CN105958656A - Wireless charging equipment and method for multi-rotor aircraft - Google Patents
Wireless charging equipment and method for multi-rotor aircraft Download PDFInfo
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- CN105958656A CN105958656A CN201610475973.XA CN201610475973A CN105958656A CN 105958656 A CN105958656 A CN 105958656A CN 201610475973 A CN201610475973 A CN 201610475973A CN 105958656 A CN105958656 A CN 105958656A
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Abstract
The invention belongs to the field of wireless power supply, and particularly relates to wireless charging equipment and method for a multi-rotor aircraft. The wireless charging equipment for the multi-rotor aircraft comprises a wireless power transmitting device located on a parking apron, and a wireless power receiving device located on the multi-rotor aircraft, wherein the wireless power transmitting device comprises a wireless power transmitting circuit and a wireless power transmitting coil; the wireless power transmitting coil is electrically connected with the wireless power transmitting circuit; the wireless power receiving device comprises a wireless power receiving coil and a wireless power conversion circuit; the wireless power conversion circuit is electrically connected with the wireless power receiving coil; and the wireless power transmitting coil is wirelessly connected with the wireless power receiving coil through an electromagnetic wave. Power transmission is carried out between the transmitting coil and the receiving coil through electromagnetic energy, and charging is carried out by a constant-current constant-voltage charging mode in the charging process. A battery of the multi-rotor aircraft is charged through a wireless power transmission mode; and the problem in charging is solved for continuous operation of the multi-rotor aircraft.
Description
Technical field
The invention belongs to wireless power transmission field, particularly relate to multi-rotor aerocraft wireless charging device and method.
Background technology
Multi-rotor aerocraft is to have multiple positive incidence rotor on an aircraft to produce lift simultaneously, and rotates the aircraft overcoming anti-twisted power according to different directions.Common are the multi-rotor aerocrafts such as three rotors, four rotors, six rotors, eight rotors.Such as quadrotor uses four rotors as the direct driving force source of flight, rotor is symmetrically distributed in four direction around body, four rotors are in sustained height plane, and the structure of four rotors is the most identical with radius, rotor 1 and rotor 3 rotate counterclockwise, rotor 2 and rotor 4 turn clockwise, and four motors are symmetrically installed on the bracket end of aircraft, and support intermediate space lays flight-control computer and external equipment.Quadrotor is to change variable rotor speed by four motor speeds of regulation, it is achieved the change of lift, thus controls attitude and the position of aircraft.
Multi-rotor aerocraft is furnished with wireless remote control system, there is easily operation, freely switch plurality of flight, the features such as direction control flexibly, therefore along with the development of multi-rotor aerocraft technology, the application of multi-rotor aerocraft is constantly widened, it is used to record airborne video, agricultural monitoring, plant protection, in the application such as security protection patrol, but limited by battery technology and charging technique, multi-rotor aerocraft continuous working period is extremely short, especially at agricultural monitoring, plant protection, receive in the field application of the full-automatic cruise operation such as security protection patrol and greatly restrict.
Battery for multi-rotor aerocraft charges with typically using and takes off battery at present, and battery is inserted battery charger, and such operation more bothers.The development of wireless power technology and perfect, the most can obtain little to 5W, and greatly to the through-put power of more than 10kW, this is in the application of unmanned vehicle, is a big power-assisted.
Summary of the invention
For the deficiencies in the prior art, the multi-rotor aerocraft wireless charging device of present invention offer and method, by the method for wireless charging, greatly increase the convenience of multi-rotor aerocraft charging.
For solving above-mentioned technical problem, the present invention provides multi-rotor aerocraft wireless charging device, and it is characterized in that
Receive device F, described radio energy discharger A and include, including the radio energy discharger A being positioned at airplane parking area T, the radio energy that is positioned on multi-rotor aerocraft P, the radio energy transmitting coil B that radio energy radiating circuit E and radio energy radiating circuit E electrically connects；Described radio energy receives device F and includes radio energy conversion circuit D that radio energy receiving coil C electrically connects with radio energy receiving coil C；By electromagnetic wave wireless connections between radio energy transmitting coil B and radio energy receiving coil C.
Further, radio energy radiating circuit E is positioned at inside airplane parking area, and radio energy transmitting coil B is parallel to T surface, airplane parking area and installs.
Further, DC-DC pressure regulation that radio energy radiating circuit E includes electrically connecting with rectifying and wave-filtering I outfan, controller I, communication module I, the outfan of described controller I is connected with the input of DC-DC pressure regulation, the input of communication module I, the input of PWM maker respectively, it is disposed with power tube driving, power tube amplifying circuit, and the outfan of power tube amplifying circuit between outfan and the outfan of DC-DC pressure regulation of PWM maker to be connected with radio energy transmitting coil B.
Further, radio energy receiving coil C is installed on outside the fuselage of multi-rotor aerocraft P, and radio energy conversion circuit D is installed on the internal body of multi-rotor aerocraft P.
Further, radio energy conversion circuit D includes rectifying and wave-filtering II, controller II, communication module II, switch, wherein the input of rectifying and wave-filtering II is connected with radio energy receiving coil C, the outfan of rectifying and wave-filtering II is connected with switch input terminal, the outfan of controller II connects the input of communication module II and the input of switch respectively, the outfan of switch electrically connects with the battery in multi-rotor aerocraft P, and battery also input with controller II is connected.
Further, the radio energy receiving coil C motor cantilever installation around multi-rotor aerocraft P or the rotor periphery around multi-rotor aerocraft P are installed.
Further, the one during described external power is electric main, electromotor, low-voltage dc power supply.
The present invention also provides for multi-rotor aerocraft wireless charging method, and it is characterized in that multi-rotor aerocraft enters wireless charging airplane parking area, and judgement is stopped in the landing following the steps below multi-rotor aerocraft, it is achieved the wireless charging to multi-rotor aerocraft:
Step 1, the multi-rotor aerocraft P radio energy discharger A on airplane parking area T sends charge request; radio energy discharger A receives charge request; send less than the electromagnetic energy charging normal electric energy by radio energy transmitting coil B, simultaneously the detection supply voltage U1 of radio energy radiating circuit E, supply current I1；
Step 2, the radio energy of multi-rotor aerocraft P receive device F and receive after the electric energy of step 1, charging voltage U2 of detection radio energy conversion circuit D and charging current I2, and feed back to radio energy discharger A by communication module II in radio energy conversion circuit D；
The output power P1 that step 3, radio energy discharger A draw according to U1*I1, and the charge power P2 that the U2*I2 of radio energy conversion circuit D feedback acquisition draws, relatively P1, P2 draws efficiency of transmission K=P1/P2 between launching and receiving, if the value of K is more than the threshold value set, judge that aircraft rests in correct position, then proceed charging.
Further, in step 1, radio energy discharger A launches corresponding electromagnetic wave energy the most according to demand and receives device F to radio energy, and detailed process is:
The electric energy received is processed in rectifying and wave-filtering I by radio energy radiating circuit E, supply electricity to connect by DC-DC pressure regulation and have the power tube amplifying circuit of radio energy transmitting coil B, controller I receives the information of device D by communication module I transmitting/receiving wireless electric energy, the PWM duty cycle of the information control PWM maker of device D is received according to radio energy, and the voltage of DC-DC output, with wave-shape amplitude and the dutycycle of regulation power tube amplifying circuit, the electromagnetic wave energy size that final control radio energy transmitting coil sends；
Further, in step 2, radio energy conversion circuit D feeds back to radio energy discharger A through communication module II, and detailed process is:
Controller II sends charge request to radio energy discharger A by communication module II, the electric energy that radio energy receiving coil C receives sends to rectifying and wave-filtering II, controller II controls to switch charging voltage U2 and charging current I2 of the battery that charges the battery, controls according to battery status, persistently it is sent to radio energy discharger A by communication module II after being detected by controller II, and changes, according to the real-time status of battery, the charge request sent.
Compared with prior art, it has the beneficial effect that the present invention is that multi-rotor aerocraft battery is charged by the way of wireless power transmission to the present invention, solves the difficult problem in charging for multi-rotor aerocraft continuous operation.Radio energy discharger is laid in the range of airplane parking area; radio energy receives device be arranged on multi-rotor aerocraft; under the cooperation that radio energy discharger and radio energy receive device; electric energy transmission is carried out by electromagnetic energy between transmitting coil and receiving coil; corresponding circuit is coordinated to connect, it is achieved the work that multi-rotor aerocraft battery is charged.Structurally, it is not necessary to battery is taken off and is individually charged work, in the range of only needing multi-rotor aerocraft to be positioned at airplane parking area, can be convenient for battery provide electric energy.The device provided according to the present invention, solves charging difficulty, provides convenient for multi-rotor aerocraft in multi-field application.
Accompanying drawing explanation
Fig. 1 is the radio energy discharger scheme of installation of the present invention；
Fig. 2 is that the radio energy of the present invention receives device scheme of installation one；
Fig. 3 is that the radio energy of the present invention receives device scheme of installation two；
Fig. 4 is the multi-rotor aerocraft wireless charging device schematic diagram of the present invention；
Fig. 5 is the multi-rotor aerocraft wireless charging principle schematic of the present invention；
Fig. 6 is the radio energy discharger topology diagram of the present invention；
Fig. 7 is that the radio energy of the present invention receives device topology diagram.
Description of symbols: A, radio energy discharger, B, radio energy transmitting coil, C, radio energy receiving coil, D, radio energy conversion circuit, E, radio energy radiating circuit, F, radio energy receive device, P, multi-rotor aerocraft, T, airplane parking area.
Detailed description of the invention
1 to accompanying drawing 7 referring to the drawings, provide the detailed description of the invention of the present invention, for the present invention will be further described.
Embodiment 1:
Illustrating as a example by using quadrotor in the present embodiment, the structure about quadrotor is the state of the art, the most no longer describes in detail, explains the wireless charging device of the present invention only by quadrotor.
In accompanying drawing 1, accompanying drawing 4, the airplane parking area T of the present embodiment being provided with radio energy discharger A, wherein, radio energy discharger A includes the radio energy transmitting coil B that radio energy radiating circuit E and radio energy radiating circuit E electrically connects；Radio energy radiating circuit E is arranged on the inside of airplane parking area T, in the accompanying drawings for providing concrete layout sign；Radio energy transmitting coil B is parallel to T surface, airplane parking area and installs.Radio energy transmitting coil B is arranged around the circumference of airplane parking area T, by support, radio energy transmitting coil B can be fixed on airplane parking area T upper surface.
Radio energy radiating circuit E, by electrically connecting with external power, obtains electric energy；External power can be electric main, electromotor, low-voltage dc power supply etc., different according to the power supply type selected, radio energy radiating circuit E rectification and amplifier section need to adjust accordingly, and corresponding adjustment is also not belonging to the emphasis that the present invention is to be described, the most reinflated explanation.
In accompanying drawing 2 to accompanying drawing 4, quadrotor P being provided with radio energy and receives device F, wherein, radio energy receives device F and includes radio energy conversion circuit D that radio energy receiving coil C electrically connects with radio energy receiving coil C；By electromagnetic wave wireless connections between radio energy transmitting coil B and radio energy receiving coil C, radio energy conversion circuit D electrically connects with the battery in multi-rotor aerocraft P, and battery is not shown in structure chart.
In the present embodiment, the control circuit of quadrotor P, battery etc. are arranged on the center of body, and the present embodiment describes wireless charging device only by the structure of quadrotor P.The control circuit of multi-rotor aerocraft is generally mounted to quadrotor body center position, in the design, needing the impact reducing the resonance produced during radio energy receiving coil C receives electromagnetic wave to quadrotor control circuit, the electric conductor of radio energy receiving coil C need to from quadrotor body center relative to position farther out；Such as accompanying drawing 2, radio energy receiving coil C is installed on quadrotor motor cantilever in this example, and radio energy receiving coil C encloses around the cantilever of four motors and is connected into ring-shaped.
With reference to the accompanying drawings 5, during quadrotor charging, radio energy radiating circuit E is converted to high frequency alternating current the electric energy of external power, it is converted into electromagnetic wave by radio energy transmitting coil B, radio energy receiving coil C receives electromagnetic wave and exports high frequency alternating current, charges by supplying multi-rotor aerocraft battery after the rectifying and wave-filtering II of radio energy conversion circuit D.
In the present embodiment, multi-rotor aerocraft enters wireless charging airplane parking area, and judgement is stopped in the landing following the steps below multi-rotor aerocraft, it is achieved the wireless charging to multi-rotor aerocraft:
The charging process of multi-rotor aerocraft is realized according to following steps:
Step 1, the multi-rotor aerocraft P radio energy discharger A on airplane parking area T sends charge request; radio energy discharger A receives charge request; the electromagnetic energy charging normal electric energy 10%, simultaneously the detection supply voltage U1 of radio energy radiating circuit E, supply current I1 is sent by radio energy transmitting coil B；
Step 2, the radio energy of multi-rotor aerocraft P receive device F and receive after the electric energy of step 1, charging voltage U2 of detection radio energy conversion circuit D and charging current I2, and feed back to radio energy discharger A by communication module II in radio energy conversion circuit D；
The output power P1 that step 3, radio energy discharger A draw according to U1*I1, and the charge power P2 that the U2*I2 of radio energy conversion circuit D feedback acquisition draws, relatively P1, P2 draws efficiency of transmission K=P1/P2 between launching and receiving, if the value of K is more than 1/2, judge that aircraft rests in correct position, then proceed charging.
In the present embodiment, during to battery initial charge, radio energy transmitting coil B sends the electromagnetic energy charging normal electric energy 10%, 10% is the minimum transmitted value of electromagnetic energy, it is possible to choose the electromagnetic energy more than 10% such as 15%, 20%, and about the value of K, there is setting threshold value in advance, when the value of K is more than threshold value set in advance, it is determined that continuing charging, the threshold value of K chooses 1/2 in the present embodiment.
In step 3, when guaranteeing that efficiency of transmission is sufficiently high, power battery charging characteristic according to multi-rotor aerocraft, radio energy conversion circuit D can take required charging strategy, to the electrical energy demands in charging process, radio energy conversion circuit D feeds back to radio energy discharger A, radio energy discharger A through wireless communication module and launches corresponding electromagnetic energy the most according to demand.
The battery used in multi-rotor aerocraft is lithium battery, and for the Charge Management of lithium battery, the charge characteristic of such as battery, charging strategy, demand to electric energy belong to the ordinary skill in the art, illustrate that on multi-rotor aerocraft, the wireless charging of battery is dynamic only by means of battery in the present invention.
In one example, when K value is more than 1/2, and U2 is when battery charging limits below voltage, and multi-rotor aerocraft P asks the electric energy more than 10% to the radio energy discharger A of airplane parking area T, until I2 reaches the constant-current charge current value needed for battery.
When the charging that U2 reaches multi-rotor aerocraft P battery limits voltage, multi-rotor aerocraft P asks to reduce to the radio energy discharger A of airplane parking area T and launches electric energy, makes multi-rotor aerocraft P enter constant-voltage charge state；Under constant-voltage charge state, if I2 is reduced to nearly 0, battery electric quantity is close to saturated, and charging complete, airplane parking area T stops electric energy and launches.
Give radio energy discharger A topology diagram in figure 6, DC-DC pressure regulation that radio energy radiating circuit E includes electrically connecting with rectifying and wave-filtering I outfan, controller I, communication module I, in the present embodiment, external 220V AC power supplies is processed by rectifying and wave-filtering I.The outfan of described controller I is connected with the input of DC-DC pressure regulation, the input of communication module I, the input of PWM maker respectively, it is disposed with power tube driving, power tube amplifying circuit, and the outfan of power tube amplifying circuit between outfan and the outfan of DC-DC pressure regulation of PWM maker to be connected with radio energy transmitting coil B.The input that power tube drives is connected with the outfan of PWM maker, and the outfan that power tube drives is connected with the input of power tube amplifying circuit, and the input of power tube amplifying circuit is connected with the outfan of DC-DC pressure regulation.
The circuit theory of radio energy discharger A is: radio energy radiating circuit E receives the electric energy after rectified filtering I processes, supply electricity to connect by DC-DC pressure regulation and have the power tube amplifying circuit of radio energy transmitting coil B, controller I in radio energy radiating circuit E receives the information of device F by communication module I transmitting/receiving wireless electric energy, the PWM duty cycle of the demand modeling PWM maker of device F is received according to radio energy, and the voltage of DC-DC output, wave-shape amplitude and dutycycle with regulation power tube amplifying circuit, the electromagnetic wave energy size that final control radio energy transmitting coil B sends.Meanwhile, between outfan and the input of PWM maker that power tube drives, it is provided with protection module, protects in radio energy radiating circuit E.
Give the topology diagram that radio energy receives device F in fig. 7, radio energy conversion circuit D includes rectifying and wave-filtering II, controller II, communication module II, switch, wherein the input of rectifying and wave-filtering II is connected with radio energy receiving coil C, the outfan of rectifying and wave-filtering II is connected with switch input terminal, the outfan of controller II connects the input of communication module II and the input of switch respectively, the outfan of switch electrically connects with the battery in multi-rotor aerocraft P, and battery also input with controller II is connected.
Radio energy receives the circuit theory of device F: controller II sends charge request to radio energy discharger A by communication module II, radio energy receiving coil C receives electric energy through rectifying and wave-filtering II by radio energy transmitting coil B, controller II controls switch according to battery status and charges the battery, and the information such as charging voltage U2 of battery, charging current I2, persistently it is sent to radio energy discharger A by communication module II after being detected by controller II, and changes the rechargeable electrical energy request sent according to real-time status.
Embodiment 2
In this example, the overall structure of charger and charging process are similar to embodiment 1, only further change, the most still as a example by quadrotor radio energy transmitting coil, having installed of radio energy receiving coil.
Radio energy transmitting coil can also be laid immediately on airplane parking area T upper surface in the present embodiment, lay when it must also be noted that radio energy transmitting coil B around airplane parking area T circumference arrange.
It is peripheral that radio energy receiving coil is installed on rotor, is enclosed four ends of four rotors and is connected into ring-type, had both realized the electromagnetic transmission between radio energy transmitting coil, and formed again crash barrier and protect quadrotor.
All use quadrotor to illustrate in embodiment 1, embodiment 2, but the scope protected of the present invention is not limited to four rotors it can also be used to multi-rotor aerocrafts such as three rotors, six rotors, eight rotors.When using other kinds of multi-rotor aerocraft, radio energy receiving coil all circlewise around corresponding multi-rotor aerocraft motor cantilever shape or is installed on multiple rotor periphery and is formed ring-type.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, and without departing from the spirit or essential characteristics of the present invention, it is possible to realize the present invention in other specific forms.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is limited by claims rather than described above, it is intended that all changes fallen in the implication of equivalency and scope of claim included in the present invention.
In addition, it is to be understood that, although this specification is been described by according to embodiment, but the most each embodiment comprises an independent technical scheme, this narrating mode of description is only for clarity sake, description should can also be formed, through appropriately combined, other embodiments that it will be appreciated by those skilled in the art that as an entirety, the technical scheme in each embodiment by those skilled in the art.
Claims (10)
1. multi-rotor aerocraft wireless charging device; it is characterized in that: the radio energy discharger (A) that includes being positioned at airplane parking area (T), the radio energy being positioned on multi-rotor aerocraft (P) receive device (F), and described radio energy discharger (A) includes the radio energy transmitting coil (B) that radio energy radiating circuit (E) electrically connects with radio energy radiating circuit (E)；Described radio energy receives device (F) and includes the radio energy conversion circuit (D) that radio energy receiving coil (C) electrically connects with radio energy receiving coil (C)；By electromagnetic wave wireless connections between radio energy transmitting coil (B) and radio energy receiving coil (C).
2. multi-rotor aerocraft wireless charging device as claimed in claim 1, it is characterised in that: radio energy radiating circuit (E) is positioned at inside airplane parking area, and radio energy transmitting coil (B) is parallel to airplane parking area (T) surface and installs.
3. multi-rotor aerocraft wireless charging device as claimed in claim 2, it is characterized in that: radio energy radiating circuit (E) includes the DC-DC pressure regulation electrically connected with rectifying and wave-filtering I outfan, controller I, communication module I, the outfan of described controller I respectively with the input of DC-DC pressure regulation, the input of communication module I, the input of PWM maker is connected, it is disposed with power tube between outfan and the outfan of DC-DC pressure regulation of PWM maker to drive, power tube amplifying circuit, and the outfan of power tube amplifying circuit is connected with radio energy transmitting coil (B).
4. multi-rotor aerocraft wireless charging device as claimed in claim 3, it is characterized in that: radio energy receiving coil (C) is installed on outside the fuselage of multi-rotor aerocraft (P), radio energy conversion circuit (D) is installed on the internal body of multi-rotor aerocraft (P).
5. multi-rotor aerocraft wireless charging device as claimed in claim 4, it is characterized in that: radio energy conversion circuit (D) includes rectifying and wave-filtering II, controller II, communication module II, switch, wherein the input of rectifying and wave-filtering II is connected with radio energy receiving coil (C), the outfan of rectifying and wave-filtering II is connected with switch input terminal, the outfan of controller II connects the input of communication module II and the input of switch respectively, the outfan of switch electrically connects with the battery in multi-rotor aerocraft (P), and battery also input with controller II is connected.
6. multi-rotor aerocraft wireless charging device as claimed in claim 5, it is characterised in that: the radio energy receiving coil (C) the motor cantilever installation around multi-rotor aerocraft (P) or the rotor periphery around multi-rotor aerocraft (P) are installed.
7. the multi-rotor aerocraft wireless charging device as described in any one of claim 1 to 6, it is characterised in that: described external power is the one in electric main, electromotor, low-voltage dc power supply.
8. multi-rotor aerocraft wireless charging method, it is characterised in that: multi-rotor aerocraft enters wireless charging airplane parking area, and judgement is stopped in the landing following the steps below multi-rotor aerocraft, it is achieved the wireless charging to multi-rotor aerocraft:
Step 1, multi-rotor aerocraft (P) the radio energy discharger (A) on airplane parking area (T) sends charge request; radio energy discharger (A) receives charge request; send less than the electromagnetic energy charging normal electric energy by radio energy transmitting coil (B), supply voltage U1, the supply current I1 of detection radio energy radiating circuit (E) simultaneously；
Step 2, the radio energy of multi-rotor aerocraft (P) receive device (F) and receive after the electric energy of step 1, charging voltage U2 of detection radio energy conversion circuit (D) and charging current I2, and feed back to radio energy discharger (A) by communication module II in radio energy conversion circuit (D)；
The output power P1 that step 3, radio energy discharger (A) draw according to U1*I1, and the charge power P2 that the U2*I2 of radio energy conversion circuit (D) feedback acquisition draws, relatively P1, P2 draws efficiency of transmission K=P1/P2 between launching and receiving, if the value of K is more than the threshold value set, judge that aircraft rests in correct position, then proceed charging.
9. multi-rotor aerocraft wireless charging method as claimed in claim 8, it is characterised in that: in step 1, radio energy discharger (A) is launched corresponding electromagnetic wave energy the most according to demand and is received device (F) to radio energy, and detailed process is:
The electric energy received is processed in rectifying and wave-filtering I by radio energy radiating circuit (E), supply electricity to connection by DC-DC pressure regulation and have the power tube amplifying circuit of radio energy transmitting coil (B), controller I receives the information of device (D) by communication module I transmitting/receiving wireless electric energy, the PWM duty cycle of the information control PWM maker of device (D) is received according to radio energy, and the voltage of DC-DC output, with wave-shape amplitude and the dutycycle of regulation power tube amplifying circuit, the electromagnetic wave energy size that final control radio energy transmitting coil sends.
10. multi-rotor aerocraft wireless charging method as claimed in claim 8 or 9, it is characterised in that: in step 2, radio energy conversion circuit (D) feeds back to radio energy discharger (A) through communication module II, and detailed process is:
Controller II sends charge request to radio energy discharger (A) by communication module II, the electric energy that radio energy receiving coil (C) receives sends to rectifying and wave-filtering II, controller II controls to switch charging voltage U2 and charging current I2 of the battery that charges the battery, controls according to battery status, persistently it is sent to radio energy discharger (A) by communication module II after being detected by controller II, and changes, according to the real-time status of battery, the charge request sent.
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| CN107069865A (en) * | 2017-04-12 | 2017-08-18 | 杭州迅蚁网络科技有限公司 | A kind of aircraft charging device used for buses and method |
| CN109036818A (en) * | 2018-07-25 | 2018-12-18 | 清华大学 | A kind of Wireless charging coil for multi-rotor unmanned aerial vehicle |
| CN111946491A (en) * | 2020-07-14 | 2020-11-17 | 上海机电工程研究所 | Wireless induction type ignition and speed measuring device between aircraft cabins |
| CN111946491B (en) * | 2020-07-14 | 2023-02-28 | 上海机电工程研究所 | Wireless induction type ignition and speed measuring device between aircraft cabins |
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| CN105958656B (en) | 2018-12-07 |
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