CN101387926A - Multi-axis remote control or arm control apparatus and method - Google Patents
Multi-axis remote control or arm control apparatus and method Download PDFInfo
- Publication number
- CN101387926A CN101387926A CNA200710045985XA CN200710045985A CN101387926A CN 101387926 A CN101387926 A CN 101387926A CN A200710045985X A CNA200710045985X A CN A200710045985XA CN 200710045985 A CN200710045985 A CN 200710045985A CN 101387926 A CN101387926 A CN 101387926A
- Authority
- CN
- China
- Prior art keywords
- control
- multiaxis
- remote control
- finger
- gyroscope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention provides a multi-shaft controlled remote control or cursor control device and a method, which are mainly characterized in that the device is internally provided with a multi-shaft gyroscope for sensing the figure-direction variation of a moving human hand portion, and then angular velocity generated via sensing is transferred to correspond to a controlled object or distance and direction of cursor displacement on screen. In addition, the gyroscope is controlled to be triggered or stopped at the right time by a startup key, the deviation value of the gyroscope is adjusted by utilizing a correction key, and further users can control the object or the cursor under any postures, and can effectively master the accuracy of controlling the device, thereby achieving the device design of initiative and practicality.
Description
Technical field
The present invention system is about a kind of remote control or finger control device and method of tool multiaxis control.
Background technology
Now for the remote control of object, how still for it with traditional steer mode, as shown in figure 12, it is to utilize a hand-held telechiric device 33, to stir the skew of top control lever 34, see through indirect perception steer mode up and down, decision by remotely-controlled object 35 the corresponding moving direction that should produce, to reach the device of interactive control.
Moreover the mouse pointer of computer screen as shown in figure 13, needs a mouse 30 is placed on the fixed pan, and mouse 30 is all around passed now, in order to the mobile control of the index on the screen 31 32 being done equate corresponding.
Yet, see through the pattern of control lever remote control, though can grasp, only be to utilize finger to pass the indirect remote control that control lever produced by the direction of remotely-controlled object, operator scheme not only lacks variability, and the sensation of the subjective control of forfeiture, and real difficulty is called ideal designs.
In addition, the control model of conventional mouse, though reached reaction fast and the effect of precisely controlling, its condition must be moved on the plane of X-Y axle, so for fear of the restriction in space, also can't satisfy the demand in the use fully.
Therefore, there is the dealer to improve at above-mentioned shortcoming, continuing, develop can be in the device of solid space mouse beacon pointer, it is to utilize a mechanical type gyroscope to replace the detecting mode of conventional mouse, must be to break through in the restriction of fixed pan space action, and then reach in the space control model of attitude situation arbitrarily.
But its mechanical type gyroscope, not only unit volume is big, release time is long, also must expend bigger electric weight keeping parts runnings, and for the detecting of angular deflection and unstable, so cause the error in the execution easily, should remain to be solved in the lump improvement.
Summary of the invention
Fundamental purpose of the present invention provides a kind of remote control or finger control device and method of tool multiaxis control, it mainly is to utilize a multiaxis gyroscope, the sensing human hands moves or rotates angle and the angular velocity varies that is produced, convert control controll plant or performed plane or the stereo-motion of screen cursor to, and, effectively control the opportunity of gyroscope induction and the adjustment of deviate by the triggering of start key and check key.
To achieve these goals, technical scheme of the present invention is: a kind of remote control or finger control device of tool multiaxis control, be characterized in, in telechiric device or the finger control device, be provided with a multiaxis gyroscope, and in the device outside be provided with a start key and a check key, behind the started by press key, telechiric device or finger control device are promptly responded to the angular velocity of each in the space by the multiaxis gyroscope, with rotatable wrist of human body or hand axle joint portion is fulcrum, move this device with any attitude, make controll plant or screen cursor make plane or the three-dimensional displacement movement that equates corresponding.
This telechiric device or finger control device system installing function button.
This function button is a roller, button or switch telechiric device.
This multiaxis gyroscope is each mutually perpendicular micro-electro-mechanical sensors.
By this start key continue push and discharge, the starting or stoping of steering needle control device or telechiric device induction, or being start-up control after the single depression, and when next is pushed, stopping.
By this check key continue push and discharge, what steering needle control device or telechiric device were proofreaied and correct starts or stops, or stops control automatically with single depression and after proofreading and correct.
But the outward appearance sample attitude of this remote control or finger control device system changeable device.
This controll plant is that a telecontrolled aircraft, telecar or mechanical dog are by the remote control object.
The present invention also provides the remote control or the index control method of a kind of tool multiaxis control, is characterized in, calculate in move each displacement of X-Y plane at the multiaxis gyroscope each sample time uses algorithm (1) and (2);
Δy
h≈S
fx·S
2x·ω
x (1)
Δx
h≈S
fy·S
2y·ω
y (2)
Or calculate at each displacement of X-Z-Y stereo-motion at the multiaxis gyroscope each sample time uses algorithm (3), (4) and (5);
Δx
p≈S
fZ·S
2Z·ω
Z (3)
Δz
p≈S
fX·S
2X·ω
X (4)
Δy
p≈S
fY·S
2Y·ω
Y (5)
Then controlling signal is outputed on controll plant or the screen cursor, produce movement effects with respect to wrist or hand axle joint.
The remote control of described tool multiaxis control or the S of index control method
2Z, S
2XAnd S
2YRespectively with ω
Z, ω
XAnd ω
YBe a funtcional relationship, to reach by the hand purpose that accurately control controll plant motion or screen cursor move that rotatablely moves.
This multiaxis gyroscope uses the arbitrary axle of X-Z-Y as the induction of telechiric device in a certain axially-movable.
The combination that this multiaxis gyroscope uses X-Z-Y to appoint diaxon or three is as the plane or the stereo-motion induction of telechiric device or finger control device.
Y-axis to gyroscope with clockwise or be rotated counterclockwise the control Y-axis to linear movement backward effect forward.
The transmission of control signal is wired or wireless transmission mode.
The present invention has following useful technique effect:
1, be fulcrum with rotatable wrist of human body or hand axle joint portion, utilize hand mobile remote control or finger control device again, and then the angle and the angular velocity varies that produce, be converted to the distance of controll plant or screen cursor displacement and the plane or the stereo-motion pattern of direction, the attitude that reaches any space is according to this controlled.
2, be main sensing apparatus with a micro electronmechanical multiaxis gyroscope, little and reduce the power consumption except volume, the frequency range of its operation is bigger, also can promote the reaction velocity of whole control; See through the adjustment of calculation mode again, revise the cumulative errors that is produced after the fast moving, and then increase the accuracy of total system.
3, trigger or stop the opportunity of sensing by start key control gyroscope, and utilize a check key to adjust gyroscope, therefore more can effectively grasp the precision that device is controlled because of voltage or the deviation of repeatedly using the back to be caused.
4, utilize telechiric device to carry out this kind control model, directly order about controll plant and carry out the immediate response action, the mechanically actuated so that the hand of subjectivity moves the traditional indirect type of control replacement reaches interactive splendid usefulness.
Description of drawings
Fig. 1 is an apparatus structure synoptic diagram of the present invention.
Fig. 2 is a device control synoptic diagram 1 of the present invention.
Fig. 3 is a device control synoptic diagram 2 of the present invention.
Fig. 4 is a device control synoptic diagram 3 of the present invention.
Fig. 5 is a motion correction factor synoptic diagram of the present invention.
Fig. 6 is the gyroscope output quantity mapping of a back and forth movement of the present invention.
Fig. 7 is a startup motion flow synoptic diagram of the present invention.
Fig. 8 is a correcting state schematic flow sheet of the present invention.
Fig. 9 is embodiments of the invention 1.
Figure 10 is embodiments of the invention 2.
Figure 11 is embodiments of the invention 3.
The schematic appearance of telechiric device is commonly used by Figure 12 system.
Mouse pointer control synoptic diagram is commonly used by Figure 13 system.
Embodiment
Reach the aspect relevant for structure composition of the present invention, technological means and effect, sincerely cooperate graphic the giving again of preferred embodiment further to specify for example in the back:
At first, see also shown in Figure 1ly, the present invention mainly is in finger control device 10 or telechiric device 11, is equiped with a micro electronmechanical multiaxis gyroscope 12, and is provided with a start key 13 and a check key 14 in a side of device; Again by shown in Figure 2, behind the start key of pushing on the telechiric device 11 13, telechiric device 11 can be on solid space, with rotatable wrist of human body or hand axle joint portion is fulcrum, attitude mobile remote control device 11 is in the skew all around of X-Y plane arbitrarily, control telecontrolled aircraft 20 moves in the X-Y plane direction, again by the scroll forward and backward of roller 17, adjusts the sports performance efficiency that telecontrolled aircraft 20 rises or descends; By shown in Figure 3, behind the identical start key of pushing on the finger control device 10 13, finger control device 10 can with any attitude moving hand control device 10, make the index 16 on the screen 15 make equal corresponding displacement action on solid space again.
Secondly, the definition of coordinate axis of the present invention as shown in Figure 2, telechiric device 11 is the center of circle with the O point in solid space, around pitching (Pitch) motion of X-axis rotation, and uses following algorithm (1); Suppose that the angular velocity that uses the axial gyroscope of pitching (Pitch) to respond to is ω
X, and represent that with Δ θ pitching (Pitch) axle relative angle changes and Δ y
h Expression telecontrolled aircraft 20 is in the relative displacement of Y-axis, and ω
XBe shown with the relation table of Δ y:
Δy
h＝S
fX·S
1X·Δθ≈S
fX·S
1X·Tω
X＝S
fX·S
2X·ω
X (1)
S wherein
FXBe the gyrostatic proportionality constant of X-axis, S
1XFor sensing that yawing axis (Pitch) is rotatablely moved is converted to the correction factor of Y-axis to linear movement, and S
2X=TS
1X, T then is fixing sample time; See also shown in Figure 5, this S
2XWith ω
XBe a funtcional relationship, S
2XNumerical value will be with ω
XIncrease and present the situation of successively decreasing, and the value of reaching capacity, and this curve mainly is at small ω
XCan be regarded as the shake of noise or hand and be left in the basket and calculate the action that remedies done; In addition, another purpose of this curve is inertial sensor in the multiaxis gyroscope 12 behind rapid movement, and measuring value is bigger, also needs long release time, with actual amount of exercise slightly discrepancy is arranged easily, so this shortcoming is revised.
Moreover, please continue to consult shown in Figure 6, for fixing the round actions of 15 degree, via oscillograph measure a sensitivity be 33.3mV/ (°/sec) and proportionality constant S
FXBe 10 gyroscope measured value, the area up and down in deviate (bias) should be identical in theory, but under T=2ms, be 15.34 degree via the area that calculates up stroke, and the area of down stroke is 11.28 degree, and difference is 4.06 degree, so bigger angular velocity omega
XCan corresponding less S
2XValue, and more little ω
XThe S that numerical value is then corresponding big more
2X, utilize the real-time calculating of algorithm (1) again, make the area of last stroke up and down to equate by convergence, reach by the hand purpose that accurate control controll plant or screen cursor move that rotatablely moves.
Again, see also shown in Figure 2ly, its device induction acts may measures the gyrostatic X-Y axle output of multiaxis, wherein the displacement Δ x of X-axis with a single-chip
hObtain via algorithm (2),
Δx
h≈S
fy·S
2y·ω
y (2)
ω wherein
yBe the angular velocity of pitch axis (Roll), and S
FYBe gyrostatic proportionality constant of Y-axis and S
2YWith ω
yIt is a funtcional relationship.
On the other hand, as shown in Figure 3; Suppose that the angular velocity that uses yawing axis (YAW) to respond to gyroscope is ω
Z, and represent that with Δ ψ yawing axis (YAW) relative angle changes and Δ x
pThe expression index is in the relative displacement of x axle, and ω
ZWith Δ x
pRelation table be shown:
Δx
p＝S
fZ·S
1Z·Δψ≈S
fZ·S
1·Tω
Z＝S
fZ·S
2Z·ω
Z (3)
S wherein
FzBe the gyrostatic proportionality constant of Z axle, S
1zFor sensing that yawing axis (YAW) is rotatablely moved is converted to the correction factor that the x axial linear is moved, and S
2z=TS
1z
Again, see also shown in Figure 3ly, its device induction acts may measures the gyrostatic X-Z-Y axle output of multiaxis, wherein the displacement Δ z of Z axle with a single-chip
pVia algorithm (4),
Δz
p≈S
fX·S
2X·ω
X (4)
ω wherein
XBe the angular velocity of pitch axis (Pitch), and S
FxBe gyrostatic proportionality constant of X-axis and S
2xWith ω
XIt is a funtcional relationship; The displacement Δ y of while Y-axis
pVia algorithm (5),
Δy
p≈S
fY·S
2Y·ω
Y (5)
ω wherein
YBe the angular velocity of wobble shaft (Roll), and S
FYBe gyrostatic proportionality constant of Y-axis and S
2YWith ω
YThe pass be a funtcional relationship, and this mode of operation is as shown in Figure 4, Y-axis to gyroscope with clockwise or be rotated counterclockwise the control Y-axis to linear movement backward effect forward.Again, these three magnitudes of voltage with output are converted to its data via A/D, and data preparation becomes the correlation parameter of pen travel thus again, convert the displacement of X-Z-Y coordinate again to, mobile sample attitude with finger control device 10 is output on the screen at last, can obtain the skew action of pointer 16 correspondences.
As shown in Figure 7, be startup motion flow synoptic diagram of the present invention, when pressing start key, producing a low state immediately triggers, and the startup single-chip, make gyroscope and each parts carry out action, and after decontroling start key, this device enters the sleep for electricity saving pattern immediately, the using time and the state that provide the user to control device according to this.
Then, see also shown in Figure 8, because of control device when using, each gyrostatic characteristic all has a little difference, may be because of voltage or the accurate skew in position of repeatedly using the back to cause, so utilize check key revised; At first, device is pressed check key in steady state (SS), and gyroscope with the repeated sampling gyroscope each output numerical value for several times, and with the deviate of mean value as each, again this numerical value is stored, and after decontroling start key, this device enters the sleep for electricity saving pattern immediately; When its purpose is to use start key each time, each axis angular rate deviate is taken out with the angular velocity work is relatively mutual at present, the numerical value after will comparing is again passed the master routine computing back, so can be proofreaied and correct the deviation state.
In addition, see also each embodiment of following finger control device and telechiric device and controll plant.
As shown in Figure 9, except on any space, moving by finger control device 10, control screen 15 pointers 16 are carried out plane or three-dimensional skew, and in conjunction with buttons such as catalogue key 241, beginning/Pause key 242, stop key 243, volume increasing key 244, volume minimizing keys 245, to reach the purpose of multitask remote control integrating.
As shown in figure 10, be that the pattern of controlling that telechiric device 11 is changed with bearing circle 21 presents, and change with left rotation and right rotation bearing circle 21 control telecars about 22, again by advance button 211 with step back pushing of button 212, make telecar 22 carry out the action of forward-reverses.
As shown in figure 11, be on any space, to move, and then directly control the opposite planar motion of mechanical dog 23, to reach the operator scheme of subjective control by telechiric device 11.
Claims (14)
1, a kind of remote control or finger control device of tool multiaxis control, it is characterized in that, in telechiric device or the finger control device, be provided with a multiaxis gyroscope, and in the device outside be provided with a start key and a check key, behind the started by press key, telechiric device or finger control device are promptly responded to the angular velocity of each in the space by the multiaxis gyroscope, with rotatable wrist of human body or hand axle joint portion is fulcrum, move this device with any attitude, make controll plant or screen cursor make plane or the three-dimensional displacement movement that equates corresponding.
2, the remote control or the finger control device of tool multiaxis control as claimed in claim 1 is characterized in that, this telechiric device or finger control device system installing function button.
3, the remote control or the finger control device of tool multiaxis control as claimed in claim 2 is characterized in that this function button is a roller, button or switch telechiric device.
4, the remote control or the finger control device of tool multiaxis control as claimed in claim 1 is characterized in that this multiaxis gyroscope is each mutually perpendicular micro-electro-mechanical sensors.
5, the remote control or the finger control device of tool multiaxis control as claimed in claim 1, it is characterized in that, by this start key continue push and discharge, the starting or stoping of steering needle control device or telechiric device induction, or being start-up control after the single depression, and when pushing, next stops.
6, the remote control or the finger control device of tool multiaxis control as claimed in claim 1, it is characterized in that, by this check key continue push and discharge, what steering needle control device or telechiric device were proofreaied and correct starts or stops, or stops control automatically with single depression and after proofreading and correct.
7, the remote control or the finger control device of tool multiaxis control as claimed in claim 1 is characterized in that, but the outward appearance sample attitude of this remote control or finger control device system changeable device.
8, the remote control or the finger control device of tool multiaxis control as claimed in claim 1 is characterized in that this controll plant is that a telecontrolled aircraft, telecar or mechanical dog are by the remote control object.
9, the remote control or the index control method of the control of a kind of tool multiaxis is characterized in that, calculate in move each displacement of X-Y plane at the multiaxis gyroscope each sample time uses algorithm (1) and (2);
Δy
h≈S
fx·S
2x·ω
x (1)
Δx
h≈S
fy·S
2y·ω
y (2)
Or calculate at each displacement of X-Z-Y stereo-motion at the multiaxis gyroscope each sample time uses algorithm (3), (4) and (5);
Δx
p≈S
fZ·S
2Z·ω
Z (3)
Δz
p≈S
fX·S
2X·ω
X (4)
Δy
p≈S
fY·S
2Y·ω
Y (5)
Then controlling signal is outputed on controll plant or the screen cursor, produce movement effects with respect to wrist or hand axle joint.
10, the remote control or the index control method of tool multiaxis control as claimed in claim 9 is characterized in that S
2Z, S
2XAnd S
2YRespectively with ω
Z, ω
XAnd ω
YBe a funtcional relationship, being rotatablely moved by hand, accurate control controll plant moves or screen cursor moves.
11, the remote control or the index control method of tool multiaxis control as claimed in claim 9 is characterized in that, this multiaxis gyroscope uses the arbitrary axle of X-Z-Y as the induction of telechiric device in a certain axially-movable.
12, the remote control or the index control method of tool multiaxis as claimed in claim 9 control is characterized in that, the combination that this multiaxis gyroscope uses X-Z-Y to appoint diaxon or three is as the plane or the stereo-motion induction of telechiric device or finger control device.
13, the remote control or the index control method of tool multiaxis as claimed in claim 9 control is characterized in that, Y-axis to gyroscope with clockwise or be rotated counterclockwise the control Y-axis to linear movement backward effect forward.
14, the remote control or the index control method of tool multiaxis control as claimed in claim 9 is characterized in that the transmission of control signal is wired or wireless transmission mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200710045985XA CN101387926A (en) | 2007-09-14 | 2007-09-14 | Multi-axis remote control or arm control apparatus and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200710045985XA CN101387926A (en) | 2007-09-14 | 2007-09-14 | Multi-axis remote control or arm control apparatus and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101387926A true CN101387926A (en) | 2009-03-18 |
Family
ID=40477369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA200710045985XA Pending CN101387926A (en) | 2007-09-14 | 2007-09-14 | Multi-axis remote control or arm control apparatus and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101387926A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103034343A (en) * | 2011-10-08 | 2013-04-10 | 张海锋 | Method and device for controlling sensing mouse |
| CN103197775A (en) * | 2012-08-03 | 2013-07-10 | 顾红波 | Control system and method for handheld computer equipment |
| CN107081758A (en) * | 2017-05-25 | 2017-08-22 | 深圳市越疆科技有限公司 | Motion control method, microcontroller and the storage medium of mechanical arm |
| CN107160393A (en) * | 2017-05-25 | 2017-09-15 | 深圳市越疆科技有限公司 | Motion control method and device and storage medium, the computer of mechanical arm |
| WO2017156741A1 (en) * | 2016-03-17 | 2017-09-21 | 深圳多哚新技术有限责任公司 | Head motion compensation method and associated device |
| CN107608540A (en) * | 2017-09-04 | 2018-01-19 | 惠州Tcl移动通信有限公司 | A kind of fingerprint control method, mobile terminal and storage medium based on gyroscope |
| CN114743368B (en) * | 2022-04-01 | 2023-03-21 | 深圳市多亲科技有限公司 | Universal remote control device automatically configured through spatial orientation sensing and operation method thereof |
-
2007
- 2007-09-14 CN CNA200710045985XA patent/CN101387926A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103034343A (en) * | 2011-10-08 | 2013-04-10 | 张海锋 | Method and device for controlling sensing mouse |
| CN103034343B (en) * | 2011-10-08 | 2018-05-25 | 张海锋 | The control method and device of a kind of sensitive mouse |
| CN103197775A (en) * | 2012-08-03 | 2013-07-10 | 顾红波 | Control system and method for handheld computer equipment |
| WO2014019538A1 (en) * | 2012-08-03 | 2014-02-06 | Gu Hongbo | Manipulation system and method for handheld computer device |
| WO2017156741A1 (en) * | 2016-03-17 | 2017-09-21 | 深圳多哚新技术有限责任公司 | Head motion compensation method and associated device |
| CN107081758A (en) * | 2017-05-25 | 2017-08-22 | 深圳市越疆科技有限公司 | Motion control method, microcontroller and the storage medium of mechanical arm |
| CN107160393A (en) * | 2017-05-25 | 2017-09-15 | 深圳市越疆科技有限公司 | Motion control method and device and storage medium, the computer of mechanical arm |
| CN107608540A (en) * | 2017-09-04 | 2018-01-19 | 惠州Tcl移动通信有限公司 | A kind of fingerprint control method, mobile terminal and storage medium based on gyroscope |
| CN114743368B (en) * | 2022-04-01 | 2023-03-21 | 深圳市多亲科技有限公司 | Universal remote control device automatically configured through spatial orientation sensing and operation method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101387926A (en) | Multi-axis remote control or arm control apparatus and method | |
| JP2009147915A (en) | Method for detecting movement of handheld controller to control controlled object, and handheld controller | |
| CN102216880B (en) | Method and device for inputting force intensity and rotation intensity based on motion sensing | |
| US8442798B2 (en) | Hand held pointing device with roll compensation | |
| US6388655B1 (en) | Method of touch control of an input device and such a device | |
| CN103294177B (en) | cursor movement control method and system | |
| CN101611369B (en) | Input device, control device, control system, control method, and hand-held device | |
| WO2006047018A2 (en) | Input device for controlling movement in a three dimensional virtual environment | |
| CN101561708A (en) | Method for sensing and judging input mode by utilizing actions and input device thereof | |
| CN102981646A (en) | Output control method and device of gesture sensing equipment, and display control method and system | |
| JP2000056897A (en) | Computer system | |
| KR200204091Y1 (en) | Position information inputting device using variation of duty ratio of an accelerometer | |
| CN212433727U (en) | Drawing handle | |
| CN205862305U (en) | A kind of Novel intelligent based on mems sensor is help the disabled mouse | |
| TWM646819U (en) | Multifunctional neuron sensing device | |
| WO2016190834A1 (en) | Manipulator for controlling an electronic device | |
| KR20020073906A (en) | computer pointing device by polar coordinate movement | |
| KR20030090089A (en) | Mouse Using Accelerometer and Control Method of The Same | |
| Zhao et al. | Intelligent mobile robot control system based on PC+ underlying motion controller | |
| Maiti et al. | ELECTRO-MECHANICAL MODEL AND ITS APPLICATION TO BIPED-ROBOT STABILITY WITH FORCE SENSORS | |
| CN116301403A (en) | Mouse input method and device for disabled people | |
| JPH11338634A (en) | Mouse input device | |
| JP6007305B1 (en) | Rotating powder compression molding apparatus and method for obtaining a reference position as a reference for obtaining the current value of the tip distance in the apparatus | |
| TW201229819A (en) | Sensor-type coordinate input method for a handheld remote control | |
| KR20000063257A (en) | Two-dimensional wired and wireless pointing device using accelerometer and gyroscope in three-dimensional space |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20090318 |