144results about How to "Avoid idling" patented technology

The invention provides a Kubernetes-based large model reasoning optimization method, system and equipment, and the method comprises the steps: constructing a resource scheduling assembly for a large model, and monitoring a real-time resource state at a current moment; constructing a batch processing agent component for the large model, performing feature analysis on the received reasoning request queue, and determining request features corresponding to the reasoning requests in the reasoning request queue; the real-time resource state is evaluated according to the request features, and the batch processing size is adjusted based on the evaluation result to generate the optimal batch processing length; batching the reasoning requests in the reasoning request queue according to the optimal batch processing length, and packaging each batch of reasoning requests into batch data; the resource scheduling component is utilized to distribute batch data to Pod in the K8s cluster for reasoning, a large model reasoning result is obtained, the quantity of the reasoning Pod is automatically adjusted according to the flow and the resource load required by reasoning, a GPU with poor performance is prevented from becoming a system bottleneck, and the responsiveness and the stability of service are improved.

The invention provides a neural network processing unit scheduling system and method, relates to the field of artificial intelligence accelerators, and can set a task progress register in a neural network processing unit for recording the task processing progress of the neural network processing unit for processing and calculating sub-tasks and exposing the task processing progress to a software layer. A scheduler and a global shared task queue can be arranged in the runtime module. The scheduler is used for scheduling the calculation subtasks to the neural network processing units, screening the slow processing units according to the task processing progress of the neural network processing units, determining the remaining subtasks which are not completed by the slow processing units, taking the remaining subtasks as the calculation subtasks again, and sending the calculation subtasks to the neural network processing units; and re-issuing to the idle neural network processing unit through the global shared task queue. Therefore, the remaining sub-tasks which are not completed by the low-speed processing unit can be re-issued to the idle neural network processing unit, so that idle computing resources can be avoided, and the processing efficiency is improved.

The invention discloses a container storage processing method and system based on TIPU, a terminal and a medium, and relates to the technical field of storage virtualization, and the technical scheme is characterized in that storage configuration information of NFS shared file information is encrypted; the method comprises the following steps of: creating a Configumap resource; a persistent storage declaration PVC is created, and a TIPU gateway is triggered to dynamically create virtiofs equipment; a POD is created, and virtiofs equipment is mounted to a container in the POD; the Configumap resource is analyzed, so that a first secret key fragment is injected into the virtiofs file system; and combining to form a complete secret key so as to decrypt the file information. According to the invention, the POD in the Kubernetes environment can be ensured to perceive and directly access the storage resources managed by the TIPU in real time, and efficient and dynamic unloading of the storage load is realized through seamless integration with the TIPU platform.

The utility model discloses an intelligent pneumatic precipitation device for water level control, which relates to the technical field of pneumatic precipitation equipment and comprises a precipitation device main body, a limiting sleeve is mounted on the side wall of the precipitation device main body, a limiting rod is mounted on the inner wall of the limiting sleeve, and a floating plate is mounted on the outer wall of the limiting rod. A touch sensor is installed at the bottom of the limiting sleeve, and an air inlet pipe is installed at the top of the water lowering device body. By means of the limiting sleeve, the limiting rod, the floating plate and the touch sensor, a traditional pneumatic precipitation device can continuously operate after being started, the device can idle when the water level is lower than a water inlet and potential safety hazards exist when the device is unattended, the floating plate of the device can slide downwards along with the water level, and when the floating plate descends to the bottom, the floating plate can slide downwards along with the water level. When touching a touch sensor, the equipment can be turned off, idle running is avoided, manual guarding is not needed, and the practicability is higher.

The utility model provides an automatic food heating machine which comprises a cabinet body, a microwave device and a detection device, the cabinet body is internally provided with a refrigeration area, a function area and a material falling opening communicated with the refrigeration area and the function area respectively, and the refrigeration area and the function area are arranged at intervals in the height direction of the cabinet body; the refrigeration area is used for storing food; the blanking port is used for enabling food in the refrigeration area to fall into the functional area; the microwave device is arranged in the functional area, the microwave device is provided with a heating space, a feeding port and a discharging port, the feeding port and the discharging port are communicated with the heating space, the feeding port is located at the top end of the microwave device, the feeding port and the discharging port are oppositely arranged, and the feeding port is located below the discharging port; the discharging port is located in the side, close to the goods taking bin door of the cabinet body, of the microwave device. According to the automatic food heating machine, the technical problem that in an automatic vending machine with a food material heating function in the prior art, a user needs to manually place commodities into a microwave oven for heating is effectively solved.

The present application relates to a kind of distribution management method, device, storage medium and electronic equipment, it is related to distribution management technical field, the present application constructs user receiving probability distribution model using deep learning, and correction is carried out in combination with real-time telephone communication result, effectively solve the problem of too early or no one to receive mail caused by recipient not at home, greatly reduce the secondary delivery rate and loss risk of fresh products, by injecting the scoring system with fresh type and its preservation threshold as core constraint variable, ensure that the order of high time requirement can obtain higher distribution priority, complete delivery before product quality deterioration, improve user experience, while realizing the balanced scheduling of regional transport capacity through dynamic scoring mechanism, effectively alleviate the technical pain points of uneven resource allocation in peak period, avoid the phenomenon that part of terminal is overloaded while another part is idle, based on real-time scoring dynamically generates path, can flexibly respond to road condition anomaly, user temporary change of mind and other emergent conditions.

The utility model relates to the technical field of magnetic core processing, in particular to a blank pressing machine for magnetic core processing, which comprises a circular rotating plate, and a supporting plate is arranged above the circular rotating plate. A mold is installed above the circular rotating plate through screws, a push block is attached to a bottom plate below the mold, an output shaft of a second air cylinder is installed below the push block through screws, an air cylinder controller is arranged on one side of the second air cylinder, a rotating shaft is welded to the lower portion of the circular rotating plate, and a limiting plate is welded to the outer wall of the rotating shaft; according to the improved blank pressing machine, the rotating disc type mold switching assembly is arranged, a plurality of molds are arranged, the situation that equipment is idle when a single mold is used for charging and demolding is avoided, equipment resources are fully utilized, the overall utilization rate is greatly increased, the production cost is reduced, and the production efficiency is improved. And meanwhile, the demolding assembly is arranged, so that the internal blank can be rapidly demolded.

The utility model discloses a novel push wheel linkage feeding mechanism belongs to the technical field of automation equipment, including fixed plate, feeding box, rotary feeding unit, X axis feeding unit, Y axis feeding unit and push unit, and fixed plate horizontal arrangement is installed in the top of fixed plate, and rotary feeding unit is installed in the top of fixed plate, and sets up at the back of feeding box, and X axis feeding unit is installed in the top of fixed plate, and Y axis feeding unit is installed in the top of fixed plate, and sets up at the front of feeding box, and push unit is installed in the top of fixed plate, and sets up at the front of rotary feeding unit. The utility model discloses through the innovation mechanical linkage and sensing control, realized low -cost, high -efficient, high reliability's automation feeding, especially applicable to the quick sorting and the turning scene of small -size material, and the power manufacturing industry reduces the benefit of benefit.

The invention discloses an event alarm reporting processing method for large-scale ONVIF equipment access, and belongs to the field of security and protection video monitoring. Registering channel static information to the data sharing center after the ONVIF equipment is online; the ONVIF equipment access service sends an event subscription request carrying an event receiving service unified address and an equipment identification subscription code to the equipment; after the equipment triggers the event, stateless connection is initiated to the uniform address, and the event is dynamically forwarded to any event receiving service instance by the platform load balancer; and the event receiving service analyzes the event to obtain the channel identifier, queries the data sharing center to obtain complete channel information, and reports the information to the platform alarm center after integration. According to the invention, decoupling of event subscription and processing is realized, and through stateless service, unified port and centralized data management, the problems of poor reliability, many exposed ports, uneven load and complex capacity expansion under large-scale access are solved.

The application provides an AI computing power allocation method, system, device, storage medium and program product, and relates to the technical field of data processing. The AI computing power allocation method determines the corresponding target AI algorithm model based on the service demand of the target reasoning service in real time, and then dynamically matches the target computing power resource used to load the target AI algorithm model by combining the processing demand of multiple AI algorithm models, the preset adaptability rules of various heterogeneous computing power resources, and the current use state of the various heterogeneous computing power resources, so as to realize dynamic allocation of AI computing power resources, avoid computing power resource overload or idling, improve computing power resource utilization, reduce task reasoning delay, and thus improve data processing capability.

The invention provides a power distribution network resource scheduling method and system based on computing power network integration, and belongs to the technical field of data processing and resource scheduling, and the method comprises the steps: obtaining a plurality of communication signals and a plurality of corresponding service requests, and packaging the communication signals and the service requests into a plurality of standardized data; corresponding response tasks are generated according to the service requests, and task resource requirements of the response tasks are determined; performing resource scheduling on each response task according to each task resource demand and a preset resource scheduling model, and determining resource configuration of each response task; according to each resource configuration, scheduling and allocating a plurality of virtual resources to each response task from a preset resource pool; and according to each response task and a plurality of corresponding virtual resource units, carrying out data processing on each piece of standardized data, so that by implementing the method and the device, the problems of relatively low utilization rate of power distribution network resources and inflexible scheduling in the prior art can be solved.

The application discloses a comprehensive distribution box for smart grid, and relates to the technical field of distribution boxes.The comprehensive distribution box for smart grid comprises a main body, an adjusting assembly is clamped in the inner cavity of the main body, and the adjusting assembly is adjusted synchronously along with the wiring channel demand; a splicing assembly is assembled at the end of the adjusting assembly, and the splicing assembly is used for lengthening or width adjusting of the wiring channel.The comprehensive distribution box for smart grid can accurately adjust the width of the wiring channel according to actual demand through the adjusting mechanism, can ensure that the space can be fully utilized under various environments, and can avoid unnecessary waste; the size of the wiring channel can be accurately controlled by adjusting the end of the line, space waste can be avoided, and the wiring layout can be optimized; meanwhile, the end of the wiring channel is adjusted, the channel width can be quickly expanded or reduced according to the change of the load, and the comprehensive distribution box for smart grid is suitable for different scenes.

The application discloses a dust ash pre-wetting mixing device, which comprises a blanking shell, first and second metering belt scales are installed on the top of the blanking shell, a dust ash batching bin is fixed above the first metering belt scale by bolts, a returned ore batching bin is fixed above the second metering belt scale by bolts, a dustproof cover plate is hinged to the top of the blanking shell by hinges, and a stirring cage shell is fixedly connected to the bottom of the blanking shell by flanges. The application solves the problem of insufficient wetting in the traditional process by means of segmented stirring and precise water spraying design. The coarse segment stirring shaft drives large lead screw spiral blades to rapidly disperse the material, the first atomizing nozzle group synchronously sprays water, the material is preliminarily wetted, the fine segment stirring shaft drives small lead screw spiral blades to finely stir, the second atomizing nozzle group supplements water, and the inner arc guide plate guides the material to form a circulating flow, so that the water is ensured to penetrate into the material.

The invention provides a traffic scheduling method and device, equipment and a storage medium, and the method comprises the steps: determining the current health degree of each link according to the historical health degree of each link and each index value in a current time period; therefore, the health degree is determined more accurately, and the link health degree is evaluated more accurately. In addition, a data transmission mode between the first network device and the second network device is determined according to the current health degree of each link, and then a flow scheduling rule in the corresponding data transmission mode is determined. Therefore, the dynamic transfer of each link can be determined, and the situation that the links are idle is avoided, so that the link utilization maximization and experience optimization are realized. The method is suitable for various IP network environments and various network topology structures, can be used for traditional copper cable access and wireless access scenes, and can also be used for optical fiber access scenes including an FTTR (Fiber To The Room) all-optical access network.

The invention discloses a cloud edge hierarchical collaborative information system integrated resource scheduling system. The system comprises an acquisition module. Data preliminary cleaning and feature extraction are locally executed through the edge end, only key feature data are uploaded, network transmission quantity is reduced, cloud computing pressure is relieved, real-time tasks can respond quickly, task timeout caused by transmission delay is avoided, feature vectors of the edge end and the cloud end are dynamically analyzed based on a scheduling decision model of reinforcement learning, and the real-time performance of the edge end is improved. Task requirements and resource states are intelligently matched, the scheduling accuracy is improved, model parameters are dynamically updated through task execution state data (such as duration and resource utilization rate deviation), the model is adaptively optimized along with environment changes (such as edge end hardware aging and cloud load fluctuation), the efficient scheduling capacity is kept for a long time, and the scheduling efficiency is improved. Layered processing and intelligent scheduling avoid edge end overload or cloud end resource idling, resource allocation of a CPU, a memory and the like is optimized, resource waste is reduced, and the system collaboration efficiency is integrally improved.

The invention relates to the technical field of modeling systems, and discloses a portable cluster three-dimensional rapid modeling system and method, and the system comprises an integrated case unit which is internally integrated with a main computing node and a sub computing node; the power supply and power management module is used for monitoring the load of each computing node in real time and dynamically adjusting power supply; a KVM switching table in the man-machine interaction module is used for supporting a user to switch among a plurality of computing nodes through a keyboard or a mouse; the scheduling and modeling module is used for performing three-dimensional modeling on the target area according to the image data; and the environment adaptation module is used for carrying out real-time monitoring and intelligent regulation and control on the internal environment temperature and humidity of the integrated case unit. According to the method, rapid generation and result export of the three-dimensional model of the target area are realized through a closed-loop process of data acquisition by the unmanned aerial vehicle, cluster node parallel calculation and local aggregation optimization.

The invention relates to a current bill payment calculation method and system capable of splitting bills and a medium, and relates to the technical field of electronic bill processing. Core data such as discount amount, charging standard type, corresponding charging parameters, bank discount interest rate and interest bearing days are accurately obtained by responding to a bill payment request; according to the method, all data are linked to complete actual discount amount accounting by taking a charging standard type as logic guidance, a financing interest rate and an actual amount are accurately output after actual service charge threshold verification, a set of complete-process calculation scheme with strong adaptability is formed, and finally, the clear financing interest rate and the actual amount are directly displayed to an enterprise, so that multiple costs are merged and presented, and the calculation efficiency is improved. A user decision-making link is thoroughly simplified, and the core requirements of enterprises for financing cost transparency and fund utilization efficiency are met.

This invention discloses a method, device, and medium for predicting public transport carbon emission factors per passenger. The method includes: constructing bus stop-level, bus link-level, and bus route-level influencing factors; using these factors as input factors, processing them through a routing mechanism, calculating the routing score for each input factor, and then assigning each input factor to a corresponding expert sub-model to predict the corresponding public transport carbon emission per passenger. The method also involves identifying key factors for public transport carbon emissions and / or determining the coupling effect between pairs of input factors. Context-sensitive frequency and call balance are introduced to evaluate the local and global load of the expert sub-models, and the impact of expert switching on the prediction output is quantified through expert perturbation sensitivity.

This application provides a method, system, medium, program product, and terminal for adaptive construction and allocation of distributed computing tasks in a computing layout. The method involves dividing a full-size computing layout to obtain several computing layouts and corresponding computing tasks. For computing tasks that fail to execute, the method divides them into several sub-tasks corresponding to several sub-layouts, and re-executes these sub-tasks until all sub-tasks are successfully executed. For successfully executed computing tasks, the method collects their execution information and pre-divides or merges unexecuted computing tasks. Finally, after all computing tasks have been completed, the several computing layouts are merged and output. This avoids the problem of program termination due to excessive memory consumption and automatically adjusts to the most suitable partition size, thereby optimizing computational efficiency.

The present disclosure belongs to the field of fly ash processing, and discloses a fly ash alkali-activated light material grinding ball device, which comprises a placing rack, a pair of symmetrically placed support plates are fixedly connected to the placing rack, mounting blocks are fixedly connected to the support plates, flow guide pipes in rotating connection are arranged on the mounting blocks, the flow guide pipes are horizontally placed, the two flow guide pipes are coaxially placed, a cylinder is fixedly connected between the two flow guide pipes, the cylinder is coaxially placed with the flow guide pipes, the cylinder is in the form of a sealed hollow shell, and the flow guide pipes are in through connection with the inside of the cylinder; through the separate arrangement of the coarse grinding bin and the fine grinding bin, and in cooperation with the ring sleeve, the fixing frame, the connecting strip, the sleeve, the spring, the sliding shaft and the scraping plug, the blocked particles in the arc grate gap can be timely cleaned and discharged in the working process.

The present disclosure provides a blockchain contract processing method and device, electronic equipment and storage medium, comprising: loading N candidate smart contracts in batches from the to-be-processed smart contracts; in response to identifying that the candidate smart contract needs to perform a target external data read-write operation, judging whether the target external data exists in the local cache; in response to the target external data not existing in the local cache, performing saving processing on the first execution context data of the candidate smart contract, and determining a target contract from the to-be-processed smart contracts except the N candidate smart contracts; replacing the target contract with the candidate smart contract, and loading the target contract to the execution slot of the execution memory corresponding to the candidate smart contract, and executing the target contract. When it is found that the candidate smart contract needs to wait for the database to return, the context is saved and the execution is switched, avoiding the idling of the execution unit, improving the hardware utilization rate, and at the same time, by supporting batch preloading, the cache hit rate and execution continuity are improved.

The application discloses a kind of roll type reverse osmosis membrane and the compatible installation structure of disc tube type reverse osmosis membrane shell, including including membrane shell, upper pressure flange, lower pressure flange and center pull rod, and upper support sleeve, lower support sleeve, several membrane elements and center water production pipe being set in membrane shell 1 inside, the socket and flow channel in the inside of upper and lower support sleeve are used to connect the membrane element, under the premise of not reforming original DTRO membrane shell, sealing accessory, cleverly utilize the center pull rod compression structure of membrane shell itself, realize the tension sealing of roll type reverse osmosis membrane element and support sleeve, center water production pipe, solve the problem that two incompatible membrane elements cannot be used universally, avoid equipment idle, especially suitable for low concentration wastewater treatment or pilot experiment and other high cost-effective application scenarios.

The utility model discloses an impurity removal device for tin stripping wastewater recovery, which relates to the technical field of tin stripping wastewater recovery and comprises a base frame, an impurity removal box is obliquely arranged at the top of the base frame from top to bottom, a liquid discharge hopper is arranged at the bottom end of the impurity removal box, and a side wall pipe is arranged at the connecting end of the impurity removal box and the liquid discharge hopper in a surrounding manner. A plurality of groups of liquid outlet holes distributed at intervals are formed in the inner wall of the side wall pipe, in the waste liquid impurity removal process, waste liquid can be pumped out of the tin liquid box in a pressurized mode through the pressure pump, the waste liquid is conveyed into the side wall pipe through the three-way pipe and the main flow hose, the waste liquid can be guided to the side wall of the liquid drainage hopper through the liquid outlet holes formed in the side wall pipe, and the waste liquid can be discharged out of the side wall of the liquid drainage hopper. By means of the device, the tin-lead alloy coating film fragments attached to the side wall of the liquid discharging hopper can be washed and cleaned, the device can wash the film fragments attached to the interior of the device while waste liquid impurity removal is conducted, the follow-up cleaning workload is greatly reduced, and the operation burden of workers is relieved.

The application relates to a power grid data processing method, device, equipment, readable storage medium and program product. The method comprises the following steps: obtaining service data generated by interaction of each subject unit in a source grid-load-storage coordination system; distributing the service data to corresponding main processing node groups based on corresponding service scenarios of the service data; the main processing node groups comprise at least two main processing nodes, each main processing node is pre-configured with a data processing algorithm and a resource allocation strategy matched with the corresponding service scenario; the load state of each main processing node is obtained, and the service data is distributed to a target main processing node for data processing; the target main processing node refers to a main processing node whose core running load index in the load state is in a corresponding preset interval range. The method can improve the data processing efficiency of power grid data.

The embodiment of the invention discloses a warehouse elevator scheduling method, computer equipment and a computer readable storage medium. The warehouse elevator scheduling method comprises the following steps: constructing a scheduling algorithm to process received task information so as to determine a reservable object; determining a reservation mode according to the task information, and obtaining a reservation form; processing the reservation form according to the reservation mode so as to determine a target object from the reservable objects; and generating and outputting a scheduling queue based on the target object. Therefore, the reservable object can be determined firstly through the scheduling algorithm, so that the workload of the multiple elevators in the warehouse is balanced, the load balance of the elevators is optimized, local congestion and resource idleness are avoided, and the overall scheduling efficiency is improved. The real-time state and resource occupation condition of each connection point can be dynamically reflected by using the reservation form, channel resources are reserved in advance in combination with a pre-locking mechanism, dynamic reservation scheduling and path cooperative control of the elevator are realized, and the response speed and stability of the system are remarkably improved.

The utility model discloses a stacker convenient to adjust height, and relates to the technical field of stackers, the stacker convenient to adjust height comprises a mounting frame, an adjusting mechanism is arranged on the outer surface of the mounting frame, and the adjusting mechanism comprises a base plate. Firstly, a first bolt is unscrewed in a first moving block, then a motor can be started, then the motor enables a threaded rod to rotate, then the rotation of the threaded rod enables a first threaded barrel to move, at the moment, the first threaded barrel drives a moving strip to move, the motor enables the threaded rod to rotate, and then the rotation of the threaded rod enables the first threaded barrel to move on the threaded rod; and then a first threaded barrel enables a first moving block to slide on a fixing strip through transmission, and the effects that the height of the stacking machine can be simply and conveniently adjusted, the universality and flexibility of the equipment are enhanced, the stacking machine can more accurately store and take objects, the possibility of misoperation is reduced, and the working efficiency is improved are achieved.

This invention discloses a method and system for automatically generating production schedules in the photovoltaic crystal pulling industry, relating to the field of industrial manufacturing production scheduling technology. The method includes: receiving order data to be scheduled, real-time furnace status data, and material inventory data; constructing a dynamic rule base; calling structured parameters in the dynamic rule base to perform process constraint pre-checks, generating a candidate set of scheduleable orders and furnaces; dividing future production cycles into execution lock zones and pre-schedule adjustment zones, and constructing a comprehensive production scheduling evaluation index; based on the comprehensive production scheduling evaluation index, using a hierarchical allocation strategy to traverse and match the candidate set of scheduleable orders and furnaces, generating an initial production scheduling sequence; when a preset disturbance trigger condition is identified, performing local rearrangement repair based on neighborhood search on affected related orders, and calling the dynamic rule base for hard constraint verification; adjusting the weight coefficients of the comprehensive production scheduling evaluation index according to the performance of core performance indicators for a consecutive preset number of production cycles.

The utility model discloses a material conveying system. Including: first screening machine is equipped with first discharge gate and second discharge gate, first material pipe, its feed port is connected with first discharge gate, first crusher, its feed port is connected with the discharge gate of first material pipe, second crusher, its feed port is connected with second discharge gate, second screening machine, its feed port is connected with the discharge gate of first crusher and the discharge gate of second crusher, conveyer belt, it conveys the particle that passed through second screening machine to target area, storage component, it includes first storage bin, and with first material pipe is connected through second material pipe, and shunt valve, it includes motor and baffle, installs in first material pipe inside, and is located second material pipe opening place. The utility model discloses through setting up shunt valve, reasonably adjusts the coal amount that enters first storage bin and is sent into combustion furnace, thereby reduces the input of coal when the power generation load is lower, and simultaneously makes full use of the productivity of screening machine and crusher.

This invention discloses a smart community management method and system based on a 3D scene. The invention relates to the field of smart community management and includes the following steps: S1: Dynamic twin construction of the 3D scene, creating a dynamic 3D scene synchronized with the physical community in seconds, rather than a static model, ensuring accurate implementation of management actions; S2: Triggered perception and linkage of the 3D scene; S3: Dynamic resource scheduling optimization of the 3D scene, dynamically adjusting the community management resource configuration based on the real-time status of the 3D scene; S4: Iterative optimization of the 3D scene management effect. This invention's smart community management method and system based on a 3D scene, through dynamic twin modeling and scene-linked perception and early warning, constructs a synchronization system between the physical community and the 3D scene, replacing the manual inspection trigger mode. Abnormal situations can be automatically located, instructions generated, and synchronously fed back, thus significantly shortening the early warning and response time and improving technical linkage.

The application provides a multi-agent greenhouse global closed-loop control system and a control method. A global perception matrix module collects multi-dimensional data in the greenhouse in real time; an edge computing node module runs a multi-agent central system, which utilizes the hardware encoding and decoding capabilities and AI inference capabilities of a full-function GPU computing unit based on a MUSA architecture, and generates control instructions by real-time calculation of the collected data through each model; a cloud-side intelligent calculation cluster module constructs and runs a growth model training task and a global strategy optimization algorithm across greenhouses, and periodically updates the trained model to the edge computing node module; and a body execution layer module receives the control instructions and feeds back the task execution results to the edge computing node module to form a data closed-loop link. The application realizes the cooperation of fast thinking and slow thinking, replaces manpower with computing power, and realizes the whole-process closed-loop control from environmental perception, disease diagnosis, task planning to physical execution.