CN104162278B - A kind of air suspension and the method for programmable movements, system and toy aircraft - Google Patents
A kind of air suspension and the method for programmable movements, system and toy aircraft Download PDFInfo
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Abstract
The invention discloses a kind of air suspension and the method for programmable movements, system and toy aircraft, method includes: read in barometer and/or the data of ultrasonic sensor in real time, and by tabling look-up or being calculated height value；Perform enabled instruction and climb command, rise to the safe altitude scope preset；Call the program command and time series obtained via user program, then control aircraft and complete various programming action command；Performing to decline instruction, real-time judge height difference guarantees safe falling, and reading infrared sensing signal avoids human body during declining.System and toy aircraft include: aircraft execution unit, barometer, ultrasonic sensor, infrared sensor, memory element, wireless transmit/receive units and processing unit.The invention has the beneficial effects as follows: player has only to input the skyborne mobile step of flying toy, it is possible to the most simply realize the skyborne grandstand play of flying toy, significantly reduces control difficulty, improves safety.
Description
Technical field
The present invention relates to a kind of flying vehicles control method, especially relate to a kind of air suspension and the method for programmable movements, system and toy aircraft.
Background technology
The most popular flying toy, includes the flight doll of helicopter, four axle remote controlled model planes and e.g. Application No. 201320361353.5.Generally, these flying toys are all to need player to use remote controller to complete the operation of complexity voluntarily, need more professional manipulation technical ability.But mostly the player of these flying toys is new hand even child, new hand or child are difficult to grasp traditional remote controller complex operations, therefore, it is difficult to play out flight style, lose the interest of flying toy of playing.Additionally, the sky sexual love of child is played active, during manipulation flying toy, accidentally it is also easy to the situation occurring hurting sb.'s feelings or break flying toy.
Summary of the invention
For the problem existing for above-mentioned prior art, it is an object of the invention to provide and a kind of can manipulate the air suspension of aircraft and the toy aircraft that the method for programmable movements, system and playing method simple to operate are various by programming.
The technical solution adopted for the present invention to solve the technical problems is: a kind of air suspension and the method for programmable movements, comprises the following steps:
A, in real time reading barometer and/or the data of ultrasonic sensor, and by tabling look-up or being calculated height value；
B, execution enabled instruction, preserving current level value is reference altitude value；
C, execution climb command, strengthen the power output of aircraft execution unit until height value rises to the safe altitude preset, then the power output holding height value of stabilized flight device execution unit is near safe altitude, and the difference starting to calculate in real time actual height value and reference altitude value is height difference；
D, program command and time series received and called, control instruction and order persistence time are then converted into；
E, control aircraft execution unit perform control instruction according to the corresponding order persistence time；
F, judge whether that also control instruction is not carried out, if it is, return step E, otherwise perform step G；
G, execution decline instruction, and by checking that height difference judges falling head and guarantees that decrease speed is more and more slower in landing, until height difference be zero or be in default deviation range and within the default time falling head constant, then stopping the work of aircraft execution unit, then detection height value does not change, and completes landing.
Further, described step A includes: in the tables of data that barometric information is corresponding with height value, by the height value corresponding to the barometrical atmospheric pressure value that direct lookup or interpolation calculation are currently read in.
Further, described step C includes: after being raised to safe altitude on board the aircraft, when the height value of aircraft is more than the higher limit of safe altitude scope, reduce the power output of aircraft execution unit until in the range of the height value of aircraft drops to safe altitude, when the height value of aircraft is less than the lower limit of safe altitude scope, increase the power output of aircraft execution unit until in the range of the height value of aircraft goes back up to safe altitude.
Further, described program command includes that with time series the data set that least one set is made up of key order and the order duration corresponding with described key order, described key order and the described order duration application programming interfaces by outside button or by outside input and set.
Further, it is achieved described key order and the input of described order duration and setting, comprise the steps:
D1, double-click or long by start key to activate programming mode；
D2, press key and lower key to increase respectively and to reduce step distance, then the ratio of material calculation distance and pre-set velocity thus obtain order duration, or directly press key and lower key with direct setting command duration；
D3, by directionkeys with set corresponding action in the air direction key order；
D4, press key and then return to step D2 to preserve the current order duration set and key order to the data set increased newly, or press key and then return to step D2 with the order duration and key order cancelling current setting, or terminated programming mode by start key to preserve all order durations and key order and transmit the described program command and time series being made up of all data sets.
Further, described step G includes: sense the intensity level of infrared induction signal below aircraft during aircraft declines, when intensity level is increasing and exceedes default threshold values, controlling aircraft actuator work makes aircraft again rise default height, then according to order all around moves horizontally predeterminable range successively and again lands.
A kind of air suspension and programmable movements system, including aircraft and remote terminal, described aircraft includes: aircraft execution unit, is used for driving aircraft to carry out sporting flying；It is arranged on barometer and/or the ultrasonic sensor of aircraft exterior；The wireless transmit/receive units being connected with described remote terminal, for carrying out data transmission with remote terminal；It is arranged on the memory element of aircraft interior, for storing the data of the default control instruction controlling aircraft execution unit, storage barometer and/or the ultrasonic sensor tables of data corresponding with height value and caching program command and time series；nullIt is arranged on the processing unit of aircraft interior，Described processing unit and described barometer and/or described ultrasonic sensor、Described memory element connects the data sensed with reception barometer and/or ultrasonic sensor，And obtain height value through calculating or retrieve the tables of data of memory element，The control instruction that described processing unit is connected to call in memory element with described aircraft execution unit and described memory element is then communicated to aircraft execution unit，Thus control aircraft and move，Described processing unit is connected with described wireless transmit/receive units to receive program command and the time series that remote terminal is sent，Then program command and time series are converted into corresponding control instruction and order persistence time data and are transferred to described aircraft execution unit，Thus control program command and time series that aircraft sends according to remote terminal and move.
Further, described aircraft also includes the infrared sensor being arranged on aircraft exterior, for sensing the infrared heat source object below aircraft and exporting infrared induction signal；Described processing unit is connected with described infrared sensor to read the infrared induction signal of infrared sensor output, then triggers the control instruction preset according to the intensity of infrared induction signal and is transferred to described aircraft execution unit, thus controlling aircraft maneuvers.
Further, described remote terminal includes: input module, is used for inputting and set program command and time series；Display module, is used for showing programming human-computer interaction interface, program command and time series and status information；Memory module, for caching the program command and seasonal effect in time series data file that input program command and time series and preservation are preset in real time；Wireless transport module, carries out data transmission for the wireless transmit/receive units with aircraft.
A kind of air suspension and programmable movements flying toy, including profile housing and aircraft body, described aircraft body includes: aircraft execution unit, is used for driving aircraft to carry out sporting flying；It is arranged on the barometer on described profile housing and/or ultrasonic sensor；It is connected with long-range remote terminal to perform the wireless transmit/receive units of data transmission；It is arranged on the infrared sensor of profile hull outside, for sensing the infrared heat source object below aircraft and exporting infrared induction signal；It is arranged on the memory element within aircraft body, for storing the data of the default control instruction controlling aircraft execution unit, storage barometer and/or the ultrasonic sensor tables of data corresponding with height value and caching program command and time series；Being arranged on the processing unit within aircraft body, described processing unit is connected with aircraft execution unit, barometer and/or ultrasonic sensor, wireless transmit/receive units, infrared sensor and memory element.
The invention has the beneficial effects as follows: player has only to input the skyborne mobile step of flying toy, just can the most simply realize the skyborne grandstand play of flying toy, significantly reduce control difficulty, and can automatically land after completing grandstand play, detection height and infrared signal intensity in descent simultaneously, decrease and break flying toy and the unexpected accident hurted sb.'s feelings, improve safety；The more important thing is that player can arbitrarily compile out simple to complicated action, significantly expand the playability of toy, and the fighting will of child can also be excited by the competition of complexity, programming is produced great interest, the knowledge such as later learning physics, computer, automatization are buried in advance the seed of interest.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the method for the air suspension according to the present invention and programmable movements；
Fig. 2 is the structural representation of the system of the air suspension according to the present invention and programmable movements；
Fig. 3 is the structural representation of the embodiment according to flying toy of the present invention.
Detailed description of the invention
Fig. 1 show the flow chart of steps of the method for the air suspension according to the present invention and programmable movements.In conjunction with Fig. 1, the step of the method is as follows:
A, in real time reading barometer 5 and/or the data of ultrasonic sensor 6, and by tabling look-up or being calculated height value.In this step, the time difference sending sound wave and reception sound wave by obtaining ultrasonic sensor 6 carrys out the height value of calculating aircraft.Or, obtain organizing the corresponding data table of atmospheric pressure value and height value by experiment test more, then the atmospheric pressure value that barometer 5 is measured is read, by the tables of data corresponding with height value at atmospheric pressure value, directly lookup or interpolation calculation obtain when the height value corresponding to pre-test atmospheric pressure value.Preferably, at the same time during the aircraft flight with barometer 5 and ultrasonic sensor 6, utilizing ultrasonic sensor 6 closely to detect, barometer 5 carries out remote height detection.
B, execution enabled instruction, preserving current level value is reference altitude value.
C, execution climb command, strengthen the power output of aircraft execution unit 1 until height value rises to the safe altitude preset, then the power output holding height value of stabilized flight device execution unit 1 is near safe altitude, and the difference starting to calculate in real time actual height value and reference altitude value is height difference.In this step, the safe altitude preset can be default security height or the safe altitude value arranged voluntarily by player.When aircraft rises to safe altitude, reducing the power output of aircraft execution unit 1, the lift making aircraft execution unit 1 produce is equal with the gravity of aircraft, thus keeps aircraft to be suspended in the range of safe altitude ± offset distance.In a preferred embodiment, when the height value of aircraft is more than the higher limit of safe altitude scope, reduce the power output of aircraft execution unit 1 until height value returns in safety range, when the height value of aircraft is less than the lower limit of safe altitude scope, increase the power output of aircraft execution unit 1 until height value returns in safety range, and adjust the power output of aircraft execution unit 1 when aircraft comes back in the range of safe altitude immediately, make lift and gravitational equilibrium.
D, program command and time series received and called, control instruction and the order persistence time of aircraft execution unit 1 are then converted into.Wherein, program command includes at least one data set being made up of key order and the order duration corresponding with described key order with time series, it is embodied as the data set that the persistent period that direction of motion order and this order perform constituted, then this data set is converted into the control instruction of correspondence and the instruction group of order persistence time and is transferred to aircraft execution unit 1.
E, control aircraft execution unit 1 perform control instruction according to the corresponding order persistence time.In this step, make aircraft execution unit 1 call every a pair control instruction and order persistence time from the instruction group that program command and time series generate sequentially, after having performed a control instruction with the corresponding order persistence time, perform next control instruction the most again.
F, judge whether that also control instruction is not carried out, if it is, return step E.If the instruction group not having new program command and time series to generate within one default period is transferred to aircraft execution unit 1, then perform next step G.
G, execution decline instruction, and by checking that height difference judges falling head and guarantees that decrease speed is more and more slower in landing, until height difference be zero or be in default deviation range and within the default time falling head constant, then stopping the work of aircraft execution unit 1, then detection height value does not change, and completes landing.Preferably, the intensity level of infrared induction signal below aircraft can also be sensed during aircraft declines, when intensity level is increasing and exceedes default threshold values, controlling aircraft actuator work makes aircraft again rise default height, then horizontal movement is carried out, be specially according to order all around or other preset or player set order, again decline after moving horizontally predeterminable range successively, its object is to the heat source thermo avoided below aircraft, e.g. humans and animals, produce warning function by the motion of aircraft simultaneously, the most again land, to guarantee safety.
In the present embodiment, the step of programming is as follows:
D1, double-click or long by start key to activate programming mode；
D2, press key and lower key to increase respectively and to reduce step distance, then the ratio of material calculation distance and pre-set velocity thus obtain order duration, or directly press key and lower key with direct setting command duration；
D3, by directionkeys with set corresponding action in the air direction key order；
D4, press key and then return to step D2 to preserve the current order duration set and key order to the data set increased newly, or press key and then return to step D2 with the order duration and key order cancelling current setting, or terminated programming mode by start key to preserve all order durations and key order and transmit the described program command and time series being made up of all data sets.
Preferably, in programming mode arbitrary steps, programming mode is terminated by ESC Escape, it is also possible to press reading/preservation key, in the way of data file, read/preserve program command and time series.
It should be noted that in the present embodiment, the button such as start key, upper and lower key, directionkeys, ESC Escape, reading/preservation key both can be physical button, it is also possible to be the virtual key divided on touch screen.
With reference to Fig. 2, air suspension according to the present invention and the system of programmable movements, including aircraft and remote terminal, wherein aircraft includes: aircraft execution unit 1, it is arranged on the barometer 5 on aircraft casing surface, ultrasonic sensor 6 and infrared sensor 7, is arranged on the memory element 2 of aircraft interior, wireless transmit/receive units 4 and processing unit 3.Wherein, aircraft execution unit 1 includes motor, drive circuit, direction sensor and sporting flying mechanism, realizes aircraft towards direction motion the most up and down by receiving instruction.The infrared light that infrared sensor 7 is configured to the human body below sense aircraft or animal is sent, if infrared sensor 7 is the closer to human body, then exports higher signal.Memory element 2, for storing the data of the default control instruction controlling aircraft execution unit 1, storage barometer 5 and/or ultrasonic sensor 6 tables of data corresponding with height value and caching program command and time series.Wireless transmit/receive units 4, carries out data and instruction transmission by radio, WiFi or bluetooth with remote terminal.Processing unit 3 is connected to process data and the transmission of instruction between them respectively with aircraft execution unit 1, barometer 5, ultrasonic sensor 6, infrared sensor 7, memory element 2, wireless transmit/receive units 4, and perform the air suspension shown in Fig. 1 and programmable movements method, below the workflow of processing unit 3 is described in detail.
In the present embodiment, processing unit 3 can be read in by reading the triggering of command signal or read in barometer 5 and/or the data of ultrasonic sensor 6 in real time, being calculated height value by the time difference of transmitting-receiving ultrasound wave, the tables of data searching the atmospheric pressure value in memory element 2 corresponding with height value obtains height value.When processing unit 3 receives after the enabled instruction of remote terminal, call the climb command in memory element 2 and be then transmitted to aircraft execution unit 1, thus control aircraft and rise to safe altitude.Then, processing unit 3 receives program command and the time series of remote terminal output by wireless transmit/receive units 4, and is converted into corresponding control instruction and order persistence time, implements the various flare maneuvers of player's programming for controlling aircraft execution unit 1.Preferably, during aircraft execution unit 1 carries out flare maneuver, player can continue programming, and control instruction and order persistence time that processing unit 3 can be converted to current program command and time series is buffered in memory element 2, with etc. pending.When processing unit 3 judges to draw the complete all control instructions of executed, can call or receive the decline instruction that remote terminal sends from memory element 2, then control aircraft execution unit 1 and carry out down maneuver.Preferably, during aircraft declines, processing unit 3 reads the output signal of infrared sensor 7 in real time, when output signal exceedes default intensity level, it is believed that have people or house pet below aircraft, control aircraft actuator re-executes corresponding instruction and hides, and the most again performs decline and instructs.
In the present embodiment, remote terminal includes input module, display module, memory module and wireless transport module.Input module may be embodied as physical button, rocking bar and/or touch screen, is used for inputting and set program command and time series.In programming process, display module can show programming operation interface, program command and time series and help information, and memory module can cache input program command and time series in real time.After programming, program command and time series are sent to the wireless transmit/receive units 4 of aircraft via wireless transport module by the way of radio, WiFi or bluetooth, additionally it is possible to preserve in a storage module for calling later with the form of data file.In a specific embodiment, remote terminal may be embodied as remote controller, smart mobile phone or panel computer.
Fig. 3 show the flying toy according to the present invention, including profile housing and aircraft body.Profile housing may be embodied as different face shapings, such as helicopter, flying saucer, four-axle aircraft, flight doll, insecticide and other is animal-shaped.Aircraft body includes: aircraft execution unit 1, is arranged on the barometer 5 of aircraft exterior, ultrasonic sensor 6 and infrared sensor 7, is arranged on the memory element 2 of aircraft interior, wireless transmit/receive units 4 and processing unit 3.The method of operation of each assembly in aircraft body, with reference to the embodiment shown in Fig. 3, is not repeated at this to describe.
The above, simply presently preferred embodiments of the present invention, the invention is not limited in above-mentioned embodiment, as long as it reaches the technique effect of the present invention with identical means, all should belong to protection scope of the present invention.Its technical scheme and/or embodiment can have various different modifications and variations within the scope of the present invention.
Claims (10)
1. an air suspension and the method for programmable movements, it is characterised in that comprise the following steps:
A, read in barometer (5) and/or the data of ultrasonic sensor (6) in real time, and by tabling look-up or being calculated height
Angle value；
B, execution enabled instruction, preserving current level value is reference altitude value；
C, execution climb command, strengthen the power output of aircraft execution unit (1) until height value rises to the safety preset
Highly, then the power output holding height value of stabilized flight device execution unit (1) is near safe altitude, and starts in real time
The difference calculating actual height value and reference altitude value is height difference；
D, program command and time series received and called, control instruction and order persistence time are then converted into；
E, control aircraft execution unit (1) perform control instruction according to the corresponding order persistence time；
F, judge whether that also control instruction is not carried out, if it is, return step E, otherwise perform step G；
G, execution decline instruction, and by checking that height difference judges falling head and guarantees that decrease speed is increasingly in landing
Slowly, until height difference be zero or be in default deviation range and within the default time falling head constant, then stop
The work of aircraft execution unit (1), then detection height value does not change, and completes landing.
Air suspension the most according to claim 1 and the method for programmable movements, it is characterised in that described step A includes:
In the tables of data that barometric information is corresponding with height value, by directly searching or barometer (5) that interpolation calculation is currently read in
Height value corresponding to atmospheric pressure value.
Air suspension the most according to claim 1 and the method for programmable movements, it is characterised in that described step C includes:
After aircraft rises to safe altitude, when the height value of aircraft is more than the higher limit of safe altitude scope, reduces aircraft and hold
The power output of row parts (1) is until in the range of the height value of aircraft drops to safe altitude, when the height value of aircraft is less than
The lower limit of safe altitude scope, increases the power output of aircraft execution unit (1) until the height value of aircraft goes back up to peace
In the range of full-height.
Air suspension the most according to claim 1 and the method for programmable movements, it is characterised in that described program command and time
Sequence includes the data set that least one set is made up of key order and the order duration corresponding with described key order, described
Key order and described order duration obtain by receiving external wireless signals.
Air suspension the most according to claim 4 and the method for programmable movements, it is characterised in that realize described key order and
The input of described order duration and setting, comprise the steps:
D1, double-click or long by start key to activate programming mode；
D2, press key and lower key to increase respectively and to reduce step distance, then the ratio of material calculation distance and pre-set velocity from
And obtain order duration, or directly press key and lower key with direct setting command duration；
D3, by directionkeys with set corresponding action in the air direction key order；
D4, press key and then return to step D2 to preserve the current order duration set and key order to the data set increased newly,
Or press key and then return to step D2 with the order duration and key order cancelling current setting, or press start key to preserve
All order durations and key order thus terminate programming mode and transmit the described program command being made up of all data sets and time
Between sequence.
Air suspension the most according to claim 1 and the method for programmable movements, it is characterised in that described step G includes:
Aircraft senses the intensity level of the infrared induction signal below aircraft during declining, when intensity level is increasing and exceedes default
Threshold values time, control aircraft actuator work make aircraft again rise default height, then move horizontally predeterminable range
After again land.
7. air suspension and a programmable movements system, including aircraft and remote terminal, it is characterised in that described aircraft includes:
Aircraft execution unit (1), is used for driving aircraft to carry out sporting flying；
It is arranged on barometer (5) and/or the ultrasonic sensor (6) of aircraft surface；
The wireless transmit/receive units (4) being connected with described remote terminal, for carrying out data transmission with remote terminal；
It is arranged on the memory element (2) of aircraft interior, refers to for storing the control of default control aircraft execution unit (1)
Make, store barometer (5) and/or the data of ultrasonic sensor (6) and the tables of data corresponding with height value and caching
Program command and time series；
It is arranged on the processing unit (3) of aircraft interior, described processing unit (3) and described barometer (5) and/or described super
Sonic sensor (6), described memory element (2) connect to receive barometer (5) and/or ultrasonic sensor (6) sensing
Data arrived, and through calculating or the tables of data of retrieval memory element (2) obtains height value, described processing unit (3) with
Described aircraft execution unit (1) and described memory element (2) connect to call the control instruction in memory element (2) then
It is transferred to aircraft execution unit (1), thus controls aircraft and move, described processing unit (3) and described wireless receiving and dispatching
Unit (4) connects to receive program command and the time series that remote terminal is sent, and then program command and time series is changed
Become corresponding control instruction and order persistence time data and be transferred to described aircraft execution unit (1), thus controlling flight
Program command and time series that device is sent according to remote terminal are moved.
Air suspension the most according to claim 7 and programmable movements system, it is characterised in that: described aircraft also includes arranging
At the infrared sensor (7) of aircraft exterior, for sensing the infrared heat source object below aircraft and exporting infrared induction signal；
Described processing unit (3) is connected with described infrared sensor (7) to read the infrared induction signal that infrared sensor (7) exports,
Then trigger the control instruction preset according to the intensity of infrared induction signal and be transferred to described aircraft execution unit (1), thus
Control aircraft maneuvers.
Air suspension the most according to claim 7 and programmable movements system, it is characterised in that described remote terminal includes:
Input module, is used for inputting and set program command and time series；
Display module, is used for showing programming human-computer interaction interface, program command and time series and status information；
Memory module, for caching the program command and time series that input program command and time series and preservation are preset in real time
Data file；
Wireless transport module, carries out data transmission for the wireless transmit/receive units (4) with aircraft.
10. air suspension and a programmable movements flying toy, including profile housing and aircraft body, it is characterised in that described flight
Device body includes:
Aircraft execution unit (1), is used for driving aircraft to carry out sporting flying；
The barometer (5) being arranged on described profile housing and/or ultrasonic sensor (6)；
It is connected with long-range remote terminal to perform the wireless transmit/receive units (4) of data transmission；
It is arranged on the infrared sensor (7) of profile hull outside, for sensing the infrared heat source object below aircraft and exporting red
Outer induced signal；
It is arranged on the memory element (2) within aircraft body, for storing the control of default control aircraft execution unit (1)
System instruction, store barometer (5) and/or the data of ultrasonic sensor (6) and the tables of data corresponding with height value and
Caching program command and time series；
It is arranged on the processing unit (3) within aircraft body, described processing unit (3) and described barometer (5) and/or institute
State ultrasonic sensor (6), described memory element (2) connects to receive barometer (5) and/or ultrasonic sensor (6)
The data sensed, and obtain height value, described processing unit (3) through calculating or retrieve the tables of data of memory element (2)
It is connected to call the control instruction in memory element (2) with described aircraft execution unit (1) and described memory element (2) right
After be transferred to aircraft execution unit (1), thus control aircraft and move, described processing unit (3) and described wireless receipts
Bill unit (4) connects to receive program command and the time series that remote terminal is sent, and then program command and time series is turned
Change corresponding control instruction and order persistence time data into and be transferred to described aircraft execution unit (1), thus controlling to fly
Program command and time series that row device is sent according to remote terminal are moved, described processing unit (3) and described infrared sensor
(7) connect to read the infrared induction signal that infrared sensor (7) exports, then trigger according to the intensity of infrared induction signal
Default control instruction is also transferred to described aircraft execution unit (1), thus controls aircraft maneuvers.
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| CN105511496B (en) * | 2016-02-16 | 2018-08-03 | 谭圆圆 | A kind of control method and device of unmanned vehicle |
| CN106205091A (en) * | 2016-07-24 | 2016-12-07 | 览意科技（上海）有限公司 | The remote control thereof of a kind of unmanned plane and remote control unit |
| CN107340781A (en) * | 2016-09-30 | 2017-11-10 | 广州亿航智能技术有限公司 | UAV flight control method and system |
| CN108227729A (en) * | 2016-12-15 | 2018-06-29 | 北京臻迪机器人有限公司 | A kind of motion sensing control system and motion sensing control method |
| JP2020502714A (en) | 2016-12-15 | 2020-01-23 | パワーヴィジョン・ロボット・インコーポレイテッド | Control system and method for drones using a remote controller |
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| WO2012159480A1 (en) * | 2011-05-25 | 2012-11-29 | 中兴通讯股份有限公司 | Table entry adding, deleting and searching method of hash table and hash table storage device |
| CN202398111U (en) * | 2012-01-10 | 2012-08-29 | 廖明忠 | Rocker of toy aircraft |
| CN102441277A (en) * | 2012-01-18 | 2012-05-09 | 深圳市合智创盈电子有限公司 | Multi-purpose game controller, system and method with posture sensing function |
| CN202748745U (en) * | 2012-05-30 | 2013-02-20 | 深圳市宇恒互动科技开发有限公司 | High-precision positioning electronic pen and electronic whiteboard system |
| CN203291506U (en) * | 2013-02-08 | 2013-11-20 | 斯平玛斯特有限公司 | Flying doll |
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| CN104162278A (en) | 2014-11-26 |
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Effective date of registration: 20220112 Address after: 417000 No. 022, No. 6 village group, Tieniu village, Meiyuan Development Zone, Xinhua County, Loudi City, Hunan Province Patentee after: Xiao Zhen Address before: 518000 3rd floor, attached building, Lantian Ludu home, No.3, Meilin Road, Futian District, Shenzhen City, Guangdong Province Patentee before: Liao Mingzhong |