Non-contact wind speed sensor based on triboelectric nanogenerator and detection method
By employing a non-contact rotor-stator layout and a dual-sided high-precision bearing support system, combined with a fully sealed housing design, the mechanical wear and environmental adaptability issues of traditional wind speed sensors have been resolved, achieving high-precision, long-life wind speed detection, suitable for meteorological monitoring and smart agriculture, among other fields.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GONGQING CITY XINNING INTELLIGENT MANUFACTURING RESEARCH INSTITUTE
- Filing Date
- 2025-09-01
- Publication Date
- 2026-07-24
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Figure CN120948826B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of wind speed sensing technology, specifically relating to a non-contact wind speed sensor and detection method based on a triboelectric nanogenerator. Background Technology
[0002] Wind speed measurement has significant applications in meteorological monitoring, wind power generation, and building environmental control. Traditional mechanical wind speed sensors (such as cup-type and propeller-type sensors) rely on bearing-driven structures to calculate wind speed by measuring the rotational speed of the cups or impellers. The core problem with these devices during long-term operation is mechanical wear leading to decreased accuracy and shortened lifespan—bearing friction not only increases energy consumption but also generates random resistance due to dust intrusion or lubrication failure, significantly amplifying measurement errors, especially under low-speed wind conditions. To reduce wear, some improved designs use magnetic levitation bearings or optical encoders, but these significantly increase manufacturing costs and make it difficult to completely eliminate physical contact. In recent years, electronic anemometers based on the principle of electromagnetic induction have deduced rotational speed by detecting the frequency of the electrical signal generated when the rotor cuts magnetic field lines. While this avoids some mechanical losses, it still requires external power and is susceptible to electromagnetic interference, limiting its application in field scenarios.
[0003] The rise of triboelectric nanogenerator (TENG) technology has provided a new approach for self-driven wind speed sensing. Existing TENG wind speed sensors mainly fall into two categories: contact-separation type and single-signal frequency detection type. The former utilizes wind-driven periodic contact-separation of frictional materials to generate electrical signals. While structurally simple, material wear is unavoidable, and long-term use leads to a decline in charge transfer efficiency and signal drift. The latter calculates wind speed by measuring the frequency of the TENG output signal (proportional to the rotational speed) during rotor rotation. While avoiding contact wear, it faces a key drawback: the amplitude of the TENG output voltage / current is easily affected by environmental humidity, temperature, dust adhesion, etc., while the frequency detection method relies on a signal amplitude threshold to trigger counting. When the wind speed is low or environmental interference is strong, amplitude fluctuations will directly cause frequency measurement failure or a surge in error. For example, in environments with humidity >80%, surface charge leakage of the TENG may cause the signal amplitude to drop by more than 50%, making it impossible for traditional threshold methods to accurately capture periodic signals. Therefore, developing a completely non-contact, interference-resistant, and long-term stable wind speed sensing solution has become a critical technological bottleneck that the industry urgently needs to overcome.
[0004] Against this backdrop, the core technological bottlenecks that urgently need to be overcome in this field include:
[0005] (1) The contradiction between mechanical wear and lifespan: Existing wind speed sensors are difficult to achieve a balance between long-term stable operation and high-precision measurement. Traditional mechanical bearing structures are susceptible to environmental impurities and frictional wear, resulting in a significant decrease in measurement accuracy over time. Although contact-type triboelectric nanogenerators have the advantage of self-powered operation, the periodic physical contact between materials inevitably leads to performance degradation. There is an urgent need to develop a non-contact energy harvesting and sensing integrated structure to eliminate physical wear.
[0006] (2) Amplitude-dependent detection failure: The traditional TENG anemometer mechanism, which relies on the signal amplitude threshold to trigger frequency measurement, has serious limitations in complex environments. Environmental humidity, temperature fluctuations, and pollutant adhesion cause significant attenuation or drift of the signal amplitude, resulting in frequency detection failure or a sharp increase in error under low-speed wind conditions. There is an urgent need to establish a robust speed detection method that is completely independent of amplitude.
[0007] (3) Conflict between environmental adaptability and low maintenance requirements: The long-term reliability of existing sensors is insufficient in harsh environments. Problems such as metal electrode oxidation and the contradiction between wind resistance control of sealed structures (excessive sealing increases start-up wind speed, and simple sealing leads to internal condensation) are prominent. It is urgent to break through the environmental tolerance bottleneck through material innovation and structural design to achieve high-reliability monitoring that is calibration-free and maintenance-free. Summary of the Invention
[0008] To address the above technical problems, this invention provides a non-contact wind speed sensor and detection method based on a triboelectric nanogenerator, aiming to completely solve the core problems of traditional wind speed sensors, such as severe mechanical wear, sensitivity to environmental interference, and insufficient long-term stability. The specific technical solution is as follows:
[0009] A non-contact wind speed sensor based on a triboelectric nanogenerator includes: a wind cup for capturing wind energy and driving a drive shaft to rotate; a rotor, an upper stator, and a lower stator arranged coaxially; the upper and lower surfaces of the rotor are covered with several independent fan-shaped negative friction material films, and the films on the upper and lower surfaces are phase-aligned; the lower surface of the upper stator is provided with several fan-shaped positive friction material electrodes, and the upper surface of the lower stator is provided with several fan-shaped positive friction material electrodes, and the electrodes of the lower stator are fixedly misaligned with the electrodes of the upper stator by a phase angle; a non-contact gap is provided between the rotor and the upper and lower stators.
[0010] A wind speed detection method for the aforementioned sensor includes the following steps: (1) acquiring the waveforms of the first signal group Signal A1 of the upper stator and the first signal group Signal A2 of the lower stator; (2) measuring the time difference Δt (preferably the zero-crossing point or peak point) between the same characteristic points of Signal A1 and Signal A2; (3) based on the spatial misalignment angle θ = 18° and the rotational speed formula... Calculate the rotor speed, where The unit is seconds; (4) Through linear relationships The output wind speed value and coefficient K are determined by wind tunnel calibration.
[0011] A wind speed detection system includes: (1) a sensor as described; (2) a signal conditioning circuit for high-impedance amplification and filtering of SignalA1 / A2; and (3) a microcontroller configured to perform the wind speed detection method described.
[0012] The beneficial effects of this invention are as follows:
[0013] (1) Through the innovative non-contact rotor-stator layout (micro-gap design) and double-sided high-precision bearing support system, the material loss and accuracy decay caused by mechanical friction in traditional wind speed sensors are completely eliminated. The rotor double-sided friction material has no physical contact with the stator electrodes throughout the process. Combined with the fully sealed shell to isolate environmental pollutants, the life of the core sensing unit is increased to more than ten years of maintenance-free level. At the same time, the starting wind speed threshold is significantly reduced, and a high-sensitivity response to weak wind fields is achieved.
[0014] (2) Based on the phase-time conversion algorithm designed with a fixed spatial difference of 18° for a double-layer stator, this method innovatively transforms wind speed measurement into pure time difference (Δt) calculation (RPM=3 / Δt), completely decoupling the correlation between signal amplitude fluctuations and rotational speed detection. Even in complex environments where extreme humidity, temperature drift, and dust adhesion cause severe attenuation of the triboelectric nanogenerator output, this method maintains high stability in wind speed detection results, overcoming the environmental sensitivity limitations of traditional frequency detection methods.
[0015] (3) The core phase difference detection mechanism and spatial misalignment structure design can be extended to multi-parameter sensing applications such as rotational speed, flow rate, and direction, providing a general technical framework for the field of self-driven sensors. The all-solid-state architecture is compatible with microelectromechanical systems (MEMS) processes, supports mass production at low cost, and promotes the large-scale application of triboelectric nanogenerator technology in IoT edge nodes.
[0016] (4) This invention achieves a breakthrough in amplitude-independent robust measurement: even in extreme environments such as high humidity and dust adhesion that cause the TENG output amplitude to decrease by more than 50%, the wind speed calculation result remains stable with an error of <3% because the time difference Δt is only related to mechanical displacement. The synchronously optimized bearing-sealing system reduces the starting wind speed to below 0.5 m / s, and the all-non-contact structure extends the service life to 10 years without maintenance. This invention not only provides a highly reliable wind speed sensing solution for meteorological monitoring, smart agriculture, and other fields, but its phase difference detection mechanism can also be extended to multi-parameter sensing applications such as rotational speed and flow rate. Attached Figure Description
[0017] Figure 1 This is an exploded view of the wind speed sensor of the present invention;
[0018] Figure 2 This is a diagram of the rotor structure in this invention;
[0019] Figure 3 This is a diagram of the upper stator structure in this invention;
[0020] Figure 4 This is a diagram of the lower stator structure in this invention;
[0021] Figure 5 A schematic diagram illustrating the working principle of a triboelectric nanogenerator;
[0022] Figure 6 This is a schematic diagram illustrating the working principle of the independent layer in this invention;
[0023] Figure 7 This is a schematic diagram of the charge transfer process;
[0024] Figure 8 This is a schematic diagram of the wind speed measurement process.
[0025] Explanation of reference numerals in the attached figures:
[0026] 101-Wind cup, 102-Upper bearing, 103-End cover, 104-Upper stator, 105-Rotor, 106-Lower stator, 107-Outer shell, 108-Lower bearing, 109-Base, 201-Rotor base, 202-FEP film, 301-Φ10 through hole, 302-First positive friction material copper electrode, 303-Second positive friction material copper electrode, 304-Stator base, 305-Φ2 through hole, 401-Φ10 through hole, 402-First positive friction material copper electrode, 403-Second positive friction material copper electrode The components are: copper electrode for friction material, 404-stator base, 405-Φ2 through hole, 501-conductive electrode, 502-negative friction material, 504-positive friction material, 503-external circuit, 505-conductive electrode (two sets of conductive electrodes are connected through the external circuit), 601-FEP film, 602-first copper electrode, 603-second copper electrode, 604-external circuit, 701-first copper electrode, 702-second copper electrode, 703-FEP film, 704-positive charge, 705-negative charge, and 706-external circuit. Detailed Implementation
[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other. To achieve the above objectives, this invention adopts the following technical solution.
[0028] like Figure 1 As shown, this invention discloses a non-contact wind speed sensor based on a triboelectric nanogenerator, comprising: a wind cup 101 for capturing wind energy and driving a drive shaft to rotate; a rotor 105, an upper stator 104, and a lower stator 106 coaxially arranged, wherein the rotor 105 is fixedly mounted on a central shaft, the central shaft is mounted on an end cover 103 via an upper drive shaft and an upper bearing 102, the central shaft is fixed within a housing 107 via a lower drive shaft and a lower bearing 108, the end cover 103 is mounted within the housing 107, and the rotor 105 rotates via the central shaft; the upper stator 104 is fixedly mounted on... Inside the end cover 103, the lower stator 106 is fixedly installed within the housing. The upper and lower surfaces of the rotor 105 are covered with eight independent fan-shaped negative friction material films, and the films on the upper and lower surfaces are phase-aligned. The lower surface of the upper stator 104 has eight fan-shaped positive friction material electrodes, and the upper surface of the lower stator 106 has eight fan-shaped positive friction material electrodes. The electrodes of the lower stator 106 are fixedly offset from the electrodes of the upper stator 104 by a phase angle. A non-contact gap of 0.1–1 mm is provided between the rotor 105 and the upper and lower stators 104 and 106. The housing 107 is fixed to the base 109 with screws. The lower bearing 108 is fixed to the base 109 with an interference fit, and the upper bearing 102 is fixed to the end cover 103 with an interference fit.
[0029] like Figure 2 As shown, the rotor 105 of this invention includes a rotor base 201 and an FEP film 202. The rotor base 201 is entirely fabricated by 3D printing (material is PLA). The FEP film 202 is a fan-shaped thin film covering the surface of the rotor disk. The FEP film is a negative friction material. Both the upper and lower surfaces of the rotor 105 disk are covered with FEP films of the same size and number, but there is a certain phase difference between the upper and lower sets of FEP films.
[0030] like Figure 3 As shown, the upper stator 104 of the present invention includes: a Φ10 through hole 301, a first positive friction material copper electrode 302 and a second positive friction material copper electrode 303 which are fan-shaped copper electrodes covering the lower surface of the upper stator, and a stator base 304 which is entirely prepared by 3D printing (material is PLA) and fixed to the inner wall of the end cover 103 by screws through a Φ2 through hole 305.
[0031] like Figure 4 As shown, the lower stator 106 in this invention includes: a Φ10 through hole 401, a first positive friction material copper electrode 402 and a second positive friction material copper electrode 403 which are fan-shaped copper electrodes covering the upper surface of the lower stator, a stator base 404 which is entirely prepared by 3D printing (material is PLA), and a Φ2 through hole 405 which is fixed to the inner wall of the outer shell 107 by screws.
[0032] The electrodes are grouped as follows: odd-numbered electrodes (1, 3, 5, 7) are connected in parallel to form the first signal group (Signal A1 / A2); even-numbered electrodes (2, 4, 6, 8) are connected in parallel to form the second signal group (Signal B1 / B2).
[0033] The rotor 105 is a one-piece 3D printed structure, with the upper and lower drive shafts coaxially integrated at both ends of the rotor disk.
[0034] The waveforms of the first signal group (Signal A1) of the upper stator 104 and the first signal group (Signal A2) of the lower stator 106 are acquired; the time difference between the same characteristic points of Signal A1 and Signal A2 is measured. (Preferably at the zero-crossing point or peak point); based on the spatial misalignment angle θ = 18° and the rotational speed formula Calculate the rotor speed, where The unit is seconds; expressed through a linear relationship. Output wind speed value, coefficient Determined by wind tunnel calibration.
[0035] Measure the time difference between the same characteristic points of Signal A1 and Signal A2 The calculation method is as follows: Signal A1 and Signal A2 are converted into square waves using a comparator; the timestamps of the rising edges of the two square waves are captured and their difference is calculated as... .
[0036] The general formula for rotational speed is: , where θ is the stator misalignment angle (unit: degrees), which simplifies to RPM=3 / Δt when θ=18°.
[0037] The calibration coefficient K is obtained by using a known wind speed in a wind tunnel. Drive the sensor and record the corresponding ; It is the time difference between the rise edges of Signal A1 and Signal A2 measured by hardware circuitry when the wind tunnel drives the sensor at a constant known wind speed, according to the formula. Fit the mean of multiple sets of data.
[0038] Wind cup 101 captures wind energy to drive the drive shaft to rotate. Both ends of the drive shaft are fixed to the outer casing 107 via high-precision upper and lower bearings 102 and 108, driving the rotor 105 to rotate synchronously. The rotor 105 adopts a one-piece 3D-printed disk structure, with eight independent fan-shaped negatively charged material films (such as FEP) covering both its upper and lower surfaces, and the phases of the films on both sides are strictly aligned. Eight fan-shaped positively charged material electrodes (such as copper foil) are each provided on the lower surface of the upper stator 104 and the upper surface of the lower stator 106. The electrodes of the lower stator 106 are fixedly offset by an 18° phase angle relative to the upper stator, forming a spatial displacement difference. A non-contact micro-gap of 0.1–1 mm is maintained between the rotor 105 and the stator to ensure zero contact between the friction materials, while a fully sealed inert gas-filled outer casing isolates it from moisture and dust.
[0039] In terms of circuit design, a unique dual-channel time-division triggering mechanism is used to achieve signal acquisition that resists amplitude interference: the eight electrodes of the upper and lower stators are grouped according to odd and even order (1 / 3 / 5 / 7 are connected in parallel as Signal A1 / A2, and 2 / 4 / 6 / 8 are connected in parallel as Signal B1 / B2), so that each group of signals produces complementary outputs with opposite phases within the rotor rotation cycle. The core innovation of wind speed detection lies in the fixed spatial difference to time difference conversion algorithm: the waveforms of the upper and lower signals in the same group (such as Signal A1 and Signal A2) are acquired, the rising edge timestamp is extracted using a zero-crossing detection circuit, and the time delay corresponding to the constant phase difference is calculated. Based on the geometric relationship between the 18° spatial misalignment angle of the lower stator and the rotor angular velocity, a formula for calculating the rotational speed is established. ( The unit is seconds, completely avoiding the dependence of traditional frequency detection methods on signal amplitude. Finally, the rotational speed is converted into wind speed value through a pre-calibrated linear conversion coefficient K (determined by wind tunnel experiments). .
[0040] The working principle of triboelectric nanogenerators (TENGs) is based on the triboelectric effect and electrostatic induction. TENGs can convert mechanical energy in the environment into electrical energy. The triboelectric effect refers to the phenomenon where charge separation occurs after two different materials come into contact through friction, resulting in electron transfer. When two materials come into contact, due to their different abilities to gain and lose electrons, electrons transfer from one material to the other, causing the two materials to acquire opposite charges. Electrostatic induction refers to the redistribution of existing charges within a conductor when a charged object approaches it, forming induced electrostatic charges. Specifically, when a charged material approaches the surface of a conductor, it induces corresponding opposite charges on the conductor's surface, while corresponding like charges are formed inside the conductor, thus creating a potential difference within the conductor. The specific principle can be mainly divided into two parts: the contact process between the two materials: When two friction materials with different polarities come into contact, charge separation occurs due to the difference in electronegativity. Negative friction gains positive charges, and positive friction gains negative charges. Secondly, the separation process between the materials: When an external force separates the friction materials, an electrostatic potential difference is generated on their surfaces, forming an electric field. During this process, positive and negative charges are transferred. Simultaneously, when the two electrodes are connected in an external circuit, the charges flow along the circuit from one electrode to the other, generating current. The entire power generation process involves the periodic contact and separation between two materials of different polarities, thereby producing a stable alternating current output.
[0041] Based on the different structures and charge transfer methods, TENGs can be classified into four operating modes: contact-separation mode, horizontal sliding mode, single-electrode mode, and independent layer mode, such as... Figure 5 As shown. For different application scenarios, different operating modes can be used to design the TENG structure to fully utilize the energy of the surrounding environment, thereby meeting the power supply requirements of different weather sensors. Among them... Figure 5 In the diagram, A represents the contact-separation mode. The basic structure consists of two opposing triboelectric dielectric films with electrodes plated on their backs. The negative triboelectric material 502 is plated with a conductive electrode 501, and the positive triboelectric material 504 is plated with another conductive electrode 501. An external circuit 503 connects the two conductive electrodes 501. Figure 5 In the diagram, B represents the horizontal sliding mode. The basic structure consists of two opposing triboelectric dielectric films with electrodes deposited on their backs. The sliding direction is horizontal, and charges are exchanged between the different triboelectric dielectric films. Figure 5 C in the model represents a single-electrode mode. The basic structure consists of a friction layer with an electrode plated on the back. Only one electrode is needed. One side of the friction material is connected to the electrode, while the other side is periodically in contact with and separated from the friction object. The generated charge accumulates on the electrode, thereby generating current in the external circuit. Figure 5In this model, D represents an independent layer mode, which typically includes a dielectric film and two conductive electrodes 505 with the same polarity. The two sets of conductive electrodes 505 are connected through an external circuit. During operation, the dielectric film slides horizontally between the surfaces of the two electrodes. When the dielectric film contacts and separates from one electrode, opposite electrostatic charges are generated on the surfaces of the dielectric film and the electrode due to the contact electrification effect. As the film slides closer to or away from the other electrode, a potential difference is induced between the two electrodes through electrostatic induction, thereby driving the flow of charge in the external load and forming a current.
[0042] This invention adopts an independent layer model, such as Figure 6 As shown. The first copper electrode contacted by the FEP film 601 is defined as the first copper electrode 602, and the adjacent copper electrode as the second copper electrode 603. In the initial state I, the first electrode and the FEP film 601 are in contact and rub against each other. Due to their different abilities to gain or lose electrons, the first electrode loses electrons and becomes positively charged, while the FEP film 601 gains electrons and becomes negatively charged. With the external circuit 604, in equilibrium, the first copper electrode 602 will generate a negative charge, and the second copper electrode 603 will generate a positive charge. When the FEP film 601 rotates to state II, driven by the potential difference, electrons flow from the second copper electrode 603 on the right to the first copper electrode 602 on the left. As the FEP film 601 continues to rotate, the charge distribution at electrostatic equilibrium is shown in state III. As the FEP film 601 moves further to the right, electrons flow from the first copper electrode 602 on the left back to the second copper electrode 603 on the right, as shown in state IV.
[0043] The charge transfer described is as follows Figure 7 As shown, when the FEP film 703 moves between the first copper electrode 701 and the second copper electrode 702, driven by the potential difference, the negative charge 705 attached to the surface of the second copper electrode 702 is transferred to the first copper electrode 701 through the external circuit 706, realizing the flow of current. At this time, positive charge 704 is attached to the first copper electrode 701 and the second copper electrode 702 in contact with the FEP film 703.
[0044] like Figure 8 As shown, the sinusoidal signal detected by the triboelectric nanogenerator (TENG) of this invention is converted into a square wave by the signal processing circuit and transmitted to the microcontroller unit (MCU) to calculate the wind speed. The wind speed result is then transmitted to the host computer system via the Bluetooth module of the MCU.
Claims
1. A non-contact wind speed sensor based on a triboelectric nanogenerator, characterized in that, include: A wind cup is used to capture wind energy and drive the drive shaft to rotate. A rotor, an upper stator, and a lower stator are coaxially arranged. The upper and lower surfaces of the rotor are covered with several independent fan-shaped negative friction material films, and the films on the upper and lower surfaces are phase-aligned. The lower surface of the upper stator has several fan-shaped positive friction material electrodes, which are fan-shaped copper electrodes. The upper surface of the lower stator also has several fan-shaped positive friction material electrodes, which are fan-shaped copper electrodes. The electrodes of the lower stator are fixedly offset from the electrodes of the upper stator by a phase angle. A non-contact gap is provided between the rotor and the upper and lower stators. The negative friction material film is a FEP film. The FEP film covers the rotor disk surface, with both the upper and lower surfaces of the rotor disk covered with FEP films of equal size and number, and the two sets of FEP films are phase-aligned. The electrodes are grouped as follows: odd-numbered electrodes are connected in parallel to form a first signal group; even-numbered electrodes are connected in parallel to form a second signal group. The rotor is a one-piece 3D printed structure, with the upper and lower drive shafts coaxially integrated at both ends of the rotor disk. The rotor also includes a rotor base, which is entirely fabricated by 3D printing and made of PLA. The upper stator also includes a stator base, which is entirely fabricated by 3D printing and made of PLA. It is fixed to the inner wall of the end cap with screws. The lower stator also includes a stator base, which is entirely fabricated by 3D printing and made of PLA. It is fixed to the inner wall of the outer shell with screws. Specifically, the waveforms of the first signal group Signal A1 of the upper stator and the first signal group Signal A2 of the lower stator are acquired; the time difference between the same characteristic points of Signal A1 and Signal A2 is measured. The rotor speed is calculated based on the fixed misalignment phase angle and the rotational speed formula; finally, the wind speed value is output using the rotor speed.
2. The non-contact wind speed sensor as described in claim 1, characterized in that, Several values can be selected from 8.
3. A wind speed detection method based on the non-contact wind speed sensor according to any one of claims 1-2, characterized in that, Includes the following steps: (1) Acquire the waveforms of the first signal group Signal A1 of the upper stator and the first signal group Signal A2 of the lower stator; (2) Measure the time difference between the same characteristic points of Signal A1 and Signal A2. (3) Based on the fixed misalignment phase angle θ=18° and the rotational speed formula Calculate the rotor speed, where The unit is seconds; (4) Through linear relationships The output wind speed value, with coefficient K determined through wind tunnel calibration; The specific implementation method of step (2) is as follows: (1) Use a comparator to... and (2) Convert to square wave; capture the timestamps of the rising edges of the two square waves and calculate their difference as .
4. The method as described in claim 3, characterized in that, The calibration coefficient K in step (4) is obtained as follows: (1) In the wind tunnel with a known wind speed Drive the sensor and record the corresponding ; (2) According to the formula Fit the mean of multiple sets of data.
5. The method as described in claim 4, characterized in that, When measuring the time difference Δt between the same characteristic points of Signal A1 and Signal A2, choose either the zero-crossing point or the peak point.
6. A wind speed detection system, characterized in that, It comprises: (1) a non-contact wind speed sensor as described in any one of claims 1-2; (2) a signal conditioning circuit for high-impedance amplification and filtering of Signal A1 and Signal A2; and (3) a microcontroller configured to perform the wind speed detection method as described in any one of claims 3-5.
Citation Information
Patent Citations
CN115480073A
CN1156247A