CN117031071A - Self-powered sensor for detecting triaxial acceleration of unmanned aerial vehicle - Google Patents
Self-powered sensor for detecting triaxial acceleration of unmanned aerial vehicle Download PDFInfo
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- CN117031071A CN117031071A CN202311075915.4A CN202311075915A CN117031071A CN 117031071 A CN117031071 A CN 117031071A CN 202311075915 A CN202311075915 A CN 202311075915A CN 117031071 A CN117031071 A CN 117031071A
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- aerial vehicle
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- 230000001133 acceleration Effects 0.000 title claims abstract description 51
- 238000001514 detection method Methods 0.000 claims abstract description 21
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 66
- 229910052802 copper Inorganic materials 0.000 claims description 66
- 239000010949 copper Substances 0.000 claims description 66
- 239000003292 glue Substances 0.000 claims description 11
- 239000007787 solid Substances 0.000 claims description 11
- 229920001343 polytetrafluoroethylene Polymers 0.000 claims description 4
- 239000004810 polytetrafluoroethylene Substances 0.000 claims description 4
- -1 polytetrafluoroethylene Polymers 0.000 claims description 3
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 2
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 2
- 241001330002 Bambuseae Species 0.000 claims description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 2
- 239000011425 bamboo Substances 0.000 claims description 2
- 239000000463 material Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000027756 respiratory electron transport chain Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
- G01P15/125—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values by capacitive pick-up
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Abstract
The invention is applicable to the technical field of sensors, and provides a self-powered sensor for detecting triaxial acceleration of an unmanned aerial vehicle, which comprises a lower fixed cylinder and further comprises: the plane acceleration detection structure and the Z-axis acceleration detection structure are used for detecting triaxial acceleration of the unmanned aerial vehicle; an upper fixing nut, a threaded rod, an upper fixing spring, a lower fixing spring and a lower fixing nut; four through holes are respectively formed in four corners of the fixing plate and are used for being connected with the threaded rod; the fixing plate is arranged on the upper surface of the lower fixing cylinder through a threaded rod, an upper fixing nut and a lower fixing nut; four through holes are respectively arranged at four corners of the chute cover plate and are used for being connected with the threaded rod and the upper fixing spring. The invention can realize acceleration detection on three axes of the unmanned aerial vehicle, can realize that an external power supply is not needed to supply energy to the sensor, reduces power consumption, has lower cost compared with other detection modes, and can meet the requirement on precision.
Description
Technical Field
The invention belongs to the technical field of sensors, and particularly relates to a self-powered sensor for detecting triaxial acceleration of an unmanned aerial vehicle.
Background
With the popularization of unmanned aerial vehicle technology, unmanned aerial vehicles are applied to various industries nowadays, but the biggest problem existing in the current stage of unmanned aerial vehicles is that the duration of the unmanned aerial vehicles is far from industrial-grade application. Many students have conducted related studies on the endurance of the unmanned aerial vehicle, such as by adding fuel cells, but this approach may reduce the payload of the unmanned aerial vehicle. In the flight process of the unmanned aerial vehicle, the sensing part of the unmanned aerial vehicle is one of main energy consumption, so that the self-powered sensor is an effective way for increasing the whole endurance time of the unmanned aerial vehicle. The friction nano generator adopts a novel mode of converting mechanical energy into electric energy, and utilizes the mutual contact between two materials with different electron-losing capacities to generate surface charge transfer, so that the mechanical energy widely existing in natural environment can be converted into electric energy, and a power supply is provided for small electronic devices such as portable equipment and the like. The self-powered detection can be achieved using a friction nano-generator as a seal pressure and leak detection.
The friction nano generator in the prior art has a single structure, can not detect the acceleration of the three shafts at the same time, has higher manufacturing requirements on the friction nano generator, indirectly causes the increase of cost, and is not used for industrial application. For this purpose we propose a self-powered sensor for detecting the triaxial acceleration of an unmanned aerial vehicle.
Disclosure of Invention
The invention aims to provide a self-powered sensor for detecting triaxial acceleration of an unmanned aerial vehicle, and aims to solve the problems in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a self-powered sensor for detecting unmanned aerial vehicle triaxial acceleration, including the fixed section of thick bamboo of lower part, still include:
the plane acceleration detection structure is arranged in the lower fixed cylinder and is used for detecting the accelerations of the X axis and the Y axis of the unmanned aerial vehicle;
the Z-axis acceleration detection structure is arranged in the lower fixed cylinder and is used for detecting Z-axis acceleration of the unmanned aerial vehicle;
an upper fixing nut, a threaded rod, an upper fixing spring, a lower fixing spring and a lower fixing nut;
four through holes are respectively formed in four corners of the fixing plate and are used for being connected with the threaded rod; the fixing plate is arranged on the upper surface of the lower fixing cylinder through a threaded rod, an upper fixing nut and a lower fixing nut;
the sliding chute cover plate, the bottom of sliding chute cover plate is equipped with spherical protrusion, the four corners of sliding chute cover plate is equipped with four through-holes respectively for be connected with threaded rod and upper portion fixed spring.
Further, the Z-axis acceleration detection structure includes:
the upper fixing cylinder is divided into an upper part and a lower part, a spherical groove is formed between the upper part and the lower part, and an arched cambered surface is formed between the upper fixing cylinder and the chute cover plate; four through holes are respectively formed in four corners of the upper fixed cylinder and are used for being connected with the threaded rod, the chute cover plate and the lower fixed spring;
the Z-axis copper poles comprise four rectangular thin sheets, two groups of Z-axis copper poles are respectively fixed on the left side and the right side of the inner wall of the lower fixed cylinder through solid glue, the Z-axis copper poles on the right side are arranged from short to long, and the Z-axis copper poles on the left side are arranged from long to short;
the Z-axis sliding copper poles are integrally rectangular and are respectively stuck to the left surface and the right surface of the upper fixed cylinder through solid glue;
the Z-axis dielectric layers are integrally rectangular and sheet-shaped, the two Z-axis dielectric layers are respectively stuck above the Z-axis copper electrode through solid glue, and the Z-axis dielectric layers are contacted with the Z-axis sliding copper electrode.
Further, the plane acceleration detection structure includes:
the movable elastic ball is arranged in an arched cambered surface formed between the chute cover plate and the upper fixed cylinder, and is contacted with the planar dielectric layer and moves on the surface of the planar dielectric layer;
the plane dielectric layer is fixedly arranged on the upper surface of the spherical groove of the upper fixing cylinder, and the whole plane dielectric layer is in a spherical groove shape;
the planar copper electrode is fixedly arranged between the planar dielectric layer and the spherical groove in the upper fixing cylinder.
Further, the whole fixed plate, the chute cover plate and the upper fixed cylinder are rectangular, and four corners of the fixed plate, the chute cover plate and the upper fixed cylinder are provided with round chamfers.
Furthermore, the central part of the chute cover plate is hollow.
Furthermore, the planar dielectric layer and the Z-axis dielectric layer are made of polytetrafluoroethylene.
Further, the middle part of the threaded rod is smooth, and threads are arranged at two ends of the threaded rod.
Compared with the prior art, the invention has the beneficial effects that:
this a self-powered sensor for detecting unmanned aerial vehicle triaxial acceleration can realize carrying out acceleration detection to unmanned aerial vehicle's three axle, can realize not needing external power source to supply energy to the sensor simultaneously, reduces the consumption, and the cost is lower than other detection methods, and the precision also can reach the requirement.
Drawings
Fig. 1 is a schematic perspective view of the structure of the present invention.
Fig. 2 is a perspective view of the present invention.
Fig. 3 is a disassembled view of the three-dimensional structural part of the present invention.
Fig. 4 is a sectional exploded view of a three-dimensional structure of the present invention.
FIG. 5 is a diagram showing the motion of the copper pole on the right Z axis in the present invention.
FIG. 6 is a schematic diagram of the left Z-axis copper pole motion in the present invention.
Fig. 7 is a schematic structural view of the present invention.
In the figure: 1-fixed plate, 2-chute cover plate, 3-upper fixed cylinder, 4-sport elastic ball, 5-Z axis copper pole, 6-Z axis sliding copper pole, 7-Z axis dielectric layer, 8-plane dielectric layer, 9-plane copper pole, 901-first plane copper pole, 902-second plane copper pole, 903-third plane copper pole, 10-lower fixed cylinder, 11-upper fixed nut, 12-threaded rod, 13-upper fixed spring, 14-lower fixed spring, 15-lower fixed nut, 511-right first copper pole, 512-right second copper pole, 513-right third copper pole, 514 right fourth copper pole, 501-left first copper pole, 502-left second copper pole, 503-left third copper pole, 504-left fourth copper pole.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
As shown in fig. 1 to 4, a self-powered sensor for detecting triaxial acceleration of an unmanned aerial vehicle according to an embodiment of the present invention includes a lower fixed barrel 10, and further includes:
the plane acceleration detection structure is arranged in the lower fixed cylinder 10 and is used for detecting the X-axis acceleration and the Y-axis acceleration of the unmanned aerial vehicle;
the Z-axis acceleration detection structure is arranged in the lower fixed cylinder 10 and is used for detecting Z-axis acceleration of the unmanned aerial vehicle;
an upper fixing nut 11, a threaded rod 12, an upper fixing spring 13, a lower fixing spring 14 and a lower fixing nut 15;
the fixing plate 1 is provided with four through holes at four corners of the fixing plate 1 respectively for being connected with the threaded rod 12; the fixing plate 1 is arranged on the upper surface of the lower fixing cylinder 10 through a threaded rod 12, an upper fixing nut 11 and a lower fixing nut 15;
the sliding chute cover plate 2, the bottom of the sliding chute cover plate 2 is provided with a spherical protrusion, four corners of the sliding chute cover plate 2 are respectively provided with four through holes for being connected with the threaded rod 12 and the upper fixing spring 13.
In the embodiment of the invention, preferably, the plane acceleration detection structure and the Z-axis acceleration detection structure are arranged to be capable of detecting the triaxial acceleration information in the flight process of the unmanned aerial vehicle.
As shown in fig. 2 to 6, as a preferred embodiment of the present invention, the Z-axis acceleration detection structure includes:
the upper fixing cylinder 3 is provided with a counter bore at the center of the upper fixing cylinder 3, the upper fixing cylinder 3 is divided into an upper part and a lower part, a spherical groove is arranged between the upper part and the lower part, and an arched cambered surface is formed between the upper fixing cylinder 3 and the chute cover plate 2; four through holes are respectively formed in four corners of the upper fixing cylinder 3 and are used for being connected with the threaded rod 12, the chute cover plate 2 and the lower fixing spring 14;
the Z-axis copper poles 5 comprise four rectangular thin plates, two groups of Z-axis copper poles 5 are respectively fixed on the left side and the right side of the inner wall of the lower fixed cylinder 10 through solid glue, the Z-axis copper poles 5 on the right side are arranged from short to long, and the Z-axis copper poles 5 on the left side are arranged from long to short;
the Z-axis sliding copper poles 6 are integrally rectangular and sheet-shaped, and the two Z-axis sliding copper poles 6 are respectively stuck to the left surface and the right surface of the upper fixed cylinder 3 through solid glue;
the Z-axis dielectric layers 7 are integrally rectangular and sheet-shaped, the two Z-axis dielectric layers 7 are respectively stuck above the Z-axis copper electrode 5 through solid glue, and the Z-axis dielectric layers 7 are in contact with the Z-axis sliding copper electrode 6.
In the embodiment of the present invention, preferably, the upper fixing cylinder 3 is a box with an upper opening.
The Z-axis copper poles 5 on the right are respectively arranged from short to long in the arrangement manner of a first copper pole 511 on the right, a second copper pole 512 on the right, a third copper pole 513 on the right and a fourth copper pole 514 on the right; the Z-axis copper poles 5 on the left are arranged from long to short in the arrangement manner of a first copper pole 501 on the left, a second copper pole 502 on the left, a third copper pole 503 on the left and a fourth copper pole 504 on the left.
The upper fixing spring 13 and the lower fixing spring 14 jointly bear the combined action of the upper fixing cylinder 3, the chute cover plate 2 and the moving elastic ball 4, and provide elasticity and damping when the upper fixing cylinder and the chute cover plate 2 are displaced up and down.
As shown in fig. 2 to 4, as a preferred embodiment of the present invention, the planar acceleration detecting structure includes:
the moving elastic ball 4 is arranged in an arched cambered surface formed between the chute cover plate 2 and the upper fixed cylinder 3, and the moving elastic ball 4 is contacted with the planar dielectric layer 8 and moves on the surface of the planar dielectric layer 8;
the plane dielectric layer 8 is fixedly arranged on the upper surface of the spherical groove of the upper fixing cylinder 3, and the plane dielectric layer 8 is integrally in the shape of the spherical groove;
the planar copper electrode 9 is fixedly arranged between the planar dielectric layer 8 and the spherical groove inside the upper fixed cylinder 3.
In the embodiment of the present invention, preferably, the spherical protrusion at the bottom of the chute cover plate 2 is used to limit the Z-axis movement of the moving elastic ball 4. An arched cambered surface is formed between the upper fixed cylinder 3 and the chute cover plate 2, so that the moving elastic ball 4 can move freely in a plane in the arched cambered surface. The material of the elastic sports ball 4 can be changed according to unmanned aerial vehicles with different loads, and nylon materials are adopted in the embodiment of the invention.
The shape of the plane dielectric layer 8 is the same as that of the spherical groove inside the upper fixed cylinder 3, so that the plane dielectric layer 8 can be completely stuck on the spherical groove inside the upper fixed cylinder 3 through solid glue.
The overall shape of the planar copper electrode 9 is the same as that of the planar dielectric layer 8, and the planar copper electrode 9 can be integrally adhered to the spherical groove in the upper fixing cylinder 3 through solid glue. The planar copper electrode 9 includes four portions, each portion is used for detecting a direction, and each portion is provided with three quarter-circle copper electrodes, namely a first planar copper electrode 901, a second planar copper electrode 902 and a third planar copper electrode 903.
As shown in fig. 1 to 4, as a preferred embodiment of the present invention, the fixing plate 1, the chute cover plate 2 and the upper fixing cylinder 3 are all rectangular in shape, and four corners of the fixing plate 1, the chute cover plate 2 and the upper fixing cylinder 3 are provided with rounded corners.
In the embodiment of the invention, the round chamfer is preferably arranged, so that scratches caused by too sharp edges can be avoided.
As shown in fig. 4, as a preferred embodiment of the present invention, the central portion of the chute cover plate 2 is hollow.
In the embodiment of the invention, the central part of the chute cover plate 2 is preferably hollow, and the main purpose is to reduce the whole quality of the chute cover plate and facilitate the installation of the unmanned aerial vehicle.
As shown in fig. 3 and 4, as a preferred embodiment of the present invention, the planar dielectric layer 8 and the Z-axis dielectric layer 7 are made of Polytetrafluoroethylene (PTFE).
As shown in fig. 3 and 4, as a preferred embodiment of the present invention, the threaded rod 12 has a smooth middle portion and threads at both ends.
In the embodiment of the invention, the threaded rod 12 is preferably smooth in the middle and threaded at both ends, in order to ensure that the upper fixed cylinder 3 can move freely in the Z-axis.
The working principle of the invention is as follows:
when the self-powered sensor for detecting the triaxial acceleration of the unmanned aerial vehicle generates plane movement, the self-powered sensor for detecting the triaxial acceleration of the unmanned aerial vehicle integrally translates, at this time, the internal movement elastic ball 4 moves, the movement direction is assumed to be left, at this time, the movement elastic ball 4 moves leftwards, further the movement elastic ball 4 moves relative to the plane copper pole 9 below the plane dielectric layer 8, electron transfer is generated, and voltage is generated, because of the special structure of the plane copper pole 9, copper poles exist in four directions respectively, as shown in fig. 7, and when 45 DEG displacement occurs, the movement elastic ball 4 also contacts with the plane copper pole 9, the magnitude and the direction of the plane acceleration can be calculated through corresponding calculation, meanwhile, because of the spherical groove of the upper fixed cylinder 3, the movement elastic ball 4 can be kept at the center position of the spherical groove when acceleration movement does not occur.
When the self-powered sensor for detecting the triaxial acceleration of the unmanned aerial vehicle generates the Z-axis motion, the chute cover plate 2, the upper fixing cylinder 3 and the inside original can move relative to the lower fixing cylinder 10, at this time, the Z-axis sliding copper poles 6 on the left and right sides of the upper fixing cylinder 3 can slide relative to the Z-axis copper poles 5 to generate corresponding voltage signals, meanwhile, due to the existence of the upper fixing springs 13 and the lower fixing springs 14, the Z-axis sliding copper poles 6 can be in a static state when the Z-axis acceleration is 0, and meanwhile, due to the special arrangement of the left and right sides of the Z-axis copper poles 5, as shown in fig. 5 and 6, the Z-axis acceleration size and direction can be further calculated through the comparison of the voltage signals on the two sides.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and improvements can be made by those skilled in the art without departing from the spirit of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the utility of the patent.
Claims (7)
1. A self-powered sensor for detecting unmanned aerial vehicle triaxial acceleration, including the fixed section of thick bamboo of lower part, its characterized in that still includes:
the plane acceleration detection structure is arranged in the lower fixed cylinder and is used for detecting the accelerations of the X axis and the Y axis of the unmanned aerial vehicle;
the Z-axis acceleration detection structure is arranged in the lower fixed cylinder and is used for detecting Z-axis acceleration of the unmanned aerial vehicle;
an upper fixing nut, a threaded rod, an upper fixing spring, a lower fixing spring and a lower fixing nut;
four through holes are respectively formed in four corners of the fixing plate and are used for being connected with the threaded rod; the fixing plate is arranged on the upper surface of the lower fixing cylinder through a threaded rod, an upper fixing nut and a lower fixing nut;
the sliding chute cover plate, the bottom of sliding chute cover plate is equipped with spherical protrusion, the four corners of sliding chute cover plate is equipped with four through-holes respectively for be connected with threaded rod and upper portion fixed spring.
2. The self-powered sensor for detecting three-axis acceleration of an unmanned aerial vehicle of claim 1, wherein the Z-axis acceleration detection structure comprises:
the upper fixing cylinder is divided into an upper part and a lower part, a spherical groove is formed between the upper part and the lower part, and an arched cambered surface is formed between the upper fixing cylinder and the chute cover plate; four through holes are respectively formed in four corners of the upper fixed cylinder and are used for being connected with the threaded rod, the chute cover plate and the lower fixed spring;
the Z-axis copper poles comprise four rectangular thin sheets, two groups of Z-axis copper poles are respectively fixed on the left side and the right side of the inner wall of the lower fixed cylinder through solid glue, the Z-axis copper poles on the right side are arranged from short to long, and the Z-axis copper poles on the left side are arranged from long to short;
the Z-axis sliding copper poles are integrally rectangular and are respectively stuck to the left surface and the right surface of the upper fixed cylinder through solid glue;
the Z-axis dielectric layers are integrally rectangular and sheet-shaped, the two Z-axis dielectric layers are respectively stuck above the Z-axis copper electrode through solid glue, and the Z-axis dielectric layers are contacted with the Z-axis sliding copper electrode.
3. The self-powered sensor for detecting tri-axial acceleration of an unmanned aerial vehicle of claim 2, wherein the planar acceleration detection structure comprises:
the movable elastic ball is arranged in an arched cambered surface formed between the chute cover plate and the upper fixed cylinder, and is contacted with the planar dielectric layer and moves on the surface of the planar dielectric layer;
the plane dielectric layer is fixedly arranged on the upper surface of the spherical groove of the upper fixing cylinder, and the whole plane dielectric layer is in a spherical groove shape;
the planar copper electrode is fixedly arranged between the planar dielectric layer and the spherical groove in the upper fixing cylinder.
4. The self-powered sensor for detecting tri-axial acceleration of an unmanned aerial vehicle of claim 2, wherein the fixing plate, the chute cover plate and the upper fixing cylinder are rectangular in shape as a whole, and four corners of the fixing plate, the chute cover plate and the upper fixing cylinder are provided with round chamfers.
5. The self-powered sensor for detecting tri-axial acceleration of an unmanned aerial vehicle of claim 1, wherein the chute cover plate is hollow in its central portion.
6. A self-powered sensor for detecting tri-axial acceleration of an unmanned aerial vehicle as claimed in claim 3, wherein the planar dielectric layer and the Z-axis dielectric layer are both of polytetrafluoroethylene.
7. The self-powered sensor for detecting tri-axial acceleration of an unmanned aerial vehicle of claim 1, wherein the threaded rod is smooth in the middle and threaded at both ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311075915.4A CN117031071A (en) | 2023-08-24 | 2023-08-24 | Self-powered sensor for detecting triaxial acceleration of unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311075915.4A CN117031071A (en) | 2023-08-24 | 2023-08-24 | Self-powered sensor for detecting triaxial acceleration of unmanned aerial vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN117031071A true CN117031071A (en) | 2023-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311075915.4A Pending CN117031071A (en) | 2023-08-24 | 2023-08-24 | Self-powered sensor for detecting triaxial acceleration of unmanned aerial vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN117031071A (en) |
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2023
- 2023-08-24 CN CN202311075915.4A patent/CN117031071A/en active Pending
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