129results about How to "Avoid confict" patented technology

The invention discloses a dynamic obstacle avoidance method and system for a substation inspection robot. The position of the robot is positioned based on laser point cloud data, and static and dynamic obstacle features are extracted at the same time. An environment association graph is constructed through perception information in the advancing process, and feature information of each node serves as an attribute of the environment association graph; calculating the distance, the relative speed and the relative angle between the edge weights of the nodes according to the nodes; on the basis of the environment association graph, aggregating all-graph obstacle node information to generate real-time feature representation for robot nodes, and correcting a calculation mode of attention weight according to edge weight between the nodes; and finally outputting a real-time feature vector of the robot node. And defining a reinforcement learning framework and executing path planning. According to the invention, through combination of GAT and dynamic planning, efficient obstacle avoidance and path planning of the robot in a substation environment are realized, and the decision and execution capability of the robot in a dynamic complex scene can be improved.

The invention relates to the technical field of time-triggered network communication, in particular to a time-triggered Ethernet scheduling generation and synchronization system based on a hardware time axis construction engine. According to the system, a time axis structure consistent with global synchronization time is constructed on a switch side through hardware, sending time and a sending sequence of a time trigger frame configured by a user are directly mapped into a resource occupation relation on a time axis, and scheduling window mapping, conflict detection and window shaping are completed on a hardware level; therefore, a deterministic scheduling table is generated; through a double-table storage and time alignment switching mechanism, undisturbed updating and synchronous effectiveness of the dispatch table between the switch and the end system are realized. Compared with a traditional scheme of generating a scheduling table depending on a software algorithm, the method does not need a complex scheduling solution process, supports manual controllable configuration of time-triggered frame scheduling, and improves the certainty, autonomy and engineering realizability of the system.

The invention discloses a file system event processing method and device based on an intelligent filtering rule, and the method comprises the steps: obtaining a file system original event of a monitoring directory, carrying out the cross-platform standardization processing, and extracting event feature vectors of four dimensions: time, a file, a process and a path; the method comprises the following steps: constructing a rule base containing software operation modes such as an editor, a compiler and a version control tool, performing mode matching on an event sequence, calculating confidence, determining a filtering strategy type based on a matching result, executing corresponding processing, and dynamically optimizing system parameters through statistical analysis. The technical problems that an existing file monitoring system is serious in event redundancy and frequent in false triggering are solved, effective file operation and temporary intermediate operation can be intelligently distinguished, invalid synchronous triggering is greatly reduced, the accuracy is improved to 95% or above from 60-70% of a traditional scheme, and invalid event processing is reduced by 90% or above.

The invention relates to the technical field of intelligent evaluation of garment flatness, and particularly discloses an automatic evaluation method of a non-ironing suit seam flatness grade, and the method comprises the steps: obtaining image data and physical parameter data of a seam region in response to a detection trigger signal of the seam region of a non-ironing suit; and performing key scale screening based on texture contribution degree on the image data, calculating a relevance index between feature distribution and flatness grade probability distribution under different texture scales, and determining the texture scale of which the relevance index meets a preset contribution degree condition as a target key scale. According to the method, the entropy screening mechanism based on the texture contribution degree is introduced, so that the key scale which is most effective for flatness representation can be locked from the multi-source data in a self-adaptive manner, and the refinement and pertinence of feature extraction are realized.

This invention relates to the field of game development technology, and more particularly to a large-map game development system based on multi-level task interaction. The system includes a large-map scene parsing module, a task hierarchy association module, a task-map association interaction module, and a large-map interaction development module. The game development engine uses the scene parsing module to perform topological deconstruction of the original large-map materials, generating a map topology dataset. Based on the map topology dataset, a multi-level task interaction framework is constructed and bound, generating a task-map association dataset. Based on the task-map association dataset, the interaction trigger conditions for each task node are configured, generating a task interaction rule set. The map topology dataset, task hierarchy association table, task-map association dataset, and task interaction rule set are integrated and compiled to form a large-map game interaction program. This invention clarifies the specific rules for game players to trigger and complete tasks in different map areas and different scene levels.

The invention discloses an inspection method, device and equipment for an oil and gas exploitation system and a storage medium, and belongs to the technical field of oil and gas exploitation. The method comprises the steps that basic information associated with an inspection point is acquired, the inspection point comprises a to-be-inspected equipment assembly in the oil and gas exploitation system, and the basic information represents the association relationship between the inspection point and inspection equipment; generating first inspection information by using the basic information and the inspection task of the inspection point; performing conflict detection on the first inspection information, and optimizing the first inspection information based on a conflict detection result to obtain second inspection information; routing inspection is conducted on the routing inspection point based on the second routing inspection information, first routing inspection data and second routing inspection data are obtained, the first routing inspection data comprise routing inspection images collected by the image collection device, and the second routing inspection data comprise information collected by the device sensor; and generating an inspection result based on the first inspection data and the second inspection data. The method can improve the inspection accuracy and inspection efficiency of the oil and gas exploitation equipment in the oil and gas exploitation system.

The invention relates to the technical field of unmanned aerial vehicle control, in particular to a GIS-based unmanned aerial vehicle collaborative inspection scheduling method and system, and the method comprises the steps: obtaining the geographic information data of a target inspection region and the real-time state data of a plurality of unmanned aerial vehicles; generating an initial task set according to the geographic information data and a preset inspection task, and mapping each inspection point in the initial task set to a coordinate grid corresponding to the geographic information data; judging whether the initial task set meets a preset distribution condition or not; and determining a target task packet corresponding to each unmanned aerial vehicle according to the initial task set and the real-time state data of the plurality of unmanned aerial vehicles in response to the initial task set satisfying a preset distribution condition. According to the invention, by acquiring the state and geographic information data of the unmanned aerial vehicle in real time, the inspection task can be reasonably allocated according to the electric quantity and position of each unmanned aerial vehicle, and the efficiency and timeliness of task execution are ensured.

The application discloses a general-purpose learning method and system for a physical robot, which comprises a special talent model library, a monitor set, a general talent model and a multi-robot distributed exploration cluster. The special talent model library contains L pre-trained special talent models. The monitor set contains L monitors, each of which is arranged with a special talent model and used for evaluating whether a current input state belongs to the use range of the special talent model. The multi-robot distributed exploration cluster contains multiple physical robots, each of which is arranged in a different task scene. In the application, multiple robots are introduced to perform different tasks in parallel, the monitor is used to dynamically determine when the special talent model needs to be involved, the appropriate special talent model is selected for guidance, the DAGGER type iterative data aggregation mechanism is adopted, the general talent model continuously learns on the state distribution generated by self-exploration in multiple scenes, and finally, the general talent model which can adapt to multiple scenes and surpass a single special talent is obtained.

This invention discloses an intelligent generation method and system for foundation pit construction schemes based on working condition constraint deduction. Through foundation pit engineering data acquisition and analysis, construction of a foundation pit engineering semantic object model, construction of an engineering constraint graph, retrieval and adaptation verification of foundation construction scheme templates, deduction of construction working condition chains, parameter collaborative optimization and generation of candidate foundation pit construction schemes, generation of complete sets of construction schemes, consistency verification, and final scheme output, the invention achieves intelligent and rapid generation of foundation pit construction schemes, improves the accuracy of scheme adaptation to actual foundation pit working conditions, reduces labor costs, and ensures foundation pit construction safety and engineering quality. It solves the problems of low efficiency, insufficient personalization, low matching degree with actual working conditions, and excessive reliance on human experience in existing foundation pit construction scheme generation technologies.

The invention discloses a wireless state synchronization management platform and method for a power supply module and a display module, and relates to the technical field of wireless communication and state synchronization management. The method is suitable for application environments such as intelligent warehousing and automatic guided vehicle (AGV) scheduling which need to supply power to multiple terminal devices and receive state information at the same time. Semantic level classification identification, dynamic priority ranking and a self-adaptive scheduling optimization mechanism are introduced into a reverse communication channel; a basic frame structure of a multi-display module is defined and analyzed; the problem of signal conflict when a plurality of display modules transmit state signals on the same wireless channel is solved, a priority identifier is introduced by enhancing a frame structure, and it is ensured that a power module can preferentially process an emergency charging request and a fault alarm signal in a multi-module environment. And the processing efficiency of high-priority signals is improved through comprehensive weight calculation, so that the performance and reliability of the system in multi-module concurrent communication are improved.

The application relates to the technical field of order management, in particular to a multi-store order collaborative management method and system based on order aggregation processing, which comprises the following steps: acquiring order records, extracting key time to construct an order node sequence, calculating the interval between adjacent nodes in the sequence and combining the sequence, combining inventory locking results to generate an order trigger vector, comparing the interval sequence of the vector with a preset threshold set, generating a processing judgment label, judging a flow path in combination with a process record and generating a delay processing mark, calling the mark to filter a delivery execution path to generate a collaborative management scheme. In the application, time sequence correlation is constructed by extracting key time points of multi-source order flow, trigger characteristics are generated by quantitatively analyzing the interval between sequence nodes in combination with state conversion, processing labels are accurately judged by executing interval threshold rule matching, the delivery path is locked by comprehensively considering global process records and delay marks, data source time sequence fragmentation and update delay are eliminated, inventory conflicts caused by static synchronization are avoided, and deep order collaboration distribution is realized.

The embodiment of the invention provides a subprogram instance creating method and device, equipment, a medium and a program product. The method comprises the following steps: in response to a calling request of a target subprogram in a session between a client and a database, searching a target shared instance from a shared memory; multiplexing the public data in the searched target shared instance, and creating a private instance structure; and generating a private instance stored in the private memory of the session according to the private instance structure and the private data. According to the method, when the session calls the subprogram, the shared instance is searched from the shared memory, and the private instance for the session is created by multiplexing the public data in the shared instance, so that multiple sessions do not need to repeatedly compile and store the same public data, and the memory overhead is reduced, and therefore, in a high-concurrency scene, the session can be quickly and efficiently called. The risk of insufficient memory is avoided, and the stability of database operation is improved.

The application discloses a scene generation method and device based on source-load uncertainty and equipment, and relates to the technical field of energy scheduling. The method comprises the following steps: acquiring real-time source-load data of a power system; processing the real-time source-load data based on a target prediction model to obtain a multi-time-scale source-load prediction result, wherein the target prediction model is obtained by compressing the weights of a long short-term memory network prediction model; generating a collaborative scheduling strategy of source-load resources under the multi-time-scale source-load prediction result based on a multi-agent scheduling decision model; and generating a hydropower source-load scene set of the power system at different time stages under the source-load uncertainty based on the collaborative scheduling strategy. In the foregoing manner, the prediction link and the decision optimization link are closely coupled, the multi-time-scale prediction result is used to dynamically guide the reinforcement learning decision, the adaptability of the system to the source-load uncertainty is enhanced, and the organic collaboration of the multi-time-scale and the accurate generation of the uncertainty scene are realized.

The invention discloses a method for batch equidistant adjustment of train operation plans of a CTC system based on a daily shift plan, and relates to the technical field of railway dispatching concentration. The method comprises the following steps: in response to a running line head node selected by a user, judging whether a preset condition is met; if yes, setting an adjustment range and an equidistant interval; loading the to-be-adjusted operation line meeting the condition according to the adjustment range; sorting the operation lines to be adjusted according to an increasing sequence of departure moments of the first nodes of the daily shift planning lines corresponding to the operation lines to be adjusted; synchronously traversing the sorted to-be-adjusted running lines and the corresponding daily shift planning lines, and performing batch equidistant adjustment calculation on each to-be-adjusted running line: if the departure time after equidistant adjustment is greater than the daily shift planning time, performing overall offset; otherwise, aligning to the daily shift plan time; and finally refreshing the running chart display. According to the invention, rapid and orderly adjustment of a large number of train operation plans is realized, delay propagation is effectively controlled, the workload of dispatchers is reduced, and the intelligent level of a CTC system is improved.

This invention discloses a method and system for optimizing the layout of pipeline spaces in high-cleanliness industrial plants, relating to the field of computer intelligent construction technology. The method includes: acquiring a three-dimensional model of the building structure, equipment layout, and pipeline attribute information within the plant; dividing the pipeline layout area into grids based on the column grid and process equipment layout; calculating a location convenience index, structural impact index, and equipment association index for each grid, fusing them to obtain a comprehensive spatial importance index, and assigning functional area attribute codes accordingly; constructing a multi-objective optimization function with objectives including comprehensive pipeline cost, inter-pipeline conflict degree, and secondary connection pipeline space; constructing the pipeline system as a graph structure, using a graph neural network to solve the multi-objective optimization function, and generating a preliminary layout scheme; and outputting the final layout after collision detection and local adjustments. This invention achieves automated and intelligent layout optimization of pipeline spaces in high-cleanliness industrial plants, improving space utilization and reducing construction costs.

The invention relates to the technical field of nuclear power construction, in particular to a nuclear island pipeline simulation installation method and system based on a digital system, and the method comprises the steps: obtaining nuclear island region information and installation demand information, and determining nuclear island structure information, region environment parameters and pipeline distribution information according to the nuclear island region information; constructing a pipeline area model of the nuclear island pipeline based on the nuclear island structure information, the area environment parameters and the pipeline distribution information; and performing suitability analysis on the pipeline area model according to the installation demand information to obtain a target installation point location and an optimal installation scheme, thereby improving feasibility and reliability of nuclear island pipeline installation.

This invention discloses a method for updating multi-source heterogeneous pipeline data, belonging to the field of data update technology. The method includes: creating a data download task, recording the download range and pipeline type information, and determining whether there is an associated data entry task; if so, waiting for the associated task to execute; creating a data entry task, determining whether there is an associated data download task, and waiting for the associated task to execute; reading multi-source pipeline data within a specified range through a download queue concurrency control mechanism, and assembling and downloading the data format; performing a quality check before data entry through an entry queue concurrency control mechanism, reading the data to be entered into the database and the data in the current database; performing repair and testing on the read data, and comparing the differences between additions, deletions, and modifications; updating the compared addition, deletion, and modification information to the current database, and synchronizing the deletion and modification information to the historical database.

The application belongs to the technical field of medicine, and particularly relates to a composition for alleviating and repairing testicular damage caused by heat stress and application thereof. The composition for alleviating and repairing testicular damage caused by heat stress comprises the following raw materials: lycopene inclusion compound, ginsenoside Re, modified chitosan nanoparticles and a solvent. The amount of the modified chitosan nanoparticles is 10-15 wt% of the ginsenoside Re. The application innovatively designs a combination formula with lycopene and ginsenoside Re as the core. Both of the two main effective components in the formula are natural plant or traditional Chinese medicine extract, which effectively avoids the conflict between the medicinal properties of traditional Chinese medicines and has good biological safety. The composition can significantly repair the testicular damage caused by heat stress and accelerate the recovery after heat stress damage.

The invention relates to a clamping jaw control method and system for reducing flexible impact, and the method comprises the steps: obtaining the moving distance, the maximum speed, the maximum acceleration and the maximum jerk value required for controlling a clamping jaw, and constructing an improved S-shaped curve acceleration and deceleration algorithm; according to the improved S-shaped curve acceleration and deceleration algorithm, constructing a critical value with or without a constant speed section; the moving distance needed by the clamping jaw is compared with the critical value of the constant speed section, whether the constant speed motion condition exists or not is judged, then the improved S-shaped curve acceleration and deceleration algorithm is obtained and is a four-section type or five-section type S-shaped curve acceleration and deceleration algorithm, and the operation time of the clamping jaw is calculated according to the comparison result; and substituting the operation time of the clamping jaw into an improved S-shaped curve acceleration and deceleration algorithm to control the operation of the clamping jaw so as to clamp or rotate the test tube cover. When a test tube cover is opened and closed through the clamping jaws, flexible impact can be effectively reduced.

The invention relates to an unmanned aerial vehicle operation conflict detection and release method for an unmanned aerial vehicle intelligent management platform, and the method comprises a method for obtaining a conflict unmanned aerial vehicle set and a method for releasing each unmanned aerial vehicle in the conflict unmanned aerial vehicle set. Whether each unmanned aerial vehicle conflicts with other unmanned aerial vehicles is detected through an unmanned aerial vehicle conflict detection method, and the method for releasing each unmanned aerial vehicle in the conflict unmanned aerial vehicle set comprises the following steps; s1, obtaining a release priority score kappa of each unmanned aerial vehicle in the conflict unmanned aerial vehicle set; s2, sequentially releasing the unmanned aerial vehicles according to the releasing priorities; according to the unmanned aerial vehicle operation conflict detection and resolution method of the unmanned aerial vehicle intelligent management platform, unmanned aerial vehicle conflicts can be recognized foresidly, differentiated resolution priorities are given in combination with factors such as unmanned aerial vehicle states, task attributes and environmental risks, multi-vehicle conflict scene conflict resolution scheduling is efficient and accurate, and unmanned aerial vehicle operation safety and task execution efficiency are both considered.

The invention discloses a satellite network decision support method and system based on a large behavior model, and belongs to the crossing field of satellite communication and artificial intelligence. The method comprises the following steps: acquiring multi-modal operation data of a satellite network and preprocessing the multi-modal operation data; learning a network behavior mode by using an LBM (Local Business Model) based on a Transform architecture; based on the current network state, using the LBM to pre-judge a future network performance risk; aiming at the risk, generating and recommending an optimal decision instruction sequence including operations such as resource adjustment and route switching by the LBM; and issuing an instruction and collecting executed data to form closed-loop feedback. According to the method, the LBM capable of understanding and simulating network dynamics is constructed, network operation and maintenance are converted into active pre-judgment and intelligent generation from passive response, early warning of risks such as network congestion can be achieved, a globally optimized coping strategy is automatically generated, the resource utilization efficiency and the autonomy level of the low earth orbit satellite network are remarkably improved, and the method is suitable for popularization and application. And an effective way is provided for realizing unattended operation and maintenance.

The invention relates to the technical field of industrial internet, and provides an intelligent robot control method and system based on the industrial internet, and the method comprises the steps: obtaining the task instruction information of a to-be-executed task and the equipment attribute information of each available robot in a plurality of available robots; according to the task instruction information, determining multiple pieces of task requirement information of the to-be-executed task and environment influence information which influences the environment when the to-be-executed task is executed; determining a plurality of to-be-selected robots capable of executing the to-be-executed tasks in the plurality of available robots; according to the equipment attribute information of the to-be-selected robot and the environment influence information of the to-be-executed task, determining a machine damage index of the to-be-executed task executed by the to-be-selected robot; and determining a target robot in the plurality of to-be-selected robots according to the machine damage indexes of the to-be-selected robots, and controlling the target robot to execute the to-be-executed task. Through the scheme, the control message of the intelligent robot can be improved.

The application discloses a toolbox aggregation proxy method for local heterogeneous MCP services, and relates to the technical field of artificial intelligence tool calling. The method acquires tool cards of local or intranet services, forms a toolbox service set according to user selection and generates a unified MCP proxy entrance; a session identifier is generated and the service set is bound when the client is initialized; when a tool list request is requested, each upstream MCP service is connected, an original tool list is acquired, the original tool name is rewritten as an aggregated tool name with a service identifier prefix, and a routing index is established; when a tool calling request is requested, the aggregated tool name is parsed, the service ownership is checked, the calling parameters are forwarded according to the original tool name, and the result is returned. The method can reduce the complexity of multi-service configuration, eliminate tool naming conflicts, ensure the consistency of the service set within a session, and be compatible with HTTP calling, Web testing, external platform registration and intranet security access.

This invention discloses an ultra-short viscose fiber production line and its preparation method, including a winding machine, a sorting frame, a cutting machine, a washing machine, a filter press, and a dryer. The sorting frame includes an assembly base plate, with a vertical pole fixedly connected to the upper end of the base plate. An inner rod is fixedly connected to one side of the vertical pole, and a side frame is provided on the other side of the vertical pole. This invention, through the cooperation of the winding machine and the sorting frame, winds the viscose fiber during production, facilitating subsequent processing and transportation. The sorting frame also helps to spread the viscose fiber, preventing it from being horizontal with the cutting blade, thus ensuring the cutting length and increasing the yield rate of ultra-short viscose fiber. The use of a limiting sleeve gathers the viscose fiber together, and when new viscose fiber is added, it can be carried in by other viscose fibers, preventing hands from being caught in the conveyor belts and increasing production safety.

This disclosure provides a real-time clock power supply circuit, control method, and battery management system, relating to the field of battery management technology. The circuit includes a main power supply, a first backup power supply, a second backup power supply, a first diode, a second diode, and a third diode. The main power supply outputs a first power supply signal based on received battery power supply signals and a key signal. The first backup power supply outputs a second power supply signal based on received battery power supply signals. The second backup power supply outputs a third power supply signal. The first diode is located in the output path of the main power supply. Multiple second diodes connected in series are located in the output path of the first backup power supply. The third diode is located in the output path of the second backup power supply. The voltage amplitudes of the first, second, and third power supply signals are configured such that the main power supply, the first backup power supply, and the second backup power supply activate their respective output paths to supply power to the RTC module in time periods according to the state of the battery management system.

The invention discloses an equipment maintenance cost management and control system and method, and relates to the technical field of industrial equipment management. The system comprises an Internet of Things data sensing layer, a maintenance digital twinborn construction module, a multi-dimensional dynamic preventive maintenance cost prediction engine, a cost control and execution layer based on an intelligent contract and a self-adaptive cost allocation and optimization feedback loop. The method comprises the following steps: collecting data in real time and constructing an equipment maintenance digital twinborn body; the prediction engine generates a virtual maintenance unit containing predicted cost based on the twinborn body data; when the risk exceeds a threshold value, a block chain intelligent contract is automatically triggered, and automatic and traceable management and control are carried out on budget, process and payment; after maintenance is completed, cost is automatically shared, and data is fed back to optimize the model. According to the method, the change of the maintenance cost from passive response to active prediction and from post-event recording to whole-process automatic management and control is realized, transparency is ensured through an intelligent contract, a self-optimization closed loop is formed, and the refinement level and cost effectiveness of cost management and control are improved.

The application discloses a kind of flight platform cluster's track planning method and device, the method includes: collection obtains task demand information set and flight platform cluster technical index information set;The task demand information set includes the execution position and demand information of each to be executed task;The demand information includes demand task type information and the demand value of all technical indexes;The flight platform cluster technical index information set includes the execution task type information, position information and technical index value set of each flight platform;The technical index value set includes several technical index values;The task demand information set and flight platform cluster technical index information set are preprocessed, and obtain preprocessed information set;The preprocessed information set is subjected to track planning processing, and obtains the track set of flight platform cluster.

The utility model provides a kind of hoisting device of precision angle hoisting robot, it is related to robot hoisting technical field, including base, the bottom end both sides of base are fixedly connected with angle adjusting assembly, the both sides of base are fixedly connected with driving assembly;Moving assembly;The moving assembly includes mounting seat and locating seat, the inside fixedly connected with sliding rod of locating seat, the outside sliding connection of sliding rod has moving block, the inside rotationally connected with screw rod of locating seat, the outside of screw rod is screw-connected in the inside of moving block;This design is accurately controlled and moving block is accurately regulated by cylinder, the angle adjustment of elbow joint one and elbow joint two is synchronously regulated by cylinder drive, ensure the stability and consistency of system, high-precision angle adjustment can be realized in hoisting process, avoid the angle error common in traditional mechanical structure, avoid the conflict or deviation of different angle adjustment.

The utility model relates to the field of container sealing, in particular to a multifunctional sealing cover, which comprises a cover body and a baffle, one end of the cover body is provided with a containing cavity, and the other end of the cover body is provided with a threaded groove; the baffle is provided with a ventilation hole, the side wall of the containing cavity is provided with a limiting protrusion, and the side wall of the baffle is provided with a limiting groove. The containing cavity can place incense sheets, directly spray perfume or other aromatic substances, then the cover is closed above the containing cavity, the limiting protrusion is clamped in the limiting groove, and the fragrance is diffused from the ventilation hole; the cover body is connected with the bottle opening of various makeup and skin care products through the threaded groove. When changing the fragrance, the baffle is only needed to be disassembled, the containing cavity is directly flushed or wiped, the aromatic substances in the containing cavity are replaced, and the fragrance conflict can be avoided. When going out, the user only needs to place the makeup and skin care product in the bag or clothes pocket, and the effect of spraying perfume can be realized. The needs of carrying the makeup and skin care product and changing the perfume when going out are met, and the preparation work when going out is simplified.

The utility model discloses a one -off biliary tract mirror of built -in thulium laser, include: mirror body, the mirror body is equipped with instrument channel along its axial direction, and instrument channel penetrates mirror body, head end subassembly is equipped with thulium laser installation cavity in mirror body front end, and avoids the entrance and exit of instrument channel, and the head end subassembly front end is equipped with thulium laser installation cavity, thulium laser module is installed in thulium laser installation cavity, and thulium laser module includes retractable thulium laser probe, and the output end of thulium laser probe is towards the front, and thulium laser probe is housed in thulium laser installation cavity under initial state, and thulium laser probe is protruding in thulium laser installation cavity under working condition. The utility model discloses a one -off biliary tract mirror mirror body's front end integration thulium laser module, and retains independent original instrument channel, and the conflict problem of thulium laser probe occupation instrument channel is solved thoroughly.