1115 results about "Close range" patented technology

The invention discloses a camera and millimeter wave radar fusion three-dimensional target detection method based on time sequence fusion, and belongs to the technical field of three-dimensional target detection of computer vision. The invention provides a time sequence modeling framework integrating a camera and a millimeter-wave radar for solving the problems that pure visual perception lacks space measurement capability and a traditional time sequence fusion strategy has limitation in the aspects of dynamic target alignment and fusion efficiency. According to the framework, firstly, clustering processing is carried out on radar point clouds, instance features are extracted, and the instance features are used as initialization input of self-adaptive query, so that the number of iterations of a decoder is effectively reduced. By introducing a time sequence transmission mechanism based on a query instance, high calculation overhead caused by global feature alignment is avoided, and the motion state and time-space characteristics of a dynamic target are captured more accurately. A local self-attention mechanism is constructed by introducing a distance penalty term, close-range matching between query instances is realized, and the spatial alignment precision and fusion effect of multi-source data are further improved.

The invention discloses a cable channel heating defect checking method based on a multi-legged inspection robot, and relates to the technical field of radiation temperature measurement, and the method comprises the steps: controlling the multi-legged inspection robot to autonomously advance in a cable channel, and collecting multi-source sensing data; constructing spatial-temporal feature representation of the cable channel based on the multi-source sensing data, and constructing a multi-modal graph neural network model to perform heating anomaly detection to obtain an initial detection result; when a suspected defect exists in the initial detection result, a multi-legged inspection robot is scheduled, a reinspection path and a detection mode are selected according to a reinforcement learning strategy, and a multi-modal graph neural network model is used for performing close-range reinspection on the position of the suspected defect; and performing fusion analysis on the initial detection result and the reinspection result, and outputting positioning information, defect type and confidence of the heating defect of the cable channel. According to the method, high-sensitivity identification of potential heating anomalies is realized, the missing report rate is remarkably reduced, the reinspection efficiency is improved, and repetition and omission are effectively avoided.

The invention discloses a graphic processing unit cooperative processing method and system for accelerating a three-dimensional generative model. The model comprises a diffusion processing stage and a Gaussian splash rendering stage. In the diffusion processing stage, the time step number and the data precision calculated by the neural network are dynamically adjusted according to the visual angle sensitivity, and a specific graphic processing unit core is scheduled for execution. In the Gaussian splash rendering stage, pixel block tasks are predicted and intelligently scheduled to a stream processor based on historical data; and in the stream processor, the processing sequence of the Gaussian ball by the rendering unit is optimized according to the geometric distance, and the close-range unit is preferentially processed. During back propagation, the built-in logic of the stream processor preaggregates the gradient contributions of the same Gaussian ball, and then updates the gradient contributions through a single write operation. Through collaborative optimization of software and hardware, the efficiency bottleneck of the 3D generation model on a graphic processing unit is effectively solved, the calculation speed, the throughput and the hardware utilization rate are remarkably improved, and the model generation time is shortened.

The embodiment of the invention discloses a cross-modal biological feature generation type enhancement method and system. The method comprises the following steps of: constructing a cross-modal biological feature recognition model, respectively acquiring long-distance modal data and short-distance modal data of a user, extracting feature vectors, pre-recognizing the user based on the long-distance feature vectors, finely recognizing the user based on the short-distance feature vectors, and carrying out mutual complementation and fusion on various modal features, so as to improve the recognition accuracy of the user. According to the method, the limitation that a single mode is low in recognition accuracy and prone to being interfered under different distance scenes is overcome, the identity recognition safety is improved, and through a secondary recognition mechanism combining pre-recognition and fine recognition, the efficiency and precision of identity recognition are improved while the system load is reduced.

The invention belongs to the field of medical care, and particularly relates to an intelligent nursing inspection auto-induction recording device and method, and the device comprises a directional RFID card reader at the entrance of a ward, an NFC activation module at the side of a sickbed, an integrated pressure-sensitive foot pad, and an adjustable installation structure. Timing is started through ward entrance identification, nurse information is recorded through close-range induction of a sickbed, and nursing operation and passing behaviors are distinguished by detecting a two-foot standing mode through a pressure-sensitive foot pad. The mounting structure comprises an L-shaped mounting plate and a sliding inner plate and is matched with the width of a sickbed; the angle adjusting component fixes the position; the intelligent pressure-sensitive foot pads are integrated at the four corners of the sickbed base, the pressure distribution sensors detect the standing mode of the two feet, nurses and temporary passing persons are distinguished, false inspection in the mode of waving for walking is avoided, substantive nursing operation of the nurses is accurately verified, and it is ensured that patients are truly and effectively nursed.

The invention belongs to the technical field of closed cooling towers, and discloses a countercurrent closed cooling tower and a cooling method.The countercurrent closed cooling tower comprises a tower body, a draught fan is fixedly connected to the top of the tower body, an air inlet is formed in the side wall of the bottom of the tower body, a water collecting tank is formed in the bottom of the tower body, and a pair of coil pipes is fixedly connected to the middle of the tower body; through cooperation of structures such as an annular shell, an annular spraying pipe and a concave panel, the possibility that scale is generated by the coil pipe is reduced, the heat exchange effect can be improved, during heat exchange, water in a collecting groove of the annular spraying pipe moving in a reciprocating mode is pumped and pressurized, the surface of the coil pipe is scoured in an annular mode, and the scale forming risk is reduced; and meanwhile, the sliding columns continuously extrude the wave-shaped grooves, so that the whole annular shell rotates in a reciprocating mode, close-distance washing can be more uniform, and therefore the heat exchange effect and durability of the coil pipe are efficiently improved.

Photometric stereo techniques enable using a single camera to perform an enrollment process for creating a user-specific anatomical model of an eye for gaze tracking. The user-specific anatomical model includes information about a user's center of vision at multiple dilation states of the eye, which can be used to enhance the accuracy of gaze tracking techniques. Accurate gaze tracking techniques enable the use of gaze tracking at close range, for example, gaze tracking within a head-mounted display device.

The invention relates to the technical field of visual inspection, and discloses an industrial product online visual inspection method based on cloud collaboration, which ensures data authenticity through edge side close-range acquisition of images, meets the real-time detection rhythm of a production line through a lightweight model, and quickly screens out most clearly qualified or unqualified samples. And for subsequent cloud collaboratively reducing invalid data transmission, the edge side single-frame image detection time is less than or equal to 30ms, the high-speed production line beat requirement is met, 80%-90% of clear samples are preliminarily screened out, burden is reduced for the cloud, and bandwidth congestion caused by total data transmission is avoided.

The invention discloses a short-distance multi-ore-bed potassic salt ore large-section long-strip comprehensive mechanized mining method, and belongs to the technical field of potassic salt ore deposit mining. The method comprises the steps that a centralized transportation roadway is arranged on an upper head mining layer, an auxiliary transportation roadway is arranged in a stable salt rock interlayer between ore layers, and combined development is achieved; arranging large-section long strip chambers in the ore blocks along the inclination direction, and reserving permanent spacing strip pillars to maintain the stope to be stable; a chamber is cut and formed at a time by a double-arm large-mining-height mining machine, and efficient stoping is realized by matching with a continuous transportation system; multiple ore beds are mined in a coordinated mode from top to bottom in sequence, and the ore block air return way and the ore block air return way of the upper ore bed are staggered by 20 m or above so as to avoid stress superposition; a full-air-pressure ventilation system combining a press-in type and a draw-out type is constructed; natural supporting is achieved through permanent spacing strip pillars and natural top and bottom plates, safety is guaranteed through a micro-seismic and top plate monitoring system, and the goaf is backfilled with tail salt slurry to achieve green mining. According to the method, safe, efficient and high-recovery-rate mining of the short-distance multi-ore-bed sylvite ore is achieved.

The invention discloses a port avionics hub digital twin multi-level simulation model construction and visualization method, which comprises the following steps: obtaining a multi-view RGB image of a target port area, obtaining a camera attitude of each view by using an SfM algorithm, and reconstructing a sparse three-dimensional point cloud; constructing an LOD2 shell model with a semantic mark; an LLO3 model with holes is constructed; the LOD0-LOD3 model is serialized into a glTF 2.0 binary format and transmitted to a client side through HTTP / 2, the client side calls WebGL 2.0 through a browser to complete decompression, uploading and PBR rendering, and interactive plug-in-free visualization is achieved; constructing an eight-fork-two-fork-four-fork mixed spatial index, and performing multi-stage division and persistence on the LOD < 0 >-LOD < 3 > tiles, so that a client locates visible tiles within constant time based on node numbers; visual cone cutting and screen space error judgment are adopted to execute progressive loading on visible tiles, LOD0 is loaded at first, then LOD1-LOD3 is subjected to incremental superposition, low-level tiles in the same area are replaced with the LOD3 in a cross fading mode at the ultra-close distance (the Euclidean distance d from the center of a camera to the center of a target tile is smaller than or equal to 100 m), and smooth visual experience is obtained in a browser.

The invention relates to the technical field of panoramic images, and discloses a self-correcting panoramic image splicing method for a vehicle around view system, which comprises the following steps: acquiring dynamic data of a vehicle to obtain an environment characteristic dynamic state, establishing a space-time incidence matrix according to the environment characteristic dynamic state, adjusting a fuzzy kernel estimation parameter, and performing accurate estimation and multi-frame super-resolution reconstruction of motion blur; fusing dynamic data, defining a vehicle attitude feature matrix, dynamically correcting vehicle attitude and camera external parameters, unifying cross-camera colors, performing ground constraint, constructing a multi-objective optimization framework, and balancing splicing quality and real-time performance; through monocular depth estimation and geometric constraint, the perspective difference of a close-range object is optimized, and through an edge retention loss function, the depth precision at the boundary of the object is enhanced; monocular depth estimation is optimized through binocular parallax constraint; constructing a multi-scale feature fusion network, and recovering image details; a factor graph model is constructed to integrate historical data, and accumulative errors of long-time-sequence splicing are eliminated.

The invention belongs to the technical field of automatic driving, and particularly relates to an automatic driving decision-making method and device fusing lane dynamic evaluation and safety indexes and a medium. Real-time collision risks are calculated by collecting dynamic data of a vehicle and surrounding vehicles, multi-lane traffic flow data are collected under triggering of specific requirements, and characteristics such as density, speed and flow are extracted; and a lane basic passage score is calculated by fusing the flow and the large vehicle influence, and correction is carried out by combining the lane changing intention of surrounding vehicles to obtain a dynamic lane evaluation result. And constructing a multi-objective decision function based on the safety index and the lane evaluation result, and finally generating and selecting a trajectory with the minimum comprehensive cost value in a decision period for execution. According to the invention, collaborative evaluation of the vehicle close-range safety risk and the lane passing potential is realized, and the lane evaluation can reflect the traffic flow interaction influence. The driving efficiency and the lane adaptability are optimized, and the decision-making ability of the automatic driving system in the traffic environment is improved.

The invention relates to the technical field of coal mine ventilation safety, and discloses a coal mine ventilation tunnel monitoring method and device, electronic equipment and a storage medium. According to the method, real-time airflow parameters and dust concentration data of a ventilation roadway are collected through a distributed sensor array, and an original monitoring data set is formed. And carrying out multi-dimensional feature extraction on the data set to obtain a comprehensive feature set containing an airflow velocity fluctuation feature, a dust distribution gradient feature and a temperature change trend feature. And constructing a ventilation tunnel three-dimensional dynamic model based on the comprehensive feature set, and mapping airflow and dust data to model space coordinates. And generating a ventilation resistance coefficient matrix according to the model, performing mode matching in combination with a historical blockage case library, and identifying coordinates of a potential blockage area. And starting the mobile verification device to carry out close-range scanning on the potential area to obtain high-precision point cloud data and infrared thermal imaging data. According to the invention, the intelligent level and emergency response capability of coal mine ventilation safety management can be improved.

The invention relates to the technical field of automobile testing, and discloses a method and system for evaluating and testing visual field glare of a driver in a cabin, and the method comprises the following steps: starting from the position of the eyes of the driver, capturing a brightness distribution image of the whole visual field, and dividing the image into a plurality of sub light source regions around a glare source; dividing the visual field into a main sight area and a residual light sight area according to the attention distribution of the driver, and endowing sub light source areas falling into different areas with different weight values; calculating a unified glare index according to the weighted sum of the glare intensity of each sub light source area and the background brightness in the cabin; and finally, comparing the index with a preset threshold value, and outputting an evaluation result. According to the method, the large-area light source is divided into the sub-light sources, weighted calculation is carried out in combination with the attention of the driver, the problem that a traditional glare evaluation model is not suitable for a close-range non-point light source scene of the automobile cabin is solved, a scientific evaluation system matched with the automobile cabin is established, and the glare evaluation result is more accurate.

The invention provides a 35kV isolation switch opening and closing device. The 35kV isolation switch opening and closing device comprises a substrate, a contact unit, a transmission assembly and a driving unit. The substrate is provided with two composite post insulators which are arranged at an interval; the contact unit comprises a first connecting part and a second connecting part, the first connecting part is connected with one composite post insulator, and the second connecting part can be connected with the other composite post insulator; the transmission assembly is arranged in the vertical direction, and the top end is connected with the second connecting part. The driving unit is connected with the bottom end of the transmission assembly and used for driving the transmission assembly to move in the vertical direction, and the transmission assembly drives the second connecting part to move; wherein the driving unit drives the transmission assembly to move, and the transmission assembly drives the second connecting part to be in contact with or disconnected from the corresponding composite post insulator, so that switching-on or switching-off is realized. The invention provides a 35kV isolation knife switch opening and closing device, and aims to solve the problem of poor safety caused by manual close-range opening and closing of an isolation knife switch in the prior art.

The invention discloses a fuel gas leakage detection system based on mid-infrared laser, relates to the technical field of fuel gas detection, and aims to solve the problems that a large-area region is difficult to cover quickly and only close-range detection can be carried out in an existing laser fuel gas leakage detection method. The gas leakage detection system comprises a laser emission module, an infrared imaging detector module and a data processing module, the laser emission module is used for emitting an intermediate infrared laser beam to a to-be-detected area; the infrared imaging detector module is used for collecting an infrared spectrum signal of the to-be-detected area in real time; the infrared spectrum transmitting module is used for transmitting the infrared spectrum signal to the data processing module; and the data processing module is used for processing the received infrared spectrum signal to obtain a gas leakage detection result of the to-be-detected area. The method is suitable for detecting gas leakage in a natural gas pipeline and a liquefied petroleum gas storage tank area.

The invention discloses a complex environment-oriented body agent navigation and three-dimensional reconstruction method, and relates to the technical field of body agent navigation, and the method comprises the following steps: collecting environment data around a navigation body, using a fine-grained octree for close-range key areas (narrow slits and dead corners), adopting coarse voxel acceleration for a far area, and adopting coarse voxel acceleration for a near-range key area (narrow slits and dead corners); extracting large planes such as wall surfaces, beam columns and the like by using RANSAC (Random Sample Consensus), and constructing an environment'abstract skeleton 'for navigation reference; establishing a temporary three-dimensional space based on the point cloud of the whole body environment, dividing a plurality of detection planes in the space, performing position correction on an obstacle edge dot matrix in the detection planes, determining a movable range, and generating a safe motion path in a feasible space by applying a local planning algorithm; octree + differential coding is carried out on a local map, and only a current activity area and crisis point cloud are reserved; local full-stack deployment enables navigation to be free of dependence on remote communication, and sensing, mapping and navigation closed loop can still be completed when a link is broken.

A notification message display method and apparatus, an electronic device, and a storage medium. The method includes: displaying, in response to a detected notification trigger event, a notification message corresponding to the notification trigger event in a current display interface of a virtual reality scene, wherein the current display interface is provided with at least one of a close-range panel or a navigation bar (S110); and adjusting a display position of the notification message in the current display interface in response to a change in a display state of at least one of the close-range panel or the navigation bar in the current display interface (S120).

The invention relates to an automatic telescopic multi-angle lighting spotlight which comprises a sleeve shell, a lifting column, a rotating shell and a spotlight body, and the lifting column stretches and retracts in the axial direction of the sleeve shell and is driven by a lifting mechanism; the rotary shell is rotationally mounted at the lower end of the lifting column; the spotlight main body is hinged to the lower end of the rotary shell; a power mechanism, a clutch switching mechanism, a rotating transmission mechanism and a swinging transmission mechanism are arranged on the rotating shell, the power mechanism selectively drives the rotating transmission mechanism or the swinging transmission mechanism through the clutch switching mechanism, and rotation of the rotating shell and swinging of the spotlight body are achieved; multi-dimensional adjustment of height stretching, horizontal rotation and vertical swing can be achieved, an all-dimensional illumination system is formed, an illumination area is accurately positioned, the system is suitable for complex scenes such as commercial display and stage performance, and adaptability and universality are improved; automatic adjustment is achieved through cooperation of multiple mechanisms, manual close-range operation is not needed, the device adapts to scenes such as high places and narrow spaces, the operation difficulty is lowered, and the adjustment efficiency is improved.

To provide an image-forming optical system that achieves both of a high image-forming performance and miniaturization / reduced weight while having a large aperture ratio, has a light focus lens group, and suppresses bleeding at the time of focusing.SOLUTION: An image-forming optical system consists of a first lens group, a second lens group, a third lens group with positive refractive power, a fourth lens group with positive refractive power, and a fifth lens group with negative refractive power, in order from the object side to the image side, the first lens group is immobile relative to an image surface at the time of focusing from an object at infinity to a near-distance object, the second lens group travels to an object side along a light axis, the third lens group is immobile relative to an image surface, the fourth lens group travels to an object side along the light axis, the fifth lens group is immobile relative to an image surface, an aperture diaphragm is provided between a lens surface in the furthest image side of the second lens group and a lens surface in the furthest object side of the fourth lens group, and a predetermined conditional expression is satisfied.SELECTED DRAWING: Figure 1

The invention discloses a ship collision early warning method and device based on radar detection, and relates to the technical field of ship detection, and the method comprises the steps: obtaining the first real-time navigation data of a ship through detecting a target ship in a preset distance range; acquiring current environment data, and determining a first navigation track of the ship according to the current environment data and the first real-time navigation data; predicting a second navigation track of the target ship according to the second real-time navigation data and the current environment data; according to the first sailing trajectory and the second sailing trajectory, determining the nearest distance between the ship and the target ship under ideal conditions; and under the condition that the nearest distance is smaller than a preset distance threshold value, generating a steering angle and a steering time period of the ship, so that the ship does not collide with the target ship at the steering angle within the steering time period. According to the invention, real-time detection and risk early warning can be carried out on the ship, potential ship collision hidden dangers can be identified in time, and the accuracy of ship collision safety detection is effectively improved.

The invention discloses an underwater high-repetition-frequency pulse laser line scanning imaging system and method, and relates to the technical field of underwater laser imaging, a laser emission module is used for emitting high-repetition-frequency pulse laser and comprises a high-repetition-frequency pulse laser device with the working wavelength of 532 nm and a beam shaping module; wherein the light beam shaping module is composed of a double-axis cone mirror and a cylindrical mirror; the laser imaging module is used for carrying out large-depth-of-field imaging on target reflection echoes in a set time window, comprises a high-speed gating camera, an imaging lens and a narrow-band optical filter, and is constructed based on the Sammer imaging principle; and the synchronous control module is used for performing power supply communication and gating time sequence control to realize time sequence synchronization of the laser and the camera in the system. According to the invention, laser line scanning and range gating imaging technologies are combined, so that the method is suitable for long-distance and large-range environment detection, high-precision three-dimensional reconstruction of a short-distance target can be realized, and the definition, the signal-to-noise ratio and the applicability of underwater imaging are effectively improved.

The application discloses a kind of super visual field 3D stereoscopic double camera technology systems (referred to as "super 3D"), belong to 3D image double camera technical field.Aiming at the problem of insufficient stereoscopic depth caused by fixed baseline parameter (6-6.5cm) in traditional 3D double camera, the parallax distortion and dizziness caused by 2D to 3D technology, this scheme proposes a kind of technical system based on double camera unit cooperative displacement and post parameter control.Through left camera unit horizontal transverse displacement (12-30cm) and angle rotation (1°-3°), combined with forced focal length ≥50mm optical parameter control module, expand double camera visual field 20%-50%, and use post reverse displacement compensation algorithm (close range 1-3%, medium 3-5%, long distance 5-10%), the main body of picture is aligned to natural focusing position of human eye, realize stereoscopic level enhancement 2-3 times, no distortion high immersive imaging effect.This scheme technical parameter is independent, and cannot be converted with traditional 3D video, ensure content quality from source, applicable to film and television, VR, metaverse and other fields.

The invention relates to the technical field of intelligent traffic equipment, in particular to an induction blind sidewalk brick, a trigger type tactile stick and a blind sidewalk cooperation system. The sensing blind sidewalk brick comprises a blind sidewalk brick body and a sensing device, wherein a cavity is formed in the blind sidewalk brick body; the trigger device is arranged on the blind sidewalk brick body and is used for receiving a trigger signal triggered by short-distance wireless induction; the sensing device is arranged in the cavity and is in signal connection with the triggering device, and the sensing device sends out a warning signal after the triggering device receives the triggering signal; wherein the trigger device is a tactile stick trigger device; a trigger signal triggered by short-distance wireless induction is sent out by the tactile stick. According to the tactile stick, a point-to-point identification relation is established through close-range induction (magnetism, metal and radio frequency), and the effect that the brick responds only when a visually impaired person carrying the tactile stick arrives is achieved; the selective triggering suppresses broadcast flooding caused by scene noise (raindrops, footsteps, baby carriages and the like), so that information fatigue and urban noise pollution are avoided.

The invention belongs to the related technical field of wireless communication, and particularly relates to an Internet of Vehicles path loss prediction method and system based on a heterogeneous graph neural network, and the method comprises the steps: taking a vehicle and a selected receiver as nodes, taking the multi-dimensional physical driving characteristics of the vehicle and the receiver, and taking the spatial correlation between the receivers as edges to construct a heterogeneous graph; and predicting the heterogeneous graph by using the trained multi-modal mixed attention graph neural network model to obtain an Internet of Vehicles path loss prediction result. The heterogeneous graph not only integrates geometric physical characteristics and static environment characteristics of a vehicle and a receiver, but also integrates dynamic environment characteristics and microscopic path profile characteristics, so that the model can effectively capture channel violent changes caused by high-speed movement of the vehicle, rapid changes of surrounding shelters and a close-range microscopic sheltering effect; and the prediction robustness of the model in extreme dynamic and complex microenvironments is greatly improved.

The invention discloses an air-ground cooperative intelligent monitoring method and system based on an iron tower base station, and the method comprises the steps: obtaining multi-mode video monitoring data of an air-ground cooperative monitoring region, and carrying out the feature extraction and analysis, and obtaining the position information of a target event; scheduling the unmanned aerial vehicle to collect close-range video monitoring data for analysis and anomaly detection based on the position information, and optimizing the position information based on a detection result to obtain optimized position information; performing reverse path calculation based on the optimized position information to obtain an upstream associated road section of the target event; and creating an event brief report and a playing frequency dynamic adjustment model to broadcast the traffic event, and pushing broadcast content to an upstream associated road section of the target event. According to the invention, the coverage range of video monitoring is improved, abnormal events can be accurately positioned, the video monitoring technology is combined with cloud broadcasting, effective utilization and fine management of broadcasting resources are realized, and the accuracy and coverage range of sound transmission are improved.

The invention relates to the field of ocean engineering equipment, and discloses a device and method for water surface close-range active auxiliary recovery of an unmanned autonomous vehicle, and the device comprises a blocking frame, a power assembly, an oscillation stopping hook module, a hoisting hook module, a suction device, a release device and a buoyancy material; the buoyancy material is fixed on the blocking frame and is used for providing static buoyancy; the power assembly is installed on the lower supporting structure of the blocking frame and located below the waterline. The power assembly is arranged below the blocking frame, so that the recovery device is endowed with independent water surface maneuvering capacity. Compared with a passive recovery mode which only depends on mother ship maneuvering or UUV autonomous homing, the device can actively approach the floating UUV by utilizing thrust and correct course deviation, and can realize axis alignment with the UUV even in a non-still water environment with stormy wave interference, so that the flexibility of recovery operation and the capture success rate are improved.

Provided in the embodiments of the present application is a laundry treatment apparatus, comprising a cabinet, a laundry treatment drum and a wireless power supply assembly, wherein the case comprises a rear panel; the laundry treatment drum is rotatably arranged in the cabinet, and comprises a drum body and a rear cover, the rear cover being arranged at the rear end of the drum body; and the wireless power supply assembly comprises a transmitting module and a receiving module, the receiving module being used for receiving electromagnetic signals transmitted by the transmitting module and generating an induced current, the transmitting module being arranged on the rear panel, and at least a portion of the receiving module being arranged on the rear cover. In the laundry treatment apparatus provided in the embodiments of the present application, the transmitting module and the receiving module can transfer power without the need for contact, thereby achieving power transfer between the relatively rotating laundry treatment drum and the relatively stationary rear panel. An electrical element is powered by means of the receiving module, thereby facilitating meeting the power requirement of the electrical element and facilitating close-range sensing of the state of laundry.

The invention discloses a decentralized robot cluster anti-intrusion system and method, and the method is characterized in that the decentralized robot cluster anti-intrusion method comprises the following steps: a plurality of robot entities and sensing equipment jointly form a decentralized network without a central server, all the devices in the network record a unified state log together and are used for updating state information of all the robots and the devices in the network in real time; before communication between robot entities is carried out, one-time identity verification is carried out through a short-distance physical channel, and a temporary session key is generated; when any one robot entity needs to declare or update the own state, verifying the authenticity of the physical state declared by the robot entity by executing a state proving protocol; according to the method, a decentralized directed acyclic graph network architecture is adopted, all robot entities maintain state logs together, and the single-point fault risk of a traditional centralized server is thoroughly eliminated.

The invention relates to the technical field of underground detection, and discloses a low-frequency electromagnetic field detection positioning method for an underground metal target. According to the invention, a five-frequency-band time division multiplexing detection system is adopted in the frequency band of 1-100 kHz, and a special antenna is matched, so that deep target coverage within 40 meters can be realized, and shallow accurate measurement requirements can be ensured; meanwhile, distributed reference beacon nodes are deployed, parameters such as medium conductivity, dielectric constant and humidity are collected in real time, a wave velocity prediction model is constructed based on support vector regression to dynamically correct the electromagnetic wave propagation velocity, and correction errors are controlled; a time-frequency domain joint sparse reconstruction algorithm is used for separating a close-range target aliasing signal, so that an adjacent metal target can be effectively identified; finally, multi-band emission, signal receiving, medium sensing and a central processing unit are integrated to form a closed-loop cooperative system, an underground target three-dimensional model is generated, position coordinates and size and metal type attribute information are output, the system is suitable for complex scenes such as high-humidity soil and gravel layers, and the comprehensive detection performance is remarkably improved.