290results about How to "Efficient detection" patented technology

The invention provides a control method and a control device of an underwater robot. The control method of the underwater robot comprises the following steps: establishing an underwater robot system model; performing obstacle avoidance path planning by using a sampling algorithm to obtain a discrete geometric path point set connecting the starting point and the ending point; a full-state reference sequence matched with the control method underwater robot system model is generated based on the control method discrete geometric path point set; constructing a cost function for trajectory optimization based on the control method underwater robot system model and the control method full-state reference sequence; generating an initial control sequence and an initial state sequence according to the deviation between the current state of the underwater robot in the control method and the full-state reference sequence in the control method; and performing iterative optimization by taking the control method cost function as an optimization target and taking the initial control sequence and the initial state sequence of the control method as hot start initial values to obtain a control instruction sequence of the underwater robot of the control method.

This invention discloses a primer and probe set, a kit, and their applications for detecting Staphylococcus aureus L based on real-time fluorescence MIRA technology. The primer and probe set consists of single-stranded DNA sequences 1-3. Based on the aforementioned primer and probe set, this invention establishes and optimizes a real-time fluorescence MIRA detection method for Staphylococcus aureus L. Furthermore, the optimized real-time fluorescence MIRA method is innovatively combined with a simplified nucleic acid extraction method and a portable fluorescence detection device, significantly reducing extraction and time costs while enabling rapid on-site detection of the virus, making it particularly suitable for grassroots units and remote areas. In addition, the real-time fluorescence MIRA detection method for Staphylococcus aureus L established in this invention has advantages such as high specificity, high sensitivity, and simple operation. Moreover, the detection process does not require opening the lid, effectively avoiding aerosol contamination, providing an effective technical means for the differential diagnosis and rapid detection of Staphylococcus aureus L.

The utility model discloses an A / C swing head geometric accuracy detection device, and belongs to the technical field of A / C swing head geometric accuracy detection. An A / C swing head geometric accuracy detection device comprises a detection platform and a swing head assembly support, the swing head assembly support is provided with a bottom plate installed and connected to the detection platform and an installation vertical plate fixedly arranged on the bottom plate, and the installation vertical plate is provided with a detachable assembly adapter plate. The assembly adapter plate is provided with a mounting hole for assembling a to-be-detected swing head, the bottom plate is provided with adjusting assemblies capable of performing local top height fine adjustment on the swing head assembly support, and the adjusting assemblies are symmetrically distributed on the two sides of the mounting hole. The detection device can efficiently and accurately detect the geometric accuracy of the swing head.

The invention discloses citrullinated T200C polypeptide and application thereof in preparation of rheumatoid arthritis diagnosis products, and belongs to the technical field of disease diagnosis. The amino acid sequence of the citrullinated T200C polypeptide is as follows: GSM-Cit-GA-Cit-Cit-EPEEPEGAV, and the amino acid sequence of the citrullinated T200C polypeptide is as follows. Researches find that the anti-citrullinated T200C polypeptide antibody level in the body of an RA patient is obviously higher than that of healthy people and other rheumatism immune disease patients easily confused with RA. When the citrullinated T200C polypeptide is used as a detection antigen to detect an anti-citrullinated T200C polypeptide antibody in the body of a patient, RA can be effectively identified, and particularly, a relatively good diagnostic value is achieved for an anti-CCP antibody and / or RF negative RA and ESR and / or CRP normal RA.

The invention discloses a communication monitoring method and a communication system. The system comprises a monitoring module, a feature extraction module, a dynamic identification module, a behavior analysis module, an adaptive optimization module and a visual interface module. The monitoring module collects communication data flow through a mirror image port, the feature extraction module extracts packet length, time interval, direction sequence and encryption features by using a multi-dimensional feature fusion algorithm, and the dynamic recognition module realizes multi-protocol type recognition based on an improved self-attention convolutional neural network. The behavior analysis module constructs a communication relation graph and performs abnormal communication tracing; and the adaptive optimization module realizes model self-learning and parameter optimization through reinforcement learning. According to the method, through sliding window sampling, self-correlation analysis, entropy detection and GNN map modeling, accurate identification and behavior restoration of implicit traffic in a complex network environment are realized. According to the method, high-precision identification can be kept under the conditions of multi-protocol mixing and encrypted communication, and the characteristics of intelligence, self-adaption and expandability are achieved.

The utility model relates to the technical field of soil detection, and discloses a direct insertion type soil nutrient detector which comprises an upper shell and a lower shell, the upper shell is fixedly connected with the lower shell, and the bottom of the lower shell is fixedly connected with a guide head; the display assembly is mounted on the upper shell; the detection probe is installed in the lower shell, a light emitting diode is fixed to the detection probe and used for emitting near-infrared light with the specific wavelength to soil, the photodiode is used for receiving the near-infrared light reflected by the soil and converting the near-infrared light into an electric signal, and the temperature sensor is used for monitoring the soil temperature in real time; the optical glass is fixedly connected with the detection probe, covers the outer sides of the light emitting diode, the photodiode and the temperature sensor, and is in direct contact with soil; and the mainboard is arranged in the clamping groove of the lower shell. The rapid and accurate detection of the contents of nitrogen, phosphorus, potassium and organic matters in the soil can be realized.

The application discloses a pipeline threat behavior identification method and device and a storage medium, and relates to the technical field of machine vision. The method comprises the following steps: acquiring a to-be-detected video photographed by unmanned aerial vehicle inspection; performing target detection on image frames of the to-be-detected video, determining target detection boxes of detection objects in the image frames and target categories of the detection objects; performing trajectory tracking on the target detection boxes to obtain target trajectories of the detection objects; extracting behavior features of the detection objects, wherein the behavior features comprise morphological change features of the detection boxes and trajectory features of the target trajectories of the detection objects; and identifying pipeline threat behaviors of the detection objects based on the target categories, the behavior features of the detection objects and a pre-trained classification model. The method can effectively detect small targets such as personnel and vehicles, effectively determine threat behaviors such as personnel loitering, personnel digging and mechanical digging, and the algorithm has the light-weight feature.

The application discloses a same-row relationship detection method and device, electronic equipment and a storage medium. The method comprises the following steps: obtaining target video data in a target place; determining a personnel pixel area in each image frame in the target video data, and determining a target height and / or a target body shape ratio of the personnel corresponding to the personnel pixel area; determining an anonymous identity of the personnel in the image frame based on a dynamic anonymous personnel name list corresponding to the target place and the target height and / or the target body shape ratio; and judging whether a first search personnel and a second search personnel are in a same-row relationship according to the anonymous identity information of the personnel in each image frame in the target video data. The scheme can efficiently and with low algorithmic consumption detect the anonymous identity of the personnel in each image frame in the video data, so as to accurately and quickly find out whether the two search personnel are in a same-row relationship according to the anonymous identity of the personnel.

The utility model provides a mirror surface roller roundness detection base belongs to roundness detection technical field. A mirror surface roller roundness detection base, including at least two three -dimensional parallel settings recess fixed block, recess fixed block side upper vertical through the at least three positioning slot, two the positioning slot is supported in the rotation connection with the rolling bearing through the limiting shaft. The utility model is opposite to the roller body of different length, need not to adjust the position of tailstock even to replace the whole tailstock component, only need to utilize the on -off type magnetic attraction base quick adjustment its span can. Its adjustment process is simple, can satisfy modern production line fast rhythm, the detection demand of many varieties.

This invention provides a pretreatment method for detecting metribuzin in soil and broad beans using liquid chromatography-mass spectrometry (LC-MS / MS). The method includes: weighing 10.0 g of soil into a 50.0 ml centrifuge tube, adding 10.0 ml of acetonitrile, vortexing for 3.0 min, adding 3.0 g of NaCl, vortexing for 1.0 min, centrifuging at 5000 rpm for 5.0 min, taking 1.5 ml of the supernatant and adding it to a 2.5 ml centrifuge tube containing 25.0 mg PSA, 25.0 mg C18, and 100 mg anhydrous MgSO4, vortexing for 1.0 min, centrifuging at 8000 rpm for 3.0 min, aspirating the supernatant with a 5.0 ml syringe, filtering through a membrane, and transferring to a 2.5 ml brown sample bottle. This invention is applicable to the detection of metribuzin residues in broad beans, a specialty crop grown in high-altitude regions.

This invention belongs to the field of impurity detection technology for ethanol solutions, and particularly relates to a method for detecting trace impurities in ethanol solutions based on near-infrared spectroscopy, comprising the following steps: (1) examining the standard deviation (RSD) value and calculating the required sample size N; (2) acquiring samples; (3) outlier removal and spectral preprocessing; (4) dividing the dataset; (5) using the difference spectrum method to screen feature signals; (6) establishing a "background silence" discrimination criterion; and (7) using an external prediction set for discrimination. The detection method model described in this invention has a wide range of applications. It establishes a model based on the background system, effectively identifying normal samples. For impurity samples or abnormal situations that are inconsistent with the near-infrared absorption characteristics of the background system, as long as they cause changes in the background system, they can be effectively detected. Compared with traditional PLS, PLSDA and other modeling methods, background silence discrimination only requires calculation using relevant statistical methods, resulting in a smaller overall computational load and more convenient data processing.

This invention relates to the field of biomedical detection technology, providing a reagent, kit, and detection method for detecting *Vibrio cholerae* serogroup O139 using loop-mediated isothermal amplification (LAMP). This invention targets the synergistic regulation of the tcpA and hlyA genes in *Vibrio cholerae* serogroup O139, designing LAMP detection primers and establishing a LAMP detection method based on isothermal amplification. These LAMP detection primers or loop primers show promising applications not only against *Vibrio cholerae* serogroup O139 but also against other nosocomial infection bacteria. The LAMP primers for detecting *Vibrio cholerae* serogroup O139 can be used to detect *Vibrio cholerae* serogroup O139 in clinical patients or for outpatient screening. The kit of this invention can effectively and specifically detect single-reaction, single-copy, or higher copies of *Vibrio cholerae* serogroup O139. Compared to the "gold standard" real-time quantitative PCR, the kit of this invention offers higher accuracy and sensitivity, completing the detection within 30 minutes.

This utility model discloses a battery testing cabinet, which includes a cabinet frame and a series of components. The cabinet frame is divided into two parts: a battery receiving chamber and a battery testing chamber. The battery receiving chamber is equipped with multiple horizontal partitions and ventilation grids for storing batteries that have completed testing and improving heat dissipation. The battery testing chamber is equipped with a placement plate, an adjustment slot, a clamping plate, and an electrical connection assembly. The battery charge is detected by controlling the up-and-down movement of the electrical connection assembly through a lifting cylinder. The electrical connection assembly adopts a return spring design to provide buffer protection and avoid damage to the battery or equipment from rigid contact. This application can improve testing efficiency, enhance versatility and safety, and is suitable for battery testing needs in various scenarios.

A method for autonomously detecting high-pressure gas path leaks in a propulsion system over a long lifespan is presented. This method solves the problem of satellites autonomously determining whether high-pressure gas path leaks based on their own on-orbit operating conditions in real time. It is applicable to the autonomous fault diagnosis of high-pressure gas path leaks in bi-component propulsion systems during long-term on-orbit operation. This invention calculates propulsion consumption in real time using the BK method, and then calculates the amount of compressed gas entering the storage tank through the high-pressure gas path system to obtain the remaining compressed gas pressure. If the pressure is significantly lower than the calculated value, a leak is detected in the high-pressure gas path system, thus achieving real-time monitoring of high-pressure gas path system leaks. This method requires minimal computation and resources, is highly operable, and only needs to utilize current satellite telemetry data. Through the calculation method for autonomously detecting high-pressure gas path leaks in the propulsion system, it achieves effective detection of gas path leaks over a long lifespan, saving significant manpower and resources for periodically checking for high-pressure gas path leaks.

The application discloses a kind of face symmetry rocket closed-loop fault detection methods based on gap metric technology, belong to automatic control field.The method considers the complexity brought by system closed-loop control law, system model uncertainty disturbance in the whole fault detection process.First, in the first step of detection process, introduce coprime factorization method to obtain the left coprime factorization of the linearization model of system at state working point.Then, based on the left coprime factorization of system and gap metric, establish the closed-loop fault detection model of face symmetry rocket servo mechanism, generate the fault detection signal on three channels.Moreover, based on the left coprime factorization of system and control law, obtain the threshold of fault detection signal on three channels, which considers the influence brought by system closed-loop control law.The application can better handle the problem that closed-loop control law masks fault signal, thereby improving the accuracy of fault detection system.

The utility model relates to appearance detection equipment, comprising a conveying mechanism configured to continuously convey clamps loaded with products; the at least one top surface detection mechanism is erected above the conveying mechanism and is configured to perform image acquisition on the top surface of the product; the two large surface detection mechanisms are arranged on the two sides of the conveying mechanism respectively and are configured to perform image acquisition on the two first side surfaces of the product; the at least one rotary detection mechanism comprises a rotary execution assembly and a detection execution assembly, the rotary execution assembly is erected above the conveying mechanism, the detection execution assembly is adjacent to the conveying mechanism and corresponds to the rotary execution assembly, and the rotary execution assembly is configured to clamp and rotate a product; the detection execution assembly is used for carrying out image acquisition on the two second side surfaces of the product. The device can achieve the comprehensive detection of the surface of a product, and improves the detection efficiency.

The application belongs to the technical field of robots, and discloses a three-dimensional force sensing-based detection and balance control method and system for a legged robot. The method comprises the following steps: determining the number of the leg of the multi-legged robot that slips according to a three-dimensional force signal of the multi-legged robot in contact with the ground; and adjusting the multi-legged robot in the following manner when slipping occurs: (1) adjusting the height of the center of mass of the multi-legged robot; (2) for the leg that slips, actively adjusting the joint stiffness and joint damping of the leg to relieve instantaneous impact; applying foot end acceleration and adjusting normal support force to suppress slipping; and adjusting the target foot landing point at the next time. Through the application, the balance of the robot can be quickly restored after slipping occurs, the risk of instability is reduced, and the stability of the robot in a complex environment is ensured.

The invention relates to a portable cast-in-place pile hole bottom sediment thickness detection device. The detection device comprises a transportation plate trailer and a thickness detection assembly, a winding mechanism is arranged on the transportation plate trailer, one end of the winding mechanism is fixedly connected with the thickness detection assembly, and the thickness detection assembly comprises a bearing mechanism, a leveling mechanism, a detection mechanism and a moving mechanism; the bearing mechanism serves as a supporting mechanism of the whole detection assembly, the leveling mechanism adjusts the levelness of the detection mechanism and the bearing mechanism, the detection mechanism is used for detecting the sediment thickness, and the moving mechanism is used for driving the whole detection assembly to move. The overall flexible movement of the device is realized through the transportation plate trailer, the winding mechanism can stably lower the detection assembly into a cast-in-place pile hole, the detection assembly can be leveled in the hole through the leveling mechanism, the detection assembly is convenient to move through the moving mechanism, the heavy detection assembly does not need to be manually carried or dragged, and the detection efficiency is improved. The problems that existing equipment is large in size, and manual position adjustment is inconvenient are solved.

The application relates to the field of battery detection. The application can effectively detect metal foreign matters in battery materials. The application discloses a metal foreign matter detection method, device, electronic device and storage medium for battery materials. The metal foreign matter detection method comprises the following steps: performing X-ray imaging on the battery material to obtain a material image; processing the material image to obtain a metal foreign matter image; and counting target metal foreign matters in the metal foreign matter image to obtain the number of the target metal foreign matters. In the metal foreign matter detection method, the battery material is subjected to X-ray imaging to obtain a material image, and the material image is processed to obtain a metal foreign matter image, so that the number of target metal foreign matters can be effectively detected.

This invention discloses a method for detecting corn kernel breakage rate by incorporating an attention mechanism. This method further improves the lightweight one-stage object detection network YOLOv4-tiny by introducing a coordinate attention mechanism into the feature pyramid network to enhance the model's ability to detect dense corn kernels. Furthermore, an online mosaic data augmentation method is used during the model training phase to improve the model's ability to detect smaller-scale broken kernels. The method disclosed in this invention is easier to deploy on embedded platforms due to its low parameter size, and it has a high response speed while maintaining accuracy. It can efficiently detect the degree of corn kernel breakage and thus obtain the corn kernel breakage rate in real time.

This invention discloses a method, device, and control terminal for detecting blanket kicking, belonging to the field of sleep monitoring technology. The blanket kicking detection method includes the following steps: Step S10, acquiring the temperature of the target blanket at each target location; Step S20, calculating the difference between the temperature at each target location and the previously acquired temperature at each target location to obtain the corresponding temperature difference value; Step S30, when at least two of the temperature differences at each target location are greater than a first temperature change threshold, or at least one temperature difference is greater than a second temperature change threshold, it is determined that the target blanket has been kicked off, where the second temperature change threshold is greater than the first temperature change threshold. This invention can continuously and effectively monitor whether a child kicks off their blanket.

The invention provides a spark source atomic emission spectrometry determination method for acid-soluble aluminum and inclusion aluminum, and belongs to the technical field of assessment of inclusions in steel. The spark source atomic emission spectrometry determination method for acid-soluble aluminum and inclusion aluminum comprises the following steps: establishing a calibration curve of all aluminum, then determining integral intensities of inclusion aluminum, all aluminum and acid-soluble aluminum in a sample under corresponding conditions, and calculating the intensity of the inclusion aluminum by using a difference value between the integral intensities; selecting two standard samples with adjacent strength according to the strength of aluminum inclusion in the sample, and calculating a calibration coefficient K according to the aluminum content Al% lt; the excitation rate F is calculated according to the peak integral intensity of the inclusion aluminum and the integral intensity of the total aluminum in the 0.0007% standard sample, the inclusion aluminum content Als% is equal to K * F * (IAlt-IAls), and the content of the acid-soluble aluminum is equal to the difference between the content of the total aluminum and the content of the inclusion aluminum. According to the method, the accuracy of a measurement result is effectively improved while high analysis speed, low cost and simplicity and convenience in operation are ensured.

The application provides a kind of eddy current detection method for high-pressure compressor disc drum assembly inner surface weld, comprising: the probe connecting pipe connected with eddy current flaw detection probe is lowered through mechanical arm and passes through the axial hole of high-pressure compressor disc drum assembly and the narrow space between discs, so that probe base section and middle section are in narrow disc space;Through the push rod of direct current motor, the eddy current flaw detection probe is driven to extend, so that the probe end is moved to the inner surface weld area of disc drum assembly for flaw detection detection;Through the rudder engine, the position change of the probe detection end is driven, under the restriction of the narrow disc space environment to the probe body, by changing the position of the probe detection end, the effective detection area is increased, and at the same time, the high-pressure compressor disc drum assembly rotates, to realize full coverage detection to the inner surface weld area.

The invention discloses a primer and a kit for rapidly detecting yersinia rouxii through RPA-CRISPR / Cas12a and application of the primer and the kit, and relates to the technical field of disease prevention and control in aquaculture. The invention aims to solve the problems that the existing detection method is time-consuming and labor-consuming, is easy to cause pollution and needs to be matched with professional detection equipment. According to the present invention, the RPA amplification primer is composed of a forward primer yrp1-RPA-F2 and a reverse primer yrp1-RPA-R2, the crRNA is yrp1-crRNA-R1, and the kit for rapid detection of yersinia rouxii contains the RPA amplification primer and the crRNA. The method for rapidly detecting yersinia rouxii comprises a fluorescence method and a test paper method. The method disclosed by the invention has the advantages of good inclusiveness, strong specificity, high sensitivity and the like, detection is carried out based on the RPA primer and the crRNA, and the obtained RPA product is detected by using a lateral flow chromatography test strip and fluorescence, so that the purpose of portable visual rapid detection on site or in a breeding base is achieved, and the method is suitable for large-scale popularization and application. The method has very high clinical application value in the aspects of early discovery of diseases, epidemiological investigation and comprehensive prevention and control.

The invention discloses a honeycomb sandwich structure infrared image defect detection method and system based on improved YOLOv5. The method comprises the following steps: collecting defect images of a honeycomb sandwich structure to form a sample data set; training defect images in the data set based on an improved YOLOv5 model, predicting positions and categories of honeycomb sandwich structure defects, training an optimization model by using a loss function until convergence, and obtaining and storing optimal model weight data; the improved YOLOv5 model is based on a YOLOv5 architecture, a Swin Transform module is embedded in a backbone network, and the detection performance of the model on honeycomb sandwich structure defects is improved in combination with a C3 convolutional layer, a CBS module and an SPPF module; and acquiring a defect image of the honeycomb sandwich structure to be detected, detecting and identifying the defect image by using the improved YOLOv5 model based on the optimal model weight data, and generating and outputting a detection result. According to the method, small-size defect identification in multi-scale defect identification can be effectively realized, and the defects of a traditional convolutional neural network in processing complex backgrounds and small target detection are overcome.

The embodiment of the invention provides a method and device for detecting a text abstract generated by a large model, a medium and equipment. The method comprises the steps of obtaining target data, and determining a data mode of the target data; if the data modality is a video or audio modality, extracting a target text corresponding to the target data, and generating a first text abstract of the target text through a first large model, the first text abstract comprising a plurality of time intervals divided according to the target text and respective content abstracts of the plurality of time intervals; according to the plurality of time intervals, extracting respective text contents of the plurality of time intervals from the target text; determining whether the text content of each time interval is matched with the content abstract of the time interval or not through a second large model; and determining whether unreal content exists in the first text abstract or not according to whether the text content of each time interval is matched with the content abstract or not. Through the method, whether unreal content exists in the text abstract generated by detecting the large model or not can be efficiently and accurately determined.

This invention relates to a tungsten-doped tin dioxide nanopowder, its preparation method, and its application in semiconductor-type gas-sensitive elements. The method for preparing the tungsten-doped tin dioxide nanopowder includes the following steps: dissolving a soluble tungsten compound and a soluble tin compound in an aqueous solution containing a surfactant, and adding a complexing agent to obtain a homogeneous metal ion mixed solution; adding a precipitant to the mixed solution under stirring conditions to adjust the pH to 2-6, causing a metal hydroxide precursor to precipitate; aging, solid-liquid separation, washing, and drying the precipitate to obtain a precursor powder; adding a dispersant to the precursor powder and mixing evenly; and calcining to obtain the tungsten-doped tin dioxide nanopowder. The tungsten-doped tin dioxide nanopowder of this invention can be used in the preparation of semiconductor-type gas-sensitive sensors, ultraviolet detectors, lithium-ion battery anode materials, catalysts, or transparent conductive films.

This invention provides a gene related to loquat flowering. SVP1 This invention relates to the field of molecular biology, specifically to a tightly linked SNP marker and its applications. The nucleotide sequence of this SNP marker is shown in SEQ ID NO.1. A genotype of C at the locus corresponds to a spring-flowering phenotype in loquat, while a genotype of G corresponds to an autumn-flowering phenotype. The invention also provides specific primers (SEQ ID NO.2 and SEQ ID NO.3) for detecting this SNP marker, a kit containing these primers, and a screening method for detecting loquat flowering time using this marker. By extracting loquat DNA and performing PCR amplification and sequencing analysis, the flowering period of loquat can be quickly and accurately determined. The SNP marker of this invention is highly linked to loquat flowering time, providing an effective tool for marker-assisted selection breeding of loquat at different flowering periods. This significantly improves breeding efficiency, shortens the breeding cycle, and is of great significance for extending the loquat fruit supply period and optimizing the industrial structure.

The application discloses a nano antibody against Ebola virus VP40 protein and application thereof in Ebola virus detection, wherein the nano antibody against Ebola virus VP40 protein is a 3E07 antibody. The nano antibody against Ebola virus VP40 protein prepared by the application has the characteristics of high sensitivity and wide binding spectrum. A double antibody sandwich enzyme-linked immunosorbent assay method constructed by 3E07 and 3F06 antibodies can efficiently detect VP40 proteins and virus-like particles of various Ebola virus subtypes such as Zaire, Sudan and Beni, wherein the detection sensitivity of the Ebola virus VP40 protein of Zaire type can reach 0.039 ng / mL, and the antibody combination has a wide application prospect in the diagnosis and pathogen detection of Ebola virus disease.

The application discloses a kind of ultrasonic testing devices for boiler turbine, belong to boiler turbine detection device technical field.It includes cross rail, the cross rail quantity is two, and U-shaped guide frame is jointly slidably installed, and ultrasonic detector is fixed on the U-shaped guide frame by screw, by the horizontal movement of U-shaped guide frame on cross rail, the circumferential motion of slide along arc gear rack and the angle adjustment of flaw detection mechanism, the detection of boiler turbine multidirectional, multi-angle can be realized, expands detection range, can effectively detect the area that traditional method is difficult to reach, flaw detection probe is self-adapting closely attached to the surface of detection component, improve detection precision, operator can easily realize horizontal movement, rotation and angle adjustment operation by controller, simple and convenient, improve detection efficiency, and accurate transmission mechanism and control mode can ensure the accuracy and stability of detection device in movement process, further improve the reliability of detection result.