CN101254351A - Wireless remote-control model - Google Patents
Wireless remote-control model Download PDFInfo
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- CN101254351A CN101254351A CNA2008100082769A CN200810008276A CN101254351A CN 101254351 A CN101254351 A CN 101254351A CN A2008100082769 A CNA2008100082769 A CN A2008100082769A CN 200810008276 A CN200810008276 A CN 200810008276A CN 101254351 A CN101254351 A CN 101254351A
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- buzzer
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
A wireless remote-control model includes a receiving machine, a detecting device, a control module, a driving motor, a servomotor, a cell, a starting button and a buzzer, wherein the receiving machine has a receiving loop and a detecting device part; the control module has a central control unit and a memory bank for controlling the parameter holding field; the central control unit has a central control part and a safety management part, for implementing the normal/abnormal judgement of the driving motor, the servomotor and the cell based on the detected signals detected by the detecting device; and the buzzer control part supplies the buzzer signals with the plural modes to the buzzer according to the judgement of the safety management part; the buzzer generates a first mode humming, a second mode humming and a third mode humming according to the humming with a plurality of modes from the safety management part.
Description
Technical field
Present invention is directed to a kind of wireless remote-control model, and be particularly to a kind ofly be used to improve user's safety that power motor is used as the wireless remote-control model of power source and guarantee wireless remote-control model with the security of wireless remote-control model own.
Background technology
The wireless model of controlling by the helicopter of remote control or vehicle etc. is also done wireless remotecontrol by the pet name, is not only the world that is used in hobby, also is used in a lot of industrial fields widely.Especially, use in the wireless remote-control model (electronic wireless remote-control model) of electro-motor at power, system is equipped with receiver, servo motor, speed control, gyroscope, maneuver control device, and as the battery of power source etc., is used to control operating machine and control device of flight and walking.
Fig. 5 is the drawing that the explanation wireless remote-control model is controlled form.Fig. 6 is the drawing that explanation is equipped on the control module configuration example on the wireless remote-control model shown in Figure 5.At this, the radio control helicopter that the act of wireless remote-control model system is used as electro-motor as power source is that example is done explanation.Among Fig. 5, radio control helicopter 100 is to handle control with signalling machine 1.At radio control helicopter 100, be equipped with receiver 2, control module 3, battery 27 and not shown electro-motor or servo motor etc.
As shown in Figure 6, receiver 2 cordings have 2A of reception portion and decoder 2B, and control module 3 cordings have control part 31 or control to take in the memory body 32 of system parameter etc. and steering with servo motor 8,9.And, according to receiving with reception antenna 17 and, driving power motor 7, revise the servo motor 8,9 that screw, steering wheel, elevator, aileron etc. are implemented control from the instruction signal of controlling of signalling machine 1 ...Servo motor 8,9 is a control steering portion 18,19 and make radio control helicopter flight, rising or rotation etc.
At signalling machine 1 place, be equipped with rocking bar 20,21, make and control information and show or show the display 22 that carries machine setting property etc., sender antenna 304, channel change-over switch 307,308, and other switches 24,25 etc. with vision.The information system that controls from signalling machine 1 receives with receiver 1, comes RF to amplify and detection with the 2A of reception portion, and 2B decodes with decoder.The decoded information (controlling instruction signal) of controlling ties up to the control module and processes with the control parameter (controlling characterisitic parameter) that is incorporated in memory body 32, and driving is to the steering portion 18 of power motor 7, correction screw, steering wheel, elevator, aileron etc., 19 implement the servo motor 8,9 of control ...
The problem that now needs to be resolved hurrily: along with popularizing and performance boost of the wireless remote-control model of electro-motor being used as power source, exerting oneself of electro-motor becomes increase a lot, and the energy density of battery also increases a lot.In addition, therefore the knowledge of wireless remote-control model or handle unskilled user and but become many need guarantee to export greatly the security in the safety operating of electro-motor and big capacity energy density battery.Again, the manipulation device on being equipped on wireless remote-control model or its control device etc. has when bad, and when it being circled in the air or walk, it is more serious that its fault becomes sometimes.
Summary of the invention
The purpose of this invention is to provide a kind of safety that can guarantee manipulator (processor) etc., simultaneously, realize the safe wireless remote-control model of guaranteeing of wireless remote-control model itself.
For achieving the above object, the present invention takes following design:
A kind of wireless remote-control model has receiver, detects device portion, controls module, power motor, servo motor, battery, starting button and buzzer.Receiver has: the reception loop is received from the control instruction signal of signalling machine by the electric wave transmission; And decoder, receive signal certainly the described instruction signal of controlling is decoded; Detect device portion, have the anglec of rotation that electric current that electric current, voltage and temperature with described battery detected detects that device, voltage detect device and temperature detects device, the rotation that detects the rotation of described power motor detects device, detect the described servo motor anglec of rotation and angular speed thereof at least and detect device;
Described control module has CCU and has the control parameter and takes in the memory body in field; CCU has: the integration control part, use is with described detect that device portion detects detect signal and be incorporated in the control parameter of described memory body, process the instruction signal of controlling with described decoder decode, produce to handle the control signal, it is applied to described power motor and servo motor and controls manipulation; Safety management portion according to detecting the signal that detects that device portion detects with described, implements the normal/abnormal judgement of described power motor, servo motor and battery; And the buzzer control part, abide by the result of determination of described safety management portion, the buzzing signal of supplying with plural pattern is to described buzzer;
Described safety management portion has detection unit, and described detection unit system supplies with connected the 1st pattern buzzing signal of demonstration battery and instructs the buzzer control part when battery is correctly connected; Under the state that battery is correctly connected, during the inspection that is depressed of starting button, supply with the 2nd pattern buzzing signal that shows in the start-up function and instruct the buzzer control part; When judging just often, supply with and inform that the 3rd pattern buzzing signal that power motor becomes drivable holding state instructs the buzzer control part by checking.
Described buzzer is abideed by described each the pattern buzzer from the described detection unit of described safety management portion, sends the 1st pattern buzzer, the 2nd pattern buzzer and the 3rd pattern buzzer.
Good effect of the present invention is:
In the present invention, making the 1st pattern buzzer is sedate continuous sound, making the 2nd pattern buzzer is the engine starter simulated sound, making the 3rd pattern buzzer is the engine idling simulated sound, by this, can be with just like internal combustion engine be handled when the identical sense of touch of the wireless remote-control model that be used as power, even and use the wireless remote-control model of the electro-motor of quiet steady power being used as power source, also can improve security.
Again, memory body has resume and takes in the field, makes the result of determination of safety management portion be recorded in described resume and takes in the field, by this, can make the part exchanging of wireless remote-control model or the maintenance facilitation that becomes.
Description of drawings
Fig. 1 is the calcspar of wireless remote-control model control system configuration example of the present invention.
Fig. 2 is for originally comprising the control flow chart of the normal/abnormal judgement order in the control system shown in Figure 1.
Fig. 3 comprises radio control helicopter flight and the flow chart of controlling the order summary that stops for explanation.
Fig. 4 is as the radio control helicopter overall diagram that is suitable for wireless remote-control model one example of the present invention.
Fig. 5 controls the drawing of form for the explanation wireless remote-control model.
Fig. 6 is equipped on the drawing of the control module configuration example on the wireless remote-control model shown in Figure 5 for explanation.
The specific embodiment
As shown in Figure 1, for the calcspar of wireless remote-control model control system configuration example of the present invention is described.In Fig. 1, numbering 1 is a signalling machine, and 2 is receiver, 2A is reception portion (RF amplification and detection etc.), and 2B is a decoder, and 3 are the control module, 31 is CCU, control part closes in 311 systems, and 312 are safety management portion, and 313 is the buzzer control part, 314 is detection unit, 32 is memory body, and 321 are the setting value incorporating section, and 322 is the resume incorporating section.Detect device portion 4, detect device 41, voltage and detect that device 42, temperature detect device 43, rotation detects device 44, the anglec of rotation detects device 45 and angular speed detects device 46 for comprising electric current.And, other also can carry sound equipment radar or electric wave radar etc. suitable detect device.
And, control module 3 places, be connected with the servo motor 8,9,10 and the battery 27 of power motor 7, control steering portion.Again, 5 is that firing switch, 6 is buzzer.Firing switch 5 becomes can control the main switch of state for making the radio control helicopter.Push described firing switch 5 and make it become the also locking of 0N state, power supply can supply to and carry on the machine, and enforcement is checked by each one due to the safety management portion 312 and reached by the normal/abnormal judgement due to the detection unit 314.Buzzer 6 according to the judgement of detection unit 314, sends the 1st pattern buzzer, the 2nd pattern buzzer and the 3rd pattern buzzer.
In the present embodiment, electric current detects device 41, voltage and detects device 42 and temperature and detect the device that detects that device 43 is taken as the electric current, voltage and the temperature that detect battery.It is the rotation that detects the power motor output shaft that rotation detects device 44.The anglec of rotation detects device 25 and angular speed, and to detect device be the device that detects that detects with the steering angle anglec of rotation of servo motor operation and body angular speed, still, also can be calculated by the driving pulse number and the pulse bandwidth of servo motor.Servo motor is arranged at the position of the enforcement flight control of implementing correction screw, steering wheel, elevator, aileron etc.
Before the flight of radio control helicopter 100 and after the flight, make with PC (PC) 200 to change and adjusted control pre-set parameter, be accommodated in the memory body 32 setting value incorporating sections 321 of lift-launch on radio control helicopter 100.This operation makes connection be connected to connector 33, and transmits from PC 200, so, make power motor drive characteristic, revise the operating characteristic of screw, steering wheel, elevator, aileron etc. etc., be used as the control parameter and be set in the memory body 32.
The power motor 7 from radio control helicopter 100 begin to rotate to take off, fly and land during, with constitute from signalling machine control instruction signal respectively control the carrying ripple that signal comes modulation, be to receive with the receiver 2 that is equipped on radio control helicopter 100.Received carrying ripple is detected in receiver, the various instruction signals of controlling of regeneration with decoder 3 decodings.What be reproduced controls instruction signal at integration control loop 311 places, abides by setting value (the control parameter: processed setting property) and respectively that is incorporated in memory body 32 setting value incorporating sections 321.
Fig. 2 is the flow chart that explanation comprises the control of the normal/abnormal judgement order in the control system shown in Figure 1.This order is installed beginning from battery.As mentioned above, the starting button is judged up to producing, and must continue to push.The required time of normal/abnormal judgement, depend on lift-launch detect device or central control part (CPU: responsiveness/processing speed microprocessor), in fact as described below, obtain to judge normal by whole necessary devices that detect, need adequate time.Below, describe this order in detail.
At first, when connecting electrical system when making battery be installed to the radio control helicopter (step 1, following table is shown as P-1), safety management portion 312 can detect this connection and instruct 313 buzzings of buzzer control part.Buzzer 6 is with the 1st pattern buzzer pipe (P-2).Described the 1st pattern buzzer is battery to be connected and the situation that is energized to control system is informed the operator.This buzzer preferably is that sound is sedate continuous sound, still, because the ambient noise environment also can use for example good frequency of the continuant sense of hearing sensitivity in the 1kHz left and right sides.But the present invention is not limited thereto.And the volume of buzzer can be adjusted.Again, be not limited to buzzer, also can use loudspeaker, or and increase the information amount with LED lamp etc.
When locking kept ON when pushing firing switch 5, buzzer 6 can switch to the 2nd pattern buzzer (P-4).By the ON of firing switch 5, the inspection of each one detects signal and is implemented (P-5) according to the above-mentioned device that detects that needs in the device portion 4 that detects.Review time, depend on the processing time that detects device item number (n), safety management portion 312 and detection unit 314 thereof.Check in the enforcement that buzzer 6 can continue the 2nd pattern buzzer.The best engine starter simulated sound of the 2nd pattern buzzer.That is, make the sense of touch identical give the operator, so the operator can produce nervous sense with the wireless remote-control model that internal combustion engine ought be used as power.And this abnormality juding information is located at shown in the 1st figure on the memory body 32 resume incorporating section 322, and is made record have resume incorporating section 322, and maintenance afterwards can be able to be used.And the present invention is not limited to the 2nd pattern buzzer, also can use other suitable tweeting sounds.
In implementing inspection, when being determined unusual (for example, when cell voltage is lower than predetermined value etc.) (P-6), (P-7) ended in inspection meeting afterwards.At this moment, buzzer 6 can be got back to the 1st pattern buzzer and pipes.Buzzer 6 can continue the 2nd pattern buzzer till judgement is no abnormal.And, also can not make and check termination, and after complete inspection finishes, have some singularly as notice, get back to the 1st pattern buzzer and pipe.
Carry out inspection item (+1) in regular turn, no abnormal in the inspection of set item number (n), when the inspection that needs finishes (P-8), buzzer 6 switches to the 3rd pattern buzzer (P-9).The 3rd pattern buzzer is preferably with the idle running simulated sound of internal combustion engine when the wireless remote-control model that is used as power.That is when when signalling machine receives the signal that begins to circle in the air, it becomes informs that power motor ties up to the alarm signal of the state (holding state) that all can begin to rotate any time and take off.
In this holding state, transmit the signal begin flight (that is, power motor starting) from signalling machine, by this, making the flight beginning, perhaps, close the start signal of power motor and stop flight, by pushing the starting button once again, get back to the situation when battery is installed.Fig. 3 comprises radio control helicopter flight and the flow chart of controlling the order summary that stops for explanation.The firing switch that makes signalling machine is ON (P-10).312 judgements of safety management portion tie up to the holding state (P-11) that Fig. 2 illustrated.Power motor 7 begins rotation, and buzzer 6 becomes OFF (P-12).By from the climb command signal of signalling machine (perhaps, the rotating speed of power motor 7 increases signal), the radio control helicopter can rise, and, since implement all flight (P-13) from the various signals of controlling of signalling machine.
By the landing instruction signal from signalling machine, the radio control helicopter can land, and by the rotation halt instruction of power motor 7, power motor 7 can stop (P-14).Along with stopping of power motor 7, buzzer 6 can begin holding state (that is, pipe with the 3rd pattern buzzer) (P-15) again.When under the state of output the 3rd pattern buzzer, when decision was flown once again, the firing switch that makes signalling machine is ON (P-10), and was afterwards, identical with said sequence.In addition, when when (P-15) decision is no longer flown, making the starting button is OFF.At this moment, buzzer 6 can be got back to the 1st pattern buzzer and pipes.And by taking out battery, piping of buzzer 6 can stop.And when the starting button did not switch to OFF in given time, power supply can cut off automatically.
Fig. 4 is as the radio control helicopter overall diagram that is suitable for wireless remote-control model one example of the present invention.Described radio control helicopter 100, be body portion be equipped with comprise power motor 7, battery 27, servo motor 8,9,10 and receiver 2, control module 3, detect device portion 4 and gyrostatic operating mechanism.
And, dispose main rotor 13 and rounding gear 16 etc. at body portion, afterbody rotor 15 is installed on axis body 14.Operating mechanism or power motor be with starting button and by activate, by the control command that receives with antenna 17, controls operating mechanism and implement flight.Buzzer 6 as mentioned above, pipes with the 1st, the 2nd and the 3rd pattern buzzer.And 12 is light-emittingdiode (driving light), when making the power supply input carry machine, and can bright lamp.
Thus, realize the safe handling of operator and wireless remote-control model.The present invention is not limited to the radio control helicopter, certainly, and also applicable to fixed-wing radio-controlled aircraft, radio control automobile, radio control ship and other various wireless remote-control models.
Claims (3)
1, a kind of wireless remote-control model has receiver, detects device portion, controls module, power motor, servo motor, battery, starting button and buzzer, it is characterized in that:
Described receiver has: the reception loop is received from the control instruction signal of signalling machine by the electric wave transmission; And decoder, receive signal certainly the described instruction signal of controlling is decoded;
The described device portion that detects has the anglec of rotation that electric current that electric current, voltage and temperature with described battery detected detects that device, voltage detect device and temperature detects device, the rotation that detects the rotation of described power motor detects device, detect the described servo motor anglec of rotation and angular speed thereof at least and detects device;
Described control module has CCU and has the control parameter and takes in the memory body in field;
Described CCU has:
The integration control part, use is with described detect that device portion detects detect signal and be incorporated in the control parameter of described memory body, process the instruction signal of controlling, produce to handle the control signal, it is applied to described power motor and servo motor and controls manipulation with described decoder decode;
Safety management portion according to detecting the signal that detects that device portion detects with described, implements the normal/abnormal judgement of described power motor, servo motor and battery; And
The buzzer control part is abideed by the result of determination of described safety management portion, and the buzzing signal of supplying with plural pattern is to described buzzer;
Described safety management portion has detection unit, and described detection unit system supplies with connected the 1st pattern buzzing signal of demonstration battery and instructs the buzzer control part when battery is correctly connected;
Under the state that battery is correctly connected, during the inspection that is depressed of starting button, supply with the 2nd pattern buzzing signal that shows in the start-up function and instruct the buzzer control part;
When judging just often, supply with and inform that the 3rd pattern buzzing signal that power motor becomes drivable holding state instructs the buzzer control part by checking;
Described buzzer is abideed by described each the pattern buzzer from the described detection unit of described safety management portion, sends the 1st pattern buzzer, the 2nd pattern buzzer and the 3rd pattern buzzer.
2, wireless remote-control model according to claim 1 is characterized in that: wherein, described the 1st pattern buzzer is sedate continuous sound, and described the 2nd pattern buzzer is the engine starter simulated sound, and described the 3rd pattern buzzer is the engine idling simulated sound.
3, wireless remote-control model according to claim 1 is characterized in that: wherein, described memory body has resume and takes in the field, makes the result of determination of described safety management portion be recorded in described resume and takes in the field.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP045455/2007 | 2007-02-26 | ||
| JP2007045455A JP2008206668A (en) | 2007-02-26 | 2007-02-26 | Wireless remote-control model |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101254351A true CN101254351A (en) | 2008-09-03 |
| CN100577248C CN100577248C (en) | 2010-01-06 |
Family
ID=39410070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810008276A Expired - Fee Related CN100577248C (en) | 2007-02-26 | 2008-02-15 | Wireless remote-control model |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US20080220687A1 (en) |
| EP (1) | EP1961471B1 (en) |
| JP (1) | JP2008206668A (en) |
| CN (1) | CN100577248C (en) |
| AT (1) | ATE445446T1 (en) |
| DE (1) | DE602008000199D1 (en) |
| TW (1) | TW200835541A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104180796A (en) * | 2013-05-22 | 2014-12-03 | 上海九鹰电子科技有限公司 | Remote control signal sending apparatus and method thereof, and remote control signal receiving apparatus and method thereof, and remote control equipment |
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| EP2165744A1 (en) * | 2008-09-22 | 2010-03-24 | Thunder Tiger Corporation | Feedback control system |
| US8089225B2 (en) * | 2008-10-29 | 2012-01-03 | Honeywell International Inc. | Systems and methods for inertially controlling a hovering unmanned aerial vehicles |
| US9456185B2 (en) * | 2009-08-26 | 2016-09-27 | Geotech Environmental Equipment, Inc. | Helicopter |
| US8123175B2 (en) * | 2009-12-24 | 2012-02-28 | Spin Master Ltd. | Velocity feedback control system for a rotor of a toy helicopter |
| US9782636B2 (en) * | 2010-03-26 | 2017-10-10 | Marc Gregory Martino | Flying football with lift-generating wings |
| US8774982B2 (en) | 2010-08-26 | 2014-07-08 | Leptron Industrial Robotic Helicopters, Inc. | Helicopter with multi-rotors and wireless capability |
| US8447439B2 (en) * | 2011-03-21 | 2013-05-21 | Dong Xian CHEN | Three-way airplane model control system with 2.4G communication mode |
| CN202096734U (en) * | 2011-05-24 | 2012-01-04 | 深圳市沈氏彤创航天模型有限公司 | Tilt circulatory screw pitch and collective screw pitch control mechanism |
| US8976043B2 (en) * | 2012-08-20 | 2015-03-10 | Textron Innovations, Inc. | Illuminated sidestick controller, such as an illuminated sidestick controller for use in aircraft |
| US8874283B1 (en) | 2012-12-04 | 2014-10-28 | United Dynamics Advanced Technologies Corporation | Drone for inspection of enclosed space and method thereof |
| US20140315464A1 (en) * | 2013-04-23 | 2014-10-23 | Kevork G. Kouyoumjian | Remotely Controlled, Impact-Resistant Model Helicopter |
| USD767510S1 (en) * | 2015-04-20 | 2016-09-27 | SZ DJI Technology Co., Ltd. | Remote controller |
| WO2016184526A1 (en) | 2015-05-21 | 2016-11-24 | Telefonaktiebolaget Lm Ericsson (Publ) | Controller arrangement, method and computer program |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3614459A (en) * | 1970-11-20 | 1971-10-19 | Fred A Watson | Vehicular remote power supply system |
| US3878521A (en) * | 1973-06-12 | 1975-04-15 | Marvin Glass & Associates | Remotely controlled toy having a non-frequency discriminating receiver |
| US3832691A (en) * | 1973-06-20 | 1974-08-27 | F Galler | Electric model motor control |
| JPS5229334A (en) * | 1975-08-28 | 1977-03-05 | Mabuchi Motor Co Ltd | Battery-operated model toy equipped with radio control |
| US4599388A (en) * | 1985-01-16 | 1986-07-08 | Celanese Corporation | Process for modifying polybenzimidazole polymers with ethylene carbonates |
| JPH10290888A (en) | 1997-04-18 | 1998-11-04 | Futaba Corp | Power source unit and radio-controlled model device |
| JPH11124295A (en) | 1997-10-22 | 1999-05-11 | Seirei Ind Co Ltd | Engine starting regulating device of portable winch |
| JP4765155B2 (en) * | 2000-09-28 | 2011-09-07 | ソニー株式会社 | Authoring system, authoring method, and storage medium |
| WO2002064426A1 (en) * | 2001-02-14 | 2002-08-22 | Airscooter Corporation | Ultralight coaxial rotor aircraft |
| JP4133435B2 (en) * | 2003-02-26 | 2008-08-13 | 健蔵 野波 | Autonomous control method for small unmanned helicopter |
| EP1868696B1 (en) * | 2005-04-20 | 2010-06-09 | Robotic Amusements, LLC | Game with remotely controlled game vehicles |
-
2007
- 2007-02-26 JP JP2007045455A patent/JP2008206668A/en active Pending
-
2008
- 2008-01-28 TW TW097103117A patent/TW200835541A/en unknown
- 2008-01-31 DE DE602008000199T patent/DE602008000199D1/en active Active
- 2008-01-31 AT AT08001842T patent/ATE445446T1/en not_active IP Right Cessation
- 2008-01-31 EP EP08001842A patent/EP1961471B1/en not_active Not-in-force
- 2008-02-15 CN CN200810008276A patent/CN100577248C/en not_active Expired - Fee Related
- 2008-02-26 US US12/071,753 patent/US20080220687A1/en not_active Abandoned
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104180796A (en) * | 2013-05-22 | 2014-12-03 | 上海九鹰电子科技有限公司 | Remote control signal sending apparatus and method thereof, and remote control signal receiving apparatus and method thereof, and remote control equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| EP1961471A1 (en) | 2008-08-27 |
| DE602008000199D1 (en) | 2009-11-26 |
| CN100577248C (en) | 2010-01-06 |
| ATE445446T1 (en) | 2009-10-15 |
| US20080220687A1 (en) | 2008-09-11 |
| TW200835541A (en) | 2008-09-01 |
| EP1961471B1 (en) | 2009-10-14 |
| JP2008206668A (en) | 2008-09-11 |
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Granted publication date: 20100106 Termination date: 20110215 |