of communications. Provided are a communication method and apparatus. A terminal acquires a first identifier and a first long-term key of the terminal, and the terminal can send to a network a first message carrying a second identifier that is determined on the basis of the first identifier, so as to trigger mutual authentication, such that the network can determine, on the basis of the second identifier, a second long-term key that is symmetric to the first long-term key of the terminal, and authenticates the terminal on the basis of the second long-term key. The terminal can generate a random number on the basis of the first identifier, and authenticates the network on the basis of the first long-term key, first authentication data from the network, and the random number. The terminal and the network perform mutual authentication by means of symmetric keys, without the need for complex computations. Furthermore, during the mutual authentication between the terminal and the network, the random number for the mutual authentication is generated on the basis of the first identifier, and the network and the terminal do not need to carry the random number during signaling interaction for the mutual authentication, thereby further improving the efficiency of mutual authentication, and saving on signaling resources.

The invention relates to the technical field of obstetrical fetal heart monitoring, in particular to an obstetrical fetal heart intelligent monitoring method and system, and the method comprises the following steps: S1, data collection: collecting fetal heart signals through wearable equipment; s2, data preprocessing: acquiring fetal heart monitoring parameters; s3, self-adaptive adjustment of the personalized physiological state: dynamically adjusting fetal heart monitoring parameters by applying a self-adaptive algorithm; s4, data analysis and prediction, wherein the adjusted fetal heart monitoring parameters are analyzed, and the health problem of the fetus is predicted; s5, dynamic multi-mode signal interaction analysis: identifying relevance among multi-mode signals, performing abnormal mode detection, and performing comprehensive evaluation; and S6, visualization and user interaction: developing a user interface based on Web and mobile applications. According to the invention, the relevance among various signals can be comprehensively captured and analyzed, the abnormal mode can be accurately identified, and the accuracy and reliability of fetal health monitoring can be improved.

The invention discloses a method and an apparatus in a communication node used for wireless communication. A terminal receives a first RRC message, wherein the first RRC message configures at least one reference signal resource and a first event; wherein the first event depends on the measurement for the at least one reference signal resource, and wherein the first event depends on a first threshold value, which varies over time. According to the scheme provided by the invention, a trigger event of a dynamic threshold value can be realized, and frequent high-level signaling interaction processes can be reduced; the design of the dynamic event threshold facilitates the selection of appropriate UE behaviors according to different channel environments to balance robustness and network optimization efficiency.

A gas-layer drag reduction system applied to a large ship, and a ship. The gas-layer drag reduction system (100) comprises: a gas supply system (200), a pressure stabilizing system (300), a gas injection system (400), a monitoring system (500), and an intelligent management system (600), wherein the gas injection system (400) is configured to inject a gas into water by means of the bottom of a ship and form a stable gas layer at the bottom of the ship; the monitoring system (500) is configured to monitor operation information, gas state information, navigation environment information, ship state information and gas-layer state information of the gas-layer drag reduction system (100); the intelligent management system (600) is configured to receive feedback signals of the gas supply system (200), the pressure stabilizing system (300), the gas injection system (400) and the monitoring system (500), and send control signals to the gas supply system (200), the pressure stabilizing system (300), the gas injection system (400) and the monitoring system (500); and the intelligent management system (600) is also configured to control the gas-layer drag reduction system (100) to perform signal interaction with a ship system (110), so as to implement intelligent control. Therefore, the gas-layer drag reduction system (100) is suitable for large ships.

The utility model discloses an externally-hung movable type flexible tightening workstation, and belongs to the technical field of engine assembly. An electric gun controller, a blocking cylinder and a signal interaction processing module are fixed on the mounting platform; the signal interaction processing module comprises a counter, a signal display lamp, a reset sensor and an electromagnetic valve; the electric gun controller is connected with the tightening gun; the electric gun controller is in signal transmission connection with the counter, the counter is in signal transmission connection with the signal display lamp and the electromagnetic valve, the electromagnetic valve is in signal transmission connection with the blocking air cylinder, and the reset sensor is in signal transmission connection with the electric gun controller, the counter, the signal display lamp, the electromagnetic valve and the blocking air cylinder. According to the utility model, the automatic tightening operation is realized, the low-efficiency operation of manually tightening by using a torque limiting wrench is avoided, the fault of equipment or a handheld electric gun can be quickly responded, the process of manually tightening by using a blower gun and the torque limiting wrench is reduced, the assembly quality of an engine is improved, and the smoothness and efficiency of the production process are improved.

This invention discloses a ranging method and system based on a network data link, relating to the field of wireless communication ranging technology. The method includes the following steps: synchronizing the clocks of all nodes in the network and aligning the transmit and receive timings between nodes; each node in the network transmitting a synchronization signal within its allocated fixed transmission time slot according to a preset fixed frame structure; the receiving node calculating the theoretical time at which it receives the synchronization signal when the signal propagation delay is zero based on the synchronization clock and the preset fixed frame structure, and recording the actual time of receiving the synchronization signal; and the receiving node calculating the distance between itself and the node that transmitted the synchronization signal based on the time difference between the theoretical and actual times. This invention effectively eliminates ranging errors caused by crystal oscillator clock deviations between nodes, requires no external satellite signals or two-way signaling interaction, and achieves ranging by multiplexing the synchronization signal. It significantly reduces hardware costs while achieving high-precision, low-latency, and environmentally adaptable inter-node ranging.

This invention discloses a method for storing and providing early warning of vibration acceleration data of motor bearings. The system collects vibration acceleration signals from motor bearings using a vibration acceleration sensor, and uses this data to determine the cause of bearing failures and provide early warnings. Simultaneously, a data feedback terminal provides feedback on the actual cause of the failure to supplement and correct the vibration fault database, improving the accuracy of vibration fault diagnosis and early warning. The system is characterized by including a vibration acceleration sensor, an edge cloud, a data storage backend, and a data feedback terminal. The vibration acceleration sensor establishes signal interaction with the data storage backend, the data storage backend establishes signal interaction with the edge cloud, and the data feedback terminal establishes signal interaction with the edge cloud. The vibration acceleration sensor is positioned near the bearing on the motor for continuous data collection of vibration acceleration signals. The data storage backend includes a signal conversion module and a data processing module for data conversion and comparative analysis of the vibration acceleration signals.

The present invention discloses an automated integration method for IO signals based on a FADEC operating system. The method comprises the following steps: using Eclipse CDT to parse all structure variables in the As_interface.h file and store them in a linked list A; extracting valid information from each element in the linked list and storing the information in a new linked list B; using a recursive algorithm to convert linked list B into n syntax trees based on pre-defined structure variable names A0 to An-1 for signal interaction between the AS and the OS, with the root nodes of the syntax trees being A0 to An-1, respectively; performing a depth-first search on the generated n syntax trees to automatically generate all signal names; and generating an IO signal integration record file based on a pre-defined IO signal integration template. The method automatically converts nested structures into syntax trees, saving manual time. The method also performs a depth-first search on the syntax trees to automatically generate all IO signals, resulting in a concise and accurate method.

Embodiments of the present disclosure provide a signaling negotiation, data communication method, apparatus, electronic device, and storage medium. Among them, the signaling negotiation method includes: in response to a signaling request sent by a client, generating a signaling context corresponding to the signaling request and storing the signaling context; in the case of receiving redirect address information of a redirect server corresponding to the signaling request, generating a target signaling response message based on the redirect address information and the negotiation address information of the signaling negotiation server; and feeding back the target signaling response message to the client, so that the client performs connectivity detection based on the redirect address information and obtains target data corresponding to the signaling request based on the detection result. By adopting the technical solution, various network protocols can be adapted, and the signaling interaction time in the redirect scenario is reduced.

The application discloses a robot joint driving board external control method, system and related device, which is used for realizing the externalization of the driving board to optimize the heat dissipation and space layout of the robot joint, and ensuring the timing coordination of the signal interaction between the driving board and the joint side. The method comprises the following steps: the driving board runs based on a preset control period, and sends a synchronization signal to the acquisition board through a synchronization signal channel at the starting stage of each control period; the acquisition board performs a clock synchronization operation in response to receiving the synchronization signal, so as to calibrate the internal working timing of the acquisition board; the acquisition board collects joint sensor data after performing the clock synchronization operation, and sends the joint sensor data to the driving board through a data communication channel; and the driving board performs timing alignment processing on the joint sensor data based on the timing corresponding relationship between the sending time of the synchronization signal and the receiving time of the joint sensor data, and completes joint control calculation.