CN108981975A - A kind of pressure sensor and distribution force measuring method - Google Patents
A kind of pressure sensor and distribution force measuring method Download PDFInfo
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- CN108981975A CN108981975A CN201810502356.3A CN201810502356A CN108981975A CN 108981975 A CN108981975 A CN 108981975A CN 201810502356 A CN201810502356 A CN 201810502356A CN 108981975 A CN108981975 A CN 108981975A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/12—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress
- G01L1/127—Measuring force or stress, in general by measuring variations in the magnetic properties of materials resulting from the application of stress by using inductive means
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Abstract
The invention discloses a kind of for measuring the pressure sensor of distributed force comprising: at least one pressure measuring module generates the alternating signal of corresponding frequencies, calculates pressure value to obtain the frequency of the signal；Insulating layer is fitted tightly on pressure measuring module；Conductive layer fits closely on the insulating layer, when being generated deformation by ambient pressure, so that the frequency of pressure measuring module changes；Acquisition device, acquires the frequency of the alternating signal of each pressure measuring module output, and each frequency signal is converted into corresponding frequency parameter.The present invention measures the displacement of elastic material, high reliablity, high sensitivity in such a way that eddy-current transducer detects resonance frequency, and strong antijamming capability, fast response time can measure the pressure of insulation testee, can be widely used in field of medical rehabilitation and Human Kinematics field.
Description
Technical field
The present invention relates to pressure measurement technology field, more particularly, to a kind of pressure sensor for measuring distributed force and
It is distributed force measuring method.
Background technique
Common pressure sensor can be divided by structure type: condenser type, pressure resistance type, strain-type, piezoelectric type etc., wherein
Pressure resistance type and capacitance pressure transducer, are mainly used in distributed force detection.
The present piezoresistive transducer most common on the market is silicon piezoresistive transducer, with high sensitivity, dynamic response
Fastly, measurement accuracy is high, stability is good, operating temperature range is wide, be easy to minimize, convenient for batch production and easy to use etc. excellent
Point, is widely used in multiple fields.However, silicon piezoresistive transducer is influenced by temperature maximum, the spirit of different temperatures lower sensor
The difference of sensitivity and measurement accuracy is very big, this undoubtedly constrains using and developing for silicon piezoresistive transducer.In addition, capacitive pressure passes
Although sensor has lower temperature coefficient, high sensitivity, low-power consumption, simple process and the advantages such as cheap, capacitor
Detection need more complicated detection circuit to need to measure more capacitor simultaneously especially for the measurement of distributed force, it is right
It is more demanding in hardware device, it is more difficult to real-time pressure detecting.
In the prior art, pressure is measured using eddy-current transducer, realizes high reliablity, high sensitivity, it is anti-interference
The features such as ability is strong, fast response time, circuit is simple.But current current vortex pressure sensor is mainly complete by eddy current probe
At cannot achieve the measurement of distributed force, and component volume is larger, structure is complex.
Summary of the invention
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of pressure experience device, the pressure experiences
Device includes: at least one pressure measuring module, generates the alternating signal of corresponding frequencies, is calculated with obtaining the frequency of the signal
Pressure value；Insulating layer is fitted tightly on the pressure measuring module；Conductive layer is fitted tightly on the insulating layer,
When being generated deformation by ambient pressure, so that the working frequency of the pressure measuring module changes.
Preferably, the insulating layer includes elastic material.
Preferably, the pressure experience device further include: pcb board integrates all pressure measuring modules；With
Bracket is mounted on the pcb board bottom.
Preferably, the pressure measuring module has: resonant element comprising coil and capacitive branch parallel with one another,
In the drive condition for meeting oscillation action, alternating electromagnetic field is generated, and export the alternating signal of corresponding frequencies；Starting of oscillation unit,
It is in parallel with the resonant element, for providing drive condition for the oscillation action of the resonant element.
Preferably, the capacitive branch includes: first capacitor, and first end is connect with the first end of the coil, and will
Sampled point of the tie point as the alternating signal；Second capacitor, first end are connect with the second end of the first resistor,
And the tie point is connect with power ground, wherein the second end of second capacitor is connect with the second end of the coil.
Preferably, the starting of oscillation unit further comprises: feedback resistance, one end are connect with the second end of the coil；
Phase inverter, input terminal are connect with the other end of the feedback resistance, the output end of the phase inverter respectively with the coil
First end is connected with the first end of the first capacitor.
Preferably, the thickness range of the insulating layer is 1~5mm.
Preferably, the thickness of the conductive layer is less than 0.15mm, and its sheet resistance is less than or equal to 0.5 Ω.
According to another aspect of an embodiment of the present invention, it additionally provides a kind of for measuring the pressure sensor of distributed force, institute
Stating pressure sensor includes: pressure experience device, has pressure experience device as described above；Acquisition device, acquisition
The frequency of the alternating signal of each pressure measuring module output in the pressure experience device, and generate corresponding frequency parameter.
According to another aspect of an embodiment of the present invention, a kind of distribution force measuring method is additionally provided, this method is using as above
The measurement that the pressure sensor carries out distributed force is stated, this method comprises: the conductive layer in pressure experience device is by outer
Boundary's pressure and when generating deformation so that the working frequency of the pressure measuring module in the pressure experience device changes；Institute
State the alternating signal that pressure measuring module generates corresponding frequencies；Acquisition device acquires the alternation of each pressure measuring module output
The frequency of signal, and corresponding frequency parameter is generated, to calculate pressure value.
Compared with prior art, one or more embodiments in above scheme can have following advantage or beneficial to effect
Fruit:
The invention proposes a kind of eddy current type distributed forces to measure pressure sensor, using eddy-current transducer detection resonance frequency
The mode of rate measures the displacement of elastic material, realizes high reliablity, high sensitivity, strong antijamming capability, fast response time etc.
Advantage can measure the pressure of insulation testee, can be widely used in field of medical rehabilitation and Human Kinematics field.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by specification, right
Specifically noted structure is achieved and obtained in claim and attached drawing.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example and is used together to explain the present invention, be not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is that the structure of the pressure experience device in the pressure sensor for measuring distributed force of the embodiment of the present application is shown
It is intended to.
Fig. 2 is multiple pressures of the pressure experience device in the pressure sensor for measuring distributed force of the embodiment of the present application
The distribution schematic diagram of power measurement module.
Fig. 3 is that the pressure of the pressure experience device in the pressure sensor for measuring distributed force of the embodiment of the present application is surveyed
Measure the circuit structure diagram of module.
The step of Fig. 4 is the distribution force measuring method of the embodiment of the present application is schemed.
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching technical effect can fully understand and implement.It needs to illustrate
As long as not constituting conflict, each feature in each embodiment and each embodiment in the present invention can be combined with each other,
It is within the scope of the present invention to be formed by technical solution.
The embodiment of the present application proposes a kind of only with conduct piece, elastic component, several pressure measuring modules and bracket composition
The pressure experience device of small-sized eddy current type pressure sensor pressure can be obtained by obtaining the frequency of the device output signal
The pressure of power measurement module affiliated area, to realize the measurement of distributed force.
Fig. 1 is that the structure of the pressure experience device in the pressure sensor for measuring distributed force of the embodiment of the present application is shown
It is intended to.As shown in Figure 1, the device includes conductive layer, insulating layer, pcb board and bracket.Wherein, one is integrated in same pcb board
Or multiple pressure measuring modules.
(one embodiment)
Pressure experience device includes: at least one pressure measuring module, insulating layer and conductive layer.Wherein, pressure measurement mould
Block can generate the alternating signal of corresponding frequencies by the oscillation action of itself, to calculate pressure by the frequency for obtaining the signal
Force value；Insulating layer is fitted tightly on each pressure measuring module, so that pressure measuring module is spaced (not connect mutually with conductive layer
Touching)；Likewise, conductive layer fits closely on the insulating layer, when being generated deformation by ambient pressure, so that on the electrically conductive
The intensity of the induction current vortex of generation changes, and further changes the output frequency of each pressure measuring module.
(second embodiment)
Specifically, above-mentioned bracket is plastic stent, positioned at the quadrangle of pcb board bottom, has support function, protects pcb board
Internal element not by insulating layer generate deformation when stress influenced.
Insulating layer is fitted tightly on the pcb board where each pressure measuring module, is pressed in pressure experience device by the external world
Power can generate corresponding deformation.Insulating layer uses elastic material (non-conductive), and patch is sticked on pcb board.Elastic material has back
Resilience energy power is strong, and the preferable feature of the repeatability that is pressurized mostly uses such as PDMS (dimethyl silicone polymer), silica gel high polymer elastic material
Material.Wherein, the thickness of insulating layer needs within the scope of 1~5mm, to also ensure vortex effect while guaranteeing its elastic property
The generation answered.Furthermore it is possible to by the type for changing elastic material, so that its elastically-deformable range increases, thus realization pair
The change of sensor accuracy and measurement range.
Conductive layer is fitted tightly on above-mentioned insulating layer.When conductive layer is by ambient pressure, so that above-mentioned using elasticity
When insulated with material layer generates deformation, the intensity for the induction current vortex that conductive layer has generated changes, to influence pressure measurement
The equivalent inductance value of module further changes the frequency of the alternating signal of pressure measuring module.In this example, conductive layer is used and is led
Conductive film patch is viscous above the insulating layer.Wherein, conductive film thickness is less than 0.15mm, to guarantee resolution when distributed force measurement
Rate, meanwhile, sheet resistance is less than or equal to 0.5 Ω, ensure that the generation and intensity of eddy current effect.
It should be noted that the pcb board and conductive layer where insulating layer, each pressure measuring module need each other tight
Closely connected conjunction.Specifically, close sticking effect refers to that elastic material can also generate corresponding change in displacement, example under primary stress
Such as, if the resolving power of pressure experience device is 0.1N, under the primary stress of 0.1N, the alternating signal of pressure measuring module
Frequency changes the resolving accuracy that can also reach measurement.
In addition, (refer to Fig. 1) since pcb board is integrated with one or more pressure measuring modules, so that pressure experience device
Can measure with the ambient pressure of conductive layer region corresponding at each pressure measuring module position, wherein by each pressure
Measurement module, the pcb board of corresponding position, the insulating layer of corresponding position and the conductive layer of corresponding position are as a stress
Unit.It should be noted that the quantity of pressure measuring module is arranged according to user demand, the application is not limited specifically
It is fixed.
The specific structure for the pressure measuring module being integrated in pcb board is illustrated below.Fig. 3 is the embodiment of the present application
The pressure measuring module for measuring the pressure experience device in the pressure sensor of distributed force circuit structure diagram.Such as Fig. 3
Shown, pressure measuring module has resonant element and starting of oscillation unit.Wherein, resonant element includes coil L1 and appearance parallel with one another
Property branch, constitute LC oscillating circuit, in the starting of oscillation drive condition for meeting oscillation action, in the cooperation of coil L1 and capacitive branch
Under, so that resonant element generates alternating electromagnetic field, and export the alternating signal of corresponding frequencies.Specifically, capacitive branch has
First capacitor C1 and the second capacitor C2.The first end of first capacitor C1 is connect with the first end of coil L1, and the tie point is made
For the sampled point of alternating signal；The first end of second capacitor C2 is connect with the second end of first resistor R1, and by the tie point with
Power ground connection, and the second end of the second capacitor C2 is connect with the second end of coil L1.In this example, coil L1 uses spiral
Shape plane magnet coil is packaged in the pcb board where corresponding pressure measuring module, and fits closely with insulating layer,
With generation intersection point electromagnetic field under the collective effect of first capacitor C1 and the second capacitor C2.In order to reduce the edge effect of current vortex
It generates, it is preferable that coil L1 is located at the center of pressure measuring module.
Starting of oscillation unit is in parallel with above-mentioned resonant element, provides driving starting condition for oscillation for the oscillation action for resonant element,
To control the on-off of alternating electromagnetic field.Specifically, starting of oscillation unit includes feedback resistance R1 and phase inverter U2A, constitutes positive feedback
Oscillating circuit, while phase equilibrium needed for providing oscillation action for resonant element.Wherein, one end of feedback resistance R1
It is connect with the second end of coil L1；The input terminal of phase inverter U2A is connect with the other end of feedback resistance R1, and phase inverter U2A's is defeated
Outlet is connect with the first end of the first end of coil L1 and first capacitor C1 respectively.
Fig. 2 is multiple pressures of the pressure experience device in the pressure sensor for measuring distributed force of the embodiment of the present application
The distribution schematic diagram of power measurement module.(refer to Fig. 2) pressure measuring module quantity according to demand, is carried out in a manner of rectangular array
Arrangement, the size of the pcb board of each stress unit are configured with the size of matrix array.Wherein, each pressure measuring module
And/or the preferable shape of the pcb board where each pressure measuring module is square；The conductive layer of each stress unit and absolutely
The size of edge layer is matched with the pcb board size in same stress unit respectively.As shown in Fig. 2, in this example, if pressure measurement mould
The quantity of block is 12, then can set 2*6,3*4 (Fig. 2), 4*3,6*2 for pressure measuring module and/or the pcb board where it
Etc. array combinations mode.
It should be noted that each pressure measuring module uses component part of the spiral planar coil as coil L1,
Generated current vortex be also it is spiral, exterior contour can be similar to a circle, square pressure measuring module
And/or the pcb board where it facilitates splicing, and greatly can feed back current vortex using its shape.In actual application,
It needs as far as possible by the sufficiently small of the size setting of pressure measuring module, so that the resolution ratio of pressure experience device is accordingly mentioned
It is high；But for the intensity for ensureing eddy current effect, the specification of the module cannot be too small, is further ensured that spiral planar coil can
It is integrated on the pcb board where pressure measuring module, planar coil is bigger, then vortex is corresponding stronger.In this example, pressure measurement mould
The specification of block uses 10mm*10mm, but the application is not especially limited this.
In the actual application of above-mentioned pressure experience device, firstly, the device is under the control of above-mentioned starting of oscillation unit
So that resonant element is in self-oscillation process, alternating electromagnetic field is generated, to generate the alternating signal with intrinsic frequency；Together
When, the conductive layer of the corresponding position in alternating electromagnetic field generates corresponding induction current vortex.When ambient pressure acts on
When conductive layer, the corresponding insulating layer part in region by ambient pressure generates corresponding deformation, so that conductive layer had generated
The intensity of induction current vortex changes, at this point, the coil in the corresponding pressure measuring module of corresponding region (being under pressure)
After L1 is influenced by the induction current vortex after changing, so that the equivalent inductance where coil L1 in pressure measuring module becomes
Change, the frequency of oscillation of pressure measuring module is further changed, to change the frequency of alternating signal.When shape occurs for elastic material
Become (when compressing), the spacing of coil L1 and conductive layer changes, and induction current vortex is reinforced, equivalent in pressure measuring module
Inductance reduces, correspondingly, the frequency of alternating signal increases.Further, by measuring the frequency of alternating signal come computational representation line
The elastic layer deformation quantity of L1 and conductive interlamellar spacing are enclosed, to obtain the pressure value at corresponding stress unit.
In addition, the invention proposes a kind of for measuring the pressure sensor of distributed force, which includes at least above-mentioned
Pressure experience device and acquisition device.When pressure experience device is after by ambient pressure, each pressure measurement mould therein
After block exports the alternating signal of corresponding frequencies, by acquisition device after the pretreatment such as filtering, analog-to-digital conversion, each pressure is acquired
The frequency of the alternating signal of measurement module output, and generate corresponding frequency parameter.It should be noted that working as above-mentioned pressure measurement
The negligible amounts of module even only one when, directly using oscillograph, frequency meter or can have calculating and band-wise processing
The acquisition device of the programmable logic device of ability etc. carries out the acquisition operation of frequency signal, further calculates out corresponding pressure
Value；When the quantity of pressure measuring module is more, analog switch can be first used, is believed collected by pretreated frequency
It number is transferred in programmable logic device.The application is not especially limited the form of acquisition device.
In addition, pressure sensor apparatus further includes distributed force processing unit.Distributed force processing unit is according to above-mentioned from acquisition
Each frequency parameter got in device is utilized respectively the magnetic conductivity and conductivity of conduct piece, obtains the elastic component of corresponding part
Deformation quantity further utilizes the elasticity modulus and thickness of elastic component, calculates each frequency parameter corresponding pressure value, thus
Corresponding pressure value at each pressure measuring module when acting on pressure experience device to external pressure.
Specifically, firstly, the frequency values for the alternating signal for indicating to detect using following formula:
In formula, f indicates the frequency values of the alternating signal of each pressure measuring module detected output；LXIt indicates in feeling of stress
By device by ambient pressure after, the equivalent inductance value of the coil L1 of each pressure measuring module therein；C indicates each pressure measurement
The total capacitance value of module.Wherein, magnetic conductivity u of the frequency f by conductive layerr, coil L1 and conductive layer distance d and conductive layer
The influence of electricalresistivityρ.Therefore, it is corresponding that every place's pressure measuring module can be obtained by the frequency values of each output signal of calculating
The distance d (insulating layer deformation quantity) of coil L1 and conductive layer.
When pressure experience device is made elastic layer generate simple extension and compressive deformation by ambient pressure, elastic layer
The relational expression between the deformation quantity ε under stress σ and unit thickness at this time, is indicated using following expression:
In formula, σ indicates the stress of elastic layer, EaIndicate the apparent elastic modulus of insulating layer；ε indicates insulating layer list
Deformation quantity under the thickness of position, h indicate the thickness of insulating layer.Due to different elastic materials have different elasticity modulus, by
When to corresponding ambient pressure, so that the deformation range of every kind of elastic material is also different.
Then, when stress unit is sufficiently small (meet the uniformity of the suffered pressure of each stress unit),
The pressure value at each stress unit is further calculated using following formula:
F=σ S
Wherein, F indicates the positive load for being applied to the place of each stress unit, and S indicates forced area.
In addition, the invention also provides a kind of distribution force measuring method, this method utilizes described above for distributed force
The pressure sensor of measurement measures.The step of Fig. 4 is the distribution force measuring method of the embodiment of the present application is schemed.As shown in figure 4,
Firstly, when the conductive layer of (step S410) in the pressure experience device of pressure sensor is generated deformation by ambient pressure,
So that the intensity for the induction current vortex that conductive layer has generated changes.Then, in the step s 420, fitted closely with conductive layer
Insulating layer after conductive layer is by ambient pressure, further generate corresponding deformation, meanwhile, the induction current vortex pair after variation
The equivalent inductance for being integrated in the coil L1 of pressure measuring module has an impact, to change the pressure measurement in pressure experience device
The working frequency of module, in turn, pressure measuring module generate the alternating signal of corresponding frequencies, hence into step S430.
Then, (step S430) acquires the frequency of the alternating signal of each pressure measuring module output using acquisition device, and generates corresponding
Frequency parameter.Finally, pressure at each stress unit can be calculated by distributed force processing unit or directly
Value.
The embodiment of the present invention propose it is a kind of using eddy-current transducer check resonance frequency by the way of measure elastic material
Displacement so as to complete individual pressure measurement and the measurement of distributed force, met with calculating the pressure value of each stress unit
The features such as high reliablity, high sensitivity, strong antijamming capability, fast response time；Non-conductive object can be measured to be applied
External pressure；The change of precision and measurement range may be implemented in property by changing elastic material, has further expanded this
Application range of the sensor in engineering field.Furthermore, the present invention can be widely used in field of medical rehabilitation and people
Body sports science field, especially foot medical treatment, hospital, Shoes Factory, rehabilitation department, school of medical professionals section, sports team, institute of body section etc. are single
Position, to foot pressure distribution and its size detection carry out quantitative analysis, can in conjunction with expert system do it is various perioperatively assessment,
Damage check, drug research assessment, special population gait evaluation, sports medical science research evaluation.In digital course in field, essence
Really obtain sportsman's speed, acceleration at any time, bend centrifugal force, implementation pattern Training Control and trained in real time
It timely feedbacks.In addition, athlete pedaling is obtained in digital track shoes field with the time series emptied, to capture footrace fortune in time
The information (support phase, empties phase at swing phase) for mobilizing double float, to improve its technical movements and training method.In addition, this
Invention can also realize pressure/trace distribution map of two contact surfaces of measurement, detection gasket, tire in field of industrial measurement
The functions such as lines, cushion or chair comfort level.
Although presently disclosed embodiment is as above, the content is only to facilitate understanding the present invention and adopting
Embodiment is not intended to limit the invention.Any those skilled in the art to which this invention pertains are not departing from this
Under the premise of the disclosed spirit and scope of invention, any modification and change can be made in the implementing form and in details,
But scope of patent protection of the invention, still should be subject to the scope of the claims as defined in the appended claims.
Claims (10)
1. a kind of pressure experience device, which is characterized in that the pressure experience device includes:
At least one pressure measuring module generates the alternating signal of corresponding frequencies, calculates pressure to obtain the frequency of the signal
Value；
Insulating layer is fitted tightly on the pressure measuring module；
Conductive layer is fitted tightly on the insulating layer, when being generated deformation by ambient pressure, so that the pressure is surveyed
The working frequency of amount module changes.
2. pressure experience device according to claim 1, which is characterized in that the insulating layer includes elastic material.
3. pressure experience device according to claim 1 or 2, which is characterized in that the pressure experience device further include:
Pcb board integrates all pressure measuring modules；With
Bracket is mounted on the pcb board bottom.
4. pressure experience device described in any one of claim 1 to 3, which is characterized in that the pressure measuring module
Have:
Resonant element comprising coil and capacitive branch in parallel generates alternation electricity in the drive condition for meeting oscillation action
Magnetic field, and export the alternating signal of corresponding frequencies；
Starting of oscillation unit, it is in parallel with the resonant element, for providing drive condition for the oscillation action of the resonant element.
5. pressure experience device according to claim 4, which is characterized in that the capacitive branch includes:
First capacitor, first end are connect with the first end of the coil, and adopting using the tie point as the alternating signal
Sampling point；
Second capacitor, first end are connect with the second end of the first resistor, and the tie point is connect with power ground,
In, the second end of second capacitor is connect with the second end of the coil.
6. pressure experience device according to claim 5, which is characterized in that the starting of oscillation unit further comprises:
Feedback resistance, one end are connect with the second end of the coil；
Phase inverter, input terminal are connect with the other end of the feedback resistance, the output end of the phase inverter respectively with the line
The first end of circle is connected with the first end of the first capacitor.
7. pressure experience device described according to claim 1~any one of 6, which is characterized in that the thickness of the insulating layer
Range is 1~5mm.
8. pressure experience device according to any one of claims 1 to 7, which is characterized in that the thickness of the conductive layer
Less than 0.15mm, and its sheet resistance is less than or equal to 0.5 Ω.
9. a kind of for measuring the pressure sensor of distributed force, which is characterized in that the pressure sensor includes:
Pressure experience device has such as pressure experience device according to any one of claims 1 to 8；
Acquisition device acquires the frequency of the alternating signal of each pressure measuring module output in the pressure experience device, and raw
At corresponding frequency parameter.
10. a kind of distribution force measuring method, this method carries out the survey of distributed force using pressure sensor as claimed in claim 9
Amount, which is characterized in that this method comprises:
When conductive layer in pressure experience device is generated deformation by ambient pressure, so that in the pressure experience device
The working frequency of pressure measuring module changes；
The pressure measuring module generates the alternating signal of corresponding frequencies；
Acquisition device acquires the frequency of the alternating signal of each pressure measuring module output, and generates corresponding frequency parameter,
To calculate pressure value.
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| CN110367994A (en) * | 2019-08-16 | 2019-10-25 | 福建工程学院 | Piezoelectric matrix actively monitoring gait device and its working method |
| CN113031770A (en) * | 2021-03-22 | 2021-06-25 | 联想(北京)有限公司 | Processing method and electronic equipment |
| CN114729843A (en) * | 2019-11-26 | 2022-07-08 | 松下知识产权经营株式会社 | Vehicle mounted object detection device and vehicle control system |
| CN115014587A (en) * | 2022-05-30 | 2022-09-06 | 西安工程大学 | Magnetic effect phased array signal acquisition structure, system and method |
| CN114729843B (en) * | 2019-11-26 | 2024-04-26 | 松下知识产权经营株式会社 | Supported article detection device and vehicle control system |
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