67results about How to "Scientifically sound" patented technology

The invention relates to a soft-shelled turtle hatching method, which comprises the following steps of: (1) stacking fertilized soft-shelled turtle eggs layer by layer on the surface of a sand layer of a hatching tray in an incubator, wherein the thickness of the sand layer is 2 to 3 centimeters, and the water content of the sand layer is 7 to 8 percent; (2) covering a sand layer with the thickness of 2 to 3 centimeters and the water content of 7 to 8 percent on the soft-shelled turtle eggs; and (3) after the steps (1) and (2) are finished, regulating the temperature in the incubator to be 33 to 34 DEG C, keeping the relative humidity of air at 85 to 88 percent, ventilating for 1 to 2 hours at noon of every day in the hatching process, and finishing hatching of the soft-shelled turtle eggs after 43 to 45 days. The hatching method is simple and feasible; the special incubator is scientific and reasonable in design and convenient to operate; and manpower is greatly saved, the hatching cost is reduced, the survival rate of soft-shelled turtle fries is improved, and economic benefits of an enterprise are increased.

The invention discloses a method and system for determining an intertranslation relationship of bilingual sentence pairs. The method comprises a step of determining matching feature values of the bilingual sentence pairs, performing filtering and classification on the bilingual sentence pairs according to the weights of the matching feature values in the intertranslation relationship according to a pre-established training classification model, and determining whether the bilingual sentence pairs are bilingual sentence pairs satisfying the requirements of the intertranslation relationship. Therefore, by adoption of the method for determining the intertranslation relationship of the bilingual sentence pairs provided by the embodiment of the invention, a bilingual corpus with a huge data size can be processed quickly and conveniently. The problem of determining the intertranslation relationship of the bilingual sentence pairs is converted into a binary classification problem by using the classification idea of the training classification model, so that the weights of the matching features of the bilingual corpus can be determined more scientifically and reasonably, and compared with the existing experience method, the universality is better, and the accuracy and the recall rate are improved accordingly.

The invention relates to a method for determining a step-by-step speed limit value of an exit ramp of a freeway, belonging to the field of traffic operation management of the freeway. The method comprises the following steps: dividing a speed characteristic value of the exit ramp into three site vehicle speeds, including a ramp nose end part, a transition section starting point and a reasonable outer side mainline of an exit ramp upstream section, through a research on running vehicle speed and deceleration of the exit ramp upstream section; deducing a running speed of the transition section starting point according to a ramp nose end speed limit value, continuously deducing a vehicle speed of the reasonable outer side mainline lane, combining an investigated or predicted mainline vehicle running speed to acquire a speed limit value calculation model and a corresponding calculation formula, finally determining a final step-by-step speed limit value according to engineering experience. Based on verification results of the method disclosed by the invention in combination with examples, the method disclosed by the invention has the advantages of simple and convenient calculation, high precision, suitability for engineering practical application and the like, effectively solves the shortcomings of the prior art and can be widely applied to the traffic operation management of the freeway.

The invention provides a characterizing method for pore volumes of full apertures of shale. The characterizing method comprises the following steps: (1) respectively dewatering and degassing a columnar shale, first powdered shale and second powdered shale in sequence; (2) analyzing the columnar shale by a high-pressure mercury intrusion method, and obtaining a pore volume of each aperture within a first aperture range according to a washburn equation; (3) analyzing the first powdered shale by a nitrogen adsorption method, and obtaining a pore volume of each aperture within a second aperture range according to a BJH model; (4) analyzing the second powdered shale by a carbon dioxide adsorption method, and obtaining a pore volume of each aperture within a third aperture range according to a DFT model; (5) obtaining a pore volume of each aperture within a superposition range by a weighted average method according to the superposition range among the first aperture range, the second aperture range and the third average range. According to the characterizing method, the full apertures of a shale pore structure are objectively and reasonably characterized, and the method is greatly significant for correctly evaluating a shale reservoir.

The invention discloses a harmonic responsibility quantification method based on a harmonic analysis integrated equivalent circuit and belongs to the field of a harmonic responsibility quantification technology. Apart from an evaluated user, other parts of a power grid are taken as a system; an attention period of harmonic responsibilities is divided into N analysis periods; obtaining fundamental waves, subharmonic voltages and harmonic current phasors of N+L-1 analysis periods are obtained by acquiring bus voltages and current waveforms at a common connecting point between the system and the evaluated user of the attention period and L-1 analysis periods before the attention period; an equivalent circuit model in which a harmonic voltage source at a system side is connected in series with harmonic impedance and an equivalent circuit model in which a harmonic current source at a user side is connected in parallel with the harmonic impedance under h-time harmonic waves in k-th analysis period are established; an h-th harmonic analysis integrated equivalent circuit in the k-th analysis period is obtained; and when K is greater than and equal to N+L, harmonic responsibility quantification statistical indexes at the system side and the user side in the attention period are obtained. According to the invention, the harmonic responsibilities of the system side and the user side are more clearly defined, and application in engineering practice is facilitated.

The invention relates to the technical field of geography and geoscience spatial information processing, in particular to a three-dimensional spatial data adaptive pre-scheduling method based on spatial relationship. In the method, a nine-intersection model in the spatial relationship is taken as the theoretical basis, the characteristics of cache management and spatial indexing are combined, the ideas of spatial clustering and spatial interpolation are adopted, the spatial objects in the cache are taken as the sample data, the hit rate of the objects is taken as the estimative weight, the spatial object information in the spatial index is taken as the data to be estimated and simultaneously the memory capacity of the system and the computing capability of the CPU are taken into account. The pre-scheduling method can improve the scheduling speed of the spatial data. Tree index, trigger and multithreading technology are adopted, therefore, the method effectively solves the problems of system resource plunder and use efficiency and can remarkably improve the problem of data communication blocking. The algorithm can adapt to the scheduling requirement of the three-dimensional spatial data, can be further used for multi-dimensional spatial data and can be popularized and used in various professional GIS software.

The invention relates to a multi-mechanical arm intra-operative radiation treatment device. The device comprises a substrate, a main mechanical arm, a first mechanical arm and a second mechanical arm. The main mechanical arm is installed on the substrate and is movably installed on a radiation head on the tail end. The first mechanical arm is installed on the substrate and comprises a first mechanical arm tail end clamp used for clamping an imaging device or a treatment light limiting cylinder. The second mechanical arm is installed on the substrate and comprises a second mechanical arm tail end clamp used for clamping a simulation light limiting cylinder. According to the invention, before the intra-operative radiation treatment, the mechanical arms are used for driving an imaging device to carry out three-dimensional imaging on a tumor bed; on this basis, a target position and the relation between a target and surrounding normal tissues and important organs are precisely determined; radiation dose and time are quite precisely determined; reduction of radiotherapy side effects and toxic and side effects caused by radioactivity are facilitated; and through cooperative work of multiple mechanical arms, by use of the automatic control technology, workload of clinic doctors can be greatly reduced, position ordering precision is improved and achieving of the intra-operative radiotherapy is achieved.

The invention discloses a bridge structure monitoring and evaluating method based on a dynamic deflection attenuation rule. In a monitoring period, a deflection sensor is adopted to collect a midspandeflection change parameter at a specified position of a monitored bridge, and meanwhile, a video shooting device acquires images of vehicles which pass through the bridge; and parameters, the midspandeflection of which exceed a set threshold value, are selected from the bridge monitoring data, and meanwhile, an image automatic or manual recognition method is adopted to screen out loaded vehicleimages of the same specific type from the vehicle images, a sequence value of the sampling deflection which is changed along with the time is obtained, and linear fitting is carried out through a least square method, so that the bridge dynamic deflection and the attenuation rate coefficient of structural rigidity are obtained, and the bridge life prediction is realized. The method has the scientific rationality, is simple and feasible, is convenient to implement, and has important significance for bridge evaluation.

The invention relates to a method for determining a rainfall intensity formula with a functional rainfall attenuation index, and belongs to the technical field of the municipal engineering. The method comprises the following steps of: according to relation values of a return period P, a rainfall intensity i and the duration t, firstly, determining parameters of each single return period subformula by adopting a Gauss-Newton method; secondly, selecting a rainfall attenuation index n and the return period P to form a semi-logarithmic or power-functional correlative relation by regression calculation, using the relation with a larger correlation index R2 as the adopted relation of n and P, simultaneously carrying out regression calculation on parameters in a relation of a rain force A and the return period P, using obtained parameter values as initial values of corresponding parameters in each return period total formula and for a parameter b, using an average value of all the single return periods as an initial value of b in the total formula; and then determining parameters of the total formula with the functional rainfall attenuation index n by adopting the Gauss-Newton method so as to obtain the rainfall intensity formula. The formula is the basic foundation of determining the rainwater design flow in the urban drainage work design.

The present invention discloses a bridge structure monitoring and evaluation method based on the stiffness attenuation law of the main beam. The method comprises: in a monitoring period, using a deflection sensor to collect mid-span deflection-varying parameters at a designated position of a monitored bridge, and obtaining the truck weight by using a vehicle dynamic weighing system; in the bridgemonitoring data, selecting the parameter of the mid-span deflection exceeding the set threshold and the truck weight exceeding a certain threshold; through the time correlation between the deflectionsensor and the vehicle dynamic weighing system, obtaining a sequence value of the sampling deflection changing with the time and the overloaded vehicle weight sequence value; and through linear fitting by using the least squares method, obtaining the attenuation rate coefficient of the bridge structure stiffness so as to realize the prediction of the bridge life. The method provided by the presentinvention is scientific and reasonable, simple and feasible, and convenient to be implemented, and is of great significance for the bridge evaluation.

The invention discloses a bearing capacity determination method for a concrete filled steel tube lagging jack. The method comprises the following steps: step (1): establishing a mechanical calculation model of the concrete filled steel tube lagging jack, wherein the sections taken from the lagging jack are control sections S and the quantity of the sections S is predetermined as t; step (2): calculating the internal force of the ith control section Si, wherein i is greater than or equal to 1 but less than or equal to t; step (3): judging whether the control section Si of the lagging jack reaches the ultimate bearing capacity or not according to a positively eccentric criterion and a negatively eccentric criterion; and step (4): solving the bearing capacity of the concrete filled steel tube lagging jack, wherein the bearing capacity of the concrete filled steel tube lagging jack is the ultimate bearing capacity of the control section Si firstly emerging on the lagging jack; if the Si reaches the ultimate bearing capacity, the bearing capacity of the concrete filled steel tube lagging jack Qy is Qy=the integral of qyds, and qy is the load on the control section Si.

A protective gas and a protective method for smelting magnesium and magnesium alloy belong to the smelting technology. The protective gas comprises industrial-purity SO2 gas and industrial-purity CO2 gas according to different volume content ratios, and is led to a smelting furnace which is not sealed in the atmospheric environment to protect the smelting of the magnesium and the magnesium alloy,so that the mixture of the SO2 gas and the CO2 gas form a dense inflaming retarding protective film on the surface of magnesium melt under different temperatures. The invention has the advantages that the magnesium alloy in the smelting furnace can be smelted in the atmospheric environment, the inflaming retarding effect is favorable, the environmental pollution is low, and the practical application value is high.

The invention discloses a method and a system of determining access to a power grid of a million kilowatt beach PV station comprehensively. The method comprises the steps of designing a plurality of solutions of million kilowatt beach PV access systems; screening primarily and abandoning obviously substandard solutions, and determining a candidate solution set; building a million kilowatt beach PVstation grid connection solution evaluation system; calculating through simulation software to obtain an index value of each solution; resolving by using an improved fuzzy analytic hierarchical process to obtain a weight of each factor; ranking the solutions by using a TOPSIS method, and determining relative proximity of each solution and a positive ideal solution; and selecting the solution withhighest relative proximity as an optimal solution. The invention provides a method of determining a million kilowatt beach PV station grid connection solution. The method does not depend on experience in selection of the PV access solution, thereby helping make selection of the million kilowatt beach PV grid connection solution more scientific, comprehensive and quantitative.

The invention discloses an anti-radiation guided weapon system capacity exploratory analysis method. The method includes the implementation steps that firstly, the anti-radiation guided weapon system capacity is confirmed; secondly, key capacity indexes of an anti-radiation guided weapon system are determined; thirdly, a capacity index demand track of the anti-radiation guided weapon system is acquired; fourthly, the effectiveness and the flexibility of the capacity indexes of the anti-radiation guided weapon system are analyzed; fifthly, capacity index distributed values are acquired. The exploratory analysis method is adopted at the angle of operational effectiveness evaluation and the purpose of capacity index distribution of each system is achieved.

The present invention provides a method and device for selecting a distribution network power supply reliability improvement scheme, by constructing a reliability evaluation model, that is, establishing a functional relationship between the key data of the reliability improvement scheme and the reliability improvement scheme, and drawing a Pareto curve , and combine the constraints to coordinate the reliability and economic optimization, and quantify the reliability evaluation results to obtain the specific values ​​of various reliability improvement schemes, which can intuitively evaluate the input and output of various reliability improvement schemes The situation, so as to select the reliability improvement plan with the best economic benefits. The method and device provided by the invention can quantify the input and output of the distribution network power supply reliability improvement scheme in combination with the actual constraints, and provide the selection method of the reliability improvement scheme from the perspectives of reliability and economy, which is scientific and reasonable sex.

The invention relates to a water quality analysis sensor bracket for sewage treatment, which is used for solving the problem of installation of a water quality analysis sensor in the process of sewage treatment. The water quality analysis sensor bracket is composed of a measuring rod, an upper telescopic rod assembly, a lower telescopic rod assembly and a support bracket, wherein the measuring rod is fixed by the upper telescopic rod assembly and the lower telescopic rod assembly; both the upper telescopic rod assembly and the support bracket are installed on an upper cross beam of a protective fence of a sewage treatment tank, and the distance between the upper telescopic rod assembly and the support bracket is less than the length of the measuring rod; and the lower telescopic rod assembly is installed on a lower cross beam of the protective fence of the sewage treatment tank. The water quality analysis sensor bracket has the advantages of simple structure, convenience in maintenance and safety in operation, the working efficiency of installation and maintenance update of the sensor and the safety of field operation can be increased, and accurate and reliable monitoring measurement results are guaranteed.

The invention discloses a transformer substation cooperative intelligent inspection system and an application method thereof. A device comprises a fixed image acquisition unit, a movable inspection robot and an intelligent operation terminal. Target power equipment is supposed to be a cubic structure; a bottom surface of a cube is a quadrilateral ABCD, and a top surface of the cube is quadrilateral FHEF; and a AEFD surface, a FDCG surface, a BCGH surface and an EFGH surface of the target power equipment are located in a monitoring area of the fixed image acquisition unit, and a ABHE surface ofthe target power equipment is located on one side of a walking track of the movable inspection robot. In the invention, respective inspection areas and targets are determined through the fixed imageacquisition unit and the inspection robot, and accurate inspection is realized through cooperation of the fixed image acquisition unit and the inspection robot; and in cooperation with operation and maintenance personnel, dead-corner-free inspection monitoring is achieved, work tasks and periods of machine inspection and manual operation and maintenance are scientifically and reasonably determined, and man-machine cooperative efficient power transformation operation and maintenance are achieved.

The invention relates to a stimulus information compiling method of a potential value test. The method includes the following steps that a first preselection stimulus information database is established through potential analysis; primary screening is conducted on sampling personnel, the stimulus information with the test result according with normal distribution is selected so as to establish a second preselection stimulus information database; secondary screening is conducted on the testees of different ages, different races, different blood types and / or different cultural backgrounds in the second preselection stimulus information database according to the stimulus information in the second preselection stimulus information database, and the stimulus information with the test result according with normal distribution is selected so as to establish a third preselection stimulus information database; the stimulus information in the third preselection stimulus information database is classified and sorted, and at least one stimulus information for a lie test is inserted into all types of stimulus information randomly to establish a stimulus information database so as to obtain the stimulus information of the potential value test. The stimulus information compiling method accords with normal distribution and is scientific, reasonable and high in reliability.

The invention relates to a system for positioning a fatigue crack in a plate like structure based on ipsilateral ultrasonic mixing wavelet, and the system comprises a computer, a non-linear ultrasonicinstrument, an attenuator, a low-pass filter, a signal excitation sensor, a sample piece under test, a duplexer, a high-pass filter and an oscilloscope. The invention also relates to a method for positioning a fatigue crack in a plate like structure based on ipsilateral ultrasonic mixing wavelet, and the method comprises the following steps of 1) system build; 2) regulation of the excitation signal; 3) transmission of the excitation signal; 4) signal processing; and 5) positioning of the fatigue crack. The invention is scientific and reasonable, can fast and accurately determine the locationof the fatigue crack in the plate like structure, reduce the waste caused by early replacement of the material not containing damaged structure, improve the utilization rate of materials, and avoid safety accidents caused by the failure to timely find the existence of the damaged structure, and, in addition, has very good reference value for the research of forecasting residual life of the metal materials.

The invention provides a determining method of a net hanging position at a working face retracement stage under mine high-intensity exploiting. By analyzing basic parameters such as working face periodic weighting step pitch and weighting position prediction parameters and flexible net length, three different computing expressions are established, according to the comparing results of the average periodic weighting step pitch, the weighting persistence length, the flexible net length and the minimum net hanging position, the average periodic weighting step pitch and the distance between a next periodic weighting starting position and a main retracement channel are put into a corresponding computing expression, and reasonable hanging net length is computed. According to the method, scientific and reasonable determining of the hanging net position is achieved, the fact that large weighting does not exist during fully-mechanized coal mining working face net hanging is guaranteed, the fact that net hanging work is safe and smooth is guaranteed, a guarantee is provided for safe production of the retracement stage, and meanwhile great guiding significance is achieved on determining of needed flexible net length of an enterprise.

The invention discloses a method for determining a reservoir water level descending rate threshold in a reservoir area landslide stable state. The method comprises the following steps of firstly, establishing a physical model of reservoir area landslide, setting a reservoir water level descending rate to carry out a landslide physical model test, and monitoring underground water level data and landslide displacement data in the landslide in a reservoir water level descending process; calculating water level difference inside and outside the landslide; constructing a relation curve between thewater level difference inside and outside the landslide and the landslide displacement; fitting to obtain a function relationship delta h(u) between the water level difference inside and outside the landslide and the displacement of the landslide in the reservoir water level change process; and calculating a derivative value delta h'(umax) corresponding to the maximum displacement of the landslide, and when the value of delta h'(umax) is 1.00-1.10, indicating that the landslide is in an ultimate equilibrium state, and the reservoir water level descending rate at the moment being a reservoir water level descending rate threshold value. The method is advantaged in that the underground water level of the landslide, the water level difference inside and outside the landslide and landslide deformation are associated to serve as a basis for determining the reservoir water level descending rate threshold, and the reservoir water level descending rate threshold can be determined simply, quickly, scientifically and reasonably.

The invention relates to a drying device for effectively improving the quality of agricultural products. The drying device is characterized in that an atmospheric valve and a pressure gauge are arranged on a drying box, a water storage pipe is connected to an ultrasonic atomizing type superheated steam generator through a water conveying pipe, and a steam outlet of the ultrasonic atomizing type superheated steam generator is connected to an overheated steam distributor of the drying box through a first steam pipe; a steam outlet of the drying box is connected to a condenser through a second steam pipe, a liquid outlet of the condenser is connected with a liquid collecting bottle, and a vacuum pump is connected to the condenser through a vacuum pipeline. The invention relates to a drying method for effectively improving the quality of the agricultural products. The drying method comprises the steps of 1) preheating, 2) feeding, 3) vacuumizing, 4) steam introducing, 5) material drying and 6) experiment finishing. The drying device and method are scientific and reasonable in design, overheated steam is generated fast and efficiently, energy consumption is reduced, and the drying temperature is low; and the drying equality of the agricultural products can be improved, and the drying device and method are especially suitable for drying food, the agricultural products and other heat-sensitive materials.

The invention relates to a multifunctional submerged ecological blanket for treating black and odorous bottom mud in a river basin. The multifunctional submerged ecological blanket is water treatmentequipment with the functions of improving water quality, reducing the black and odorous bottom mud and the like. The ecological functional blanket is assembled, a main body of the ecological functional blanket can be made of raw materials such as artificial lawns and geotechnical cloth, bionic plants, ecological bases and other purification materials which are large in specific surface area and easy to film are spliced on the ecological functional blanket, and pipelines for conveying gas and biological agents are laid on the lower portion of the blanket. The effect of removing organic mattersin the bottom mud is achieved through the bottom mud repairing blanket, so that the bottom mud and the water quality are purified.

The invention relates to an integral fuel grading supply technology for a gas-fired boiler and a low-nitrogen gas-fired boiler. The integral fuel grading supply technology is characterized in that a gas for a boiler is integrally differentiated as a main supply gas for a main combustion zone and an auxiliary supply gas for a re-combustion zone, a gas spray gun zone is differentiated as a main supply type and an auxiliary supply type, the position of a main-supply-type gas spray gun corresponds to that of the main combustion zone, and the position of an auxiliary-supply-type gas spray gun corresponds to that of the re-combustion zone. The concentrated combustion speed in the main combustion zone is reduced by reducing the gas supply amount of the main combustion zone; heat load is preventedfrom being excessively concentrated to reduce the production of NOx in the main combustion zone; as the re-combustion zone is replenished with the auxiliary supply gas, a combustion environment witha new fuel injected therein, high fuel-gas temperature and low oxygen content is created; normal combustion which can inhibit the production of NOx can be stably, uniformly and continuously performedin a hearth; and a reduction reaction is performed between reducing components in the auxiliary supply gas and NOx which is originally generated in a flue-gas flow under a high temperature and low-oxygen condition, so that the total production of NOx is inhibited, and the demand for an environmental index of low NOx emission is met.

The invention relates to a method for selecting a filtering frequency band of Lamb wave signals in a stiffened plate. The method is characterized by comprising the steps of: 1) establishing a three-dimensional simulation model; 2) applying an excitation signal; 3) performing simulation processing; (4) adjusting a pre-selected frequency band; (5) selecting a frequency band; (6) acquiring a filtering frequency band; (7) constructing a signal detection system; and (8) carrying out result comparison. The method is scientific and reasonable, comprehensively considers factors such as energy proportion, stability and video features of the signals, gradually reduces filtering frequency bands and determines the final filtering frequency band, is high in reliability, and is high in accuracy degree of the obtained filtering frequency band.

The invention relates to a traditional Chinese medicine preparation for treating gynecological dysmenorrhea and a preparation method thereof. The traditional Chinese medicine preparation comprises the following raw material medicines in parts by weight: 190-210 parts of caulis spatholobi, 190-210 parts of rhizoma polygonati, 140-160 parts of galangal, 140-160 parts of teasel root, 140-160 parts of fructus amomi, 90-110 parts of leonurus, 70-90 parts of coptis chinensis, 70-90 parts of dried rehamnnia root, 70-90 parts of corydalis tuber, 50-70 parts of root of common peony, 70-90 parts of cinnamon and 40-60 parts of platycodon grandiflorum. The traditional Chinese medicine preparation provided by the invention is exact in clinical curative effect, and has the functions of reinforcing Qi and nourishing blood, dispersing blood stasis and relieving pain, and warming channel and expelling cold. The traditional Chinese medicine preparation is clinically used for dysmenorrhea gynecological patients with the main symptom of Qi and blood deficiency and cold coagulation and blood stasis syndromes, and has a relatively obvious clinical effect. The preparation process provided by the invention is simple and stable in operation method, and has a wide industrial application prospect.

The invention provides a characterizing method for pore volumes of full apertures of shale. The characterizing method comprises the following steps: (1) respectively dewatering and degassing a columnar shale, first powdered shale and second powdered shale in sequence; (2) analyzing the columnar shale by a high-pressure mercury intrusion method, and obtaining a pore volume of each aperture within a first aperture range according to a washburn equation; (3) analyzing the first powdered shale by a nitrogen adsorption method, and obtaining a pore volume of each aperture within a second aperture range according to a BJH model; (4) analyzing the second powdered shale by a carbon dioxide adsorption method, and obtaining a pore volume of each aperture within a third aperture range according to a DFT model; (5) obtaining a pore volume of each aperture within a superposition range by a weighted average method according to the superposition range among the first aperture range, the second aperture range and the third average range. According to the characterizing method, the full apertures of a shale pore structure are objectively and reasonably characterized, and the method is greatly significant for correctly evaluating a shale reservoir.

The invention relates to a multi-manipulator type intraoperative radiotherapy device, which may include: a base; a main manipulator installed on the base for moving a radiation head installed at its end; a first manipulator installed on the base On the base, there is a first mechanical arm end gripper for clamping imaging equipment or therapeutic light-limiting cylinder; The end gripper of the second robotic arm. The invention can use the robotic arm to drive the imaging device to perform three-dimensional imaging on the tumor bed before intraoperative radiotherapy, and based on this, accurately determine the position of the target area and the relationship between the target area and surrounding normal tissues and important organs, and more accurately determine the irradiation dose and time, which is beneficial to reduce the complications of intraoperative radiotherapy and the toxic side effects caused by radiation. Through the cooperative work of multiple robotic arms and the use of automatic control technology, the workload of clinicians can be greatly reduced, the positioning accuracy can be improved, and it is conducive to the realization of precise intraoperative radiotherapy.