CN207675189U - Body-sensing apparatus and system - Google Patents
Body-sensing apparatus and system Download PDFInfo
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- CN207675189U CN207675189U CN201721619303.7U CN201721619303U CN207675189U CN 207675189 U CN207675189 U CN 207675189U CN 201721619303 U CN201721619303 U CN 201721619303U CN 207675189 U CN207675189 U CN 207675189U
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Abstract
The utility model provides a kind of body-sensing apparatus and system, belongs to motion capture technical field.The body-sensing device includes ontology, the controller of sensor and setting on the body, the sensor of pose information for acquiring user include be arranged user's torso portion alignment sensor and the attitude sensor in user's extremity portion is set, the alignment sensor and the attitude sensor are inertial sensor, and the controller is handled the pose information by processing chip；The body-sensing system is by external processing equipment to being handled from the body-sensing device posture information that receives that treated and being shown on the display device.There are the costs that somatosensory device is greatly reduced while blind zone problem solving motion capture for the utility model.
Description
Technical field
The utility model is related to motion capture fields, in particular to a kind of body-sensing apparatus and system.
Background technology
With the raising that the rapid development and cartoon making of computer hardware technique require, more and more high-new
Technical field, it is motion-captured to have come into practical stage, it is applied successfully to many aspects such as virtual reality, game.Body
The input mode for feeling equipment is also more and more diversified, there is different somatosensory devices, such as bluetooth gyro according to different usage scenarios
Instrument handle controller (Wii of such as Nintendo), depth camera (RealSence of Kinect, Intel of such as Microsoft).
The Bluetooth gyroscope handle controller of early stage can only judge that handle brandishes direction and handle button, cannot carry out space
Positioning；The virtual reality handle in later stage can carry out space orientation, the displacements direction discernment such as rotatable handle, but the data of handle
It acquires limited, can not really reflect hand gesture.Depth camera or gesture identification video camera based on infrared/visible light are real
The real-time acquisition to hand action parameter is showed, still there are blind zone problems when carrying out gesture identification and positioning, are based on
There is no blind zone problems but to have problem that is with high costs, needing space big by the HTC Vive that laser positioning principle is positioned.
Utility model content
The purpose of this utility model is to provide a kind of devices, to improve existing somatosensory device when carrying out motion capture
There is a problem of blind area and with high costs.
What the embodiments of the present invention were realized in：
The utility model provides a kind of body-sensing device, and the body-sensing device includes ontology, sensor and setting described
Controller on ontology.The sensor is used to acquire the posture information of user, including alignment sensor and attitude sensor, institute
It states alignment sensor and torso portion and lower extremities in the user is set, the attitude sensor is arranged in the ontology
On, wherein the alignment sensor and the attitude sensor are inertial sensor.The controller includes being passed with the positioning
The processing chip for receiving the posture information that sensor is connected with the attitude sensor.
In the utility model optionally embodiment, the attitude sensor includes the first appearance of setting on the body
Gesture sensor, the second sensor being arranged on the forearm of the user and the third being arranged in the large arm of the user
Attitude sensor, the prime sensor, the second sensor and the tierce sensor respectively with institute
State processing chip connection.
In the utility model optionally embodiment, the alignment sensor include be arranged the user chest
One alignment sensor and the second alignment sensor being arranged on the knee of the user, first alignment sensor and described
Second alignment sensor is connect with the processing chip respectively.
In the utility model optionally embodiment, the attitude sensor and the alignment sensor include acceleration
Meter, gyroscope and magnetometer.
In the utility model optionally embodiment, be additionally provided on the ontology connect with the processing chip by
Key.
In the utility model optionally embodiment, it is additionally provided with data transmission module on the ontology, is connected to described
Between processing chip and an external processing equipment.
In the utility model optionally embodiment, the data transmission module includes for being received from the processing chip
The transmission unit of the posture information and for receiving the posture information from the transmission unit and sending out the posture information
It send to the receiving unit of the external processing equipment, the transmission unit is connect with the processing chip, and the receiving unit connects
It is connected between the receiving unit and the external processing equipment.
In the utility model optionally embodiment, the transmission unit and the receiving unit wirelessly connect
It connects.
In the utility model optionally embodiment, it is additionally provided with power supply on the ontology, with the controller and described
Sensor connects.
The utility model additionally provides a kind of body-sensing system, and the body-sensing system includes external processing equipment, display equipment
With above-mentioned body-sensing device.The processing equipment is used to be based on to receive the posture information and the button from the body-sensing device
Information generates body-sensing and shows information.The display equipment is used to show that information generates body-sensing image according to the body-sensing.Wherein, institute
External processing equipment is stated to connect with the body-sensing device and the display equipment respectively.
The advantageous effect of the utility model embodiment is：
The utility model embodiment provides a kind of body-sensing apparatus and system, the body-sensing device include ontology, sensor and
Controller on the body is set, wherein sensor is inertial sensor, by being arranged in user's torso portion and four limbs
Partial sensor is acquired the posture information of user and is carried out to key information by the button of setting on the controller
Acquisition, by showing that equipment shows corresponding body-sensing image after handling collected posture information and key information,
Solving motion capture, there are the costs that somatosensory device is greatly reduced while blind zone problem.
Description of the drawings
It, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Shown in attached drawing, the above and other purpose, feature and advantage of the utility model will be more clear, all attached
Identical reference numeral indicates identical part in figure, does not press actual size equal proportion scaling deliberately and draws attached drawing, emphasis exists
In the purport for showing the utility model.
Fig. 1 is a kind of structural schematic diagram for body-sensing device that the utility model embodiment provides；
Fig. 2 is a kind of structural schematic diagram for ontology that the utility model embodiment provides；
Fig. 3 is the coordinate schematic diagram that the displacement method of user is obtained by the alignment sensor of user's lower limb；
Fig. 4 is the structural schematic diagram that Fig. 4 is a kind of body-sensing system that the utility model embodiment provides.
Icon：100- body-sensing devices；110- ontologies；112- buttons；114- indicator lights；120- sensors；The first appearances of 121-
Gesture sensor；122- second sensors；123- tierce sensors；The first alignment sensors of 124-；125- second is fixed
Level sensor；130- controllers；140- data transmission modules；142- transmission units；144- receiving units；200- body-sensing systems；
The external processing equipments of 210-；220- shows equipment.
Specific implementation mode
It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here described in attached drawing and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments of the present invention to providing in the accompanying drawings is not intended to limit requirement below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained without creative efforts, all
Belong to the range of the utility model protection.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that the orientation or positional relationship of the instructions such as term "inner", "outside"
For be based on the orientation or positional relationship shown in the drawings or the utility model product using when the orientation or position usually put
Relationship is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply the indicated device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.This
Outside, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
In addition, the terms such as term "horizontal", "vertical" are not offered as requiring component abswolute level or pendency, but can be slightly
Low dip.It is not to indicate that the structure has been had to if "horizontal" refers to only that its direction is more horizontal with respect to for "vertical"
It is complete horizontal, but can be slightly tilted.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, can also be electrical connection；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, it can understand above-mentioned art with concrete condition
The concrete meaning of language in the present invention.
Other feature and advantage of the utility model will illustrate in subsequent specification, also, partly from specification
It becomes apparent, or is understood by implementing the utility model embodiment.The purpose of this utility model and other advantages can
It realizes and obtains by specifically noted structure in the specification, claims and attached drawing write.
Referring to FIG. 1, Fig. 1 is a kind of structural schematic diagram for body-sensing device that the utility model embodiment provides.
The present embodiment provides a kind of body-sensing device 100, the body-sensing device includes ontology 110, sensor 120 and controller
130.Wherein, sensor 120 is connect with controller 130, and controller is arranged on ontology 110.
Referring to FIG. 2, Fig. 2 is a kind of structural schematic diagram for ontology that the utility model embodiment provides.
Identical with existing most of somatosensory devices as an implementation, the ontology 110 in the present embodiment can be
Handle contours are grasped in the hand in order to which user can stablize ontology 110, are easily operated.Further, it is contemplated that use
Family may have prolonged gripping when using ontology 110, and the density of material of ontology 110 cannot be excessive, and ontology 110 should
With portability, in order to solve this problem, the ontology 110 in the present embodiment uses plastic material to be made to take into account ontology 110
Portability, durability and economy.To further enhance the grasping stability of ontology 110, can be provided on ontology 110
Skid resistant course, the skid resistant course can be made of the big materials of the friction coefficient such as rubber, can also be that directly data plate is in 110 table of ontology
The anti-skid design in face.
It should be understood that summarizing in other embodiments, ontology 110 can also be the metals such as aluminium alloy, stainless steel, answer
Condensation material other meets portability and the material of durability condition is made.
Optionally, ontology 110 is additionally provided with button 112 and indicator light 114.Wherein, button 112 when being triggered for giving birth to
At corresponding operational order, the operational order may be for characterizing under the setting of different application scenarios and body-sensing system
The different operations such as " choosing ", " shooting ", " exiting ".Further, the button 112 can be touch key-press, can also be by
Press the other kinds of button such as key.User may be not familiar with mode of operation in operating body induction device 100, at this time user
With greater need for corresponding operation instruction and feedback is obtained, in order to solve this problem, the body-sensing device 100 of the present embodiment passes through at this
Indicator light 114 is set by the state Real-time Feedback of body-sensing device 100 to user on body 110.Indicator light 114 may include power supply
Indicator light and key indicator lamp.Wherein, the power supply indicator sends out the light with the state corresponding color in electricity abundance,
Electric quantity of power supply sends out the light of another color corresponding with the state when being less than preset value, allow the user to differentiate body-sensing rapidly
The power supply status of device 100；The key indicator lamp is flickered when user triggers button 112, to prompt user that button is completed
Operation.
In order to obtain the location parameter and pose parameter of user simultaneously, sensor 120 divides for alignment sensor and posture biography
Sensor, wherein torso portion and lower extremities in user is arranged in alignment sensor, and attitude sensor is arranged on ontology 110,
Alignment sensor and attitude sensor are inertial sensor.If the single attitude sensor on ontology 110 is only arranged,
The posture information of detected user may be inaccurate, in order to solve this problem, as an implementation, the present embodiment
Middle attitude sensor includes prime sensor 121, second sensor 122 and tierce sensor 123.Wherein,
Prime sensor 121 is used to acquire the posture information of the palm portion of user, is arranged on ontology 110, in order to first
Attitude sensor 121 is protected, and specifically, prime sensor 121 is installed in the inside of the ontology 110；Second
Attitude sensor 122 is used to acquire the posture information of the small arm section of user, is arranged on the forearm of user；Tierce senses
Device 123 is used to acquire the posture information of the big arm section of user, is arranged in the large arm of user.It should be understood that needing
When carrying out motion-captured to the both arms of user, it can also be symmetrically installed that there are three attitude sensors on another arm of user.
Alignment sensor includes the first alignment sensor 124 and the second alignment sensor 125.Wherein, the first alignment sensor 124 is arranged
At the chest of the torso portion of user, the knee in the lower extremities of user is arranged in the second alignment sensor 125.
Existing somatosensory device common on the market has using the HTC Vive of laser base station technological orientation and using camera shooting
Head captures the WII Remote that optical markings mode is positioned.Wherein, existed using camera capture optical markings mode and taken the photograph
As head motion capture region is small；There are problems that blind area when optical markings are blocked by human body itself, using laser station technology
The technology of positioning solves blind zone problem, but exists simultaneously that laser scanning demand space range is big and equipment cost is high asks
Topic.In order to solve the problems, such as that blind zone problem and equipment cost are high simultaneously, body-sensing device provided in this embodiment 100 is by inertia
The position for the ontology 110 that the posture information of the user of sensor acquisition handle the posture of determining user and user holds.
More accurate posture information in order to obtain, the sensor 120 in the present embodiment is nine axle sensors, nine axis
Sensor can be MPU9250 or other models.Nine axle sensors are three kinds of sensors i.e. three axis accelerometer, three axis in fact
The integrated combination of gyroscope and three axle magnetometer, three partial action differences, works in coordination.Wherein, three axis accelerometer is one
Kind acceleration transducer, acceleration transducer, by the measurement to inertia force suffered by mass block, utilize newton in accelerator
Second law obtains acceleration value；Three-axis gyroscope is the moment of momentum sensitivity shell relative inertness space with high-speed rotator around just
The angular movement detection device for meeting at three axis of the axis of rotation, can measure the angle of inclination of six direction；Three axle magnetometer utilizes
Earth magnetic field is measured, compensation is modified by the absolute direction-pointing function of three axial directions, can effectively solve Accumulated deviation, to
Correct the direction of motion, attitude angle, movement dynamics and speed etc. of human body.
It should be noted that in order to avoid material winds, prime sensor 121, second sensor 122 and the
Three attitude sensors 123 are sequentially connected by connecting line, and the first alignment sensor 124 and the second alignment sensor 125 pass through company
Wiring connects.Meanwhile second sensor 122, tierce sensor 123, the first alignment sensor 124 and second position
Sensor 125 needs to be fixedly connected on the body or clothing of user, second sensor 122, tierce sensor
123, the first alignment sensor 124 and the second alignment sensor 125 can connect by pasting, snap connection, bundle connection etc.
Connection type is connected to torso portion and the upper limb part of user.
Since body-sensing device 100 provided in this embodiment is positioned using inertial sensor, it is therefore desirable to user's both arms
It naturally droops, both legs vertically stand and carry out pose calibrating in appointed place.Have to the localization method of ontology 110 in the present embodiment
Body is：After the height information for obtaining user, if the coordinate in chest is O (0,0,0), it is wide that chest is calculated according to height information
Degree, big arm lengths, forearm lengths are respectively L0、L1、L2, then the initial coordinate of the human action of user is P1(0,L0/ 2,0), P2
(0,L1, 0), P3(0,L2,0).If sometime when t, the posture information at the chest position of the first alignment sensor 124 acquisition, the
The posture information for the forearm that the posture information and second sensor 122 of the large arm of three attitude sensors 123 acquisition acquire obtains
It is respectively q to its quaternary number posture1、q2、q3, then the coordinate P of t moment ontology 110tFor：Pt=q1·P1·q1 -1+q2·P2·q2 -1+q3·P3·q3 -1.Wherein, quaternary number posture is the numerical value of the angles and positions relationship between the multiple article for rotation of characterization, is used
The arm at family is article for rotation.After obtaining the location information of ontology 110, further according to the ginseng of the acquisition of prime sensor 121
Number can determine the posture information of ontology 110.
On the other hand, the chest position of human body can follow the step of user mobile and move, the above-mentioned ontology being calculated
110 coordinate is only the accurate location of ontology 110 plus pose calibrating rear foot moved further displacement.As an implementation, originally
Use can be calculated according to the acceleration and directional velocity information of the second alignment sensor 125 of the knee site of user in embodiment
The displacement of substantially walking about at family, alternatively embodiment, in order to keep locating effect more accurate and capture under user simultaneously
The posture information of limb, the alignment sensor in the present embodiment further include the third alignment sensor being arranged on user's foot, setting
The 5th alignment sensor on the 4th alignment sensor and foot of the knee site of the another one leg of user.Referring to FIG. 3, Fig. 3
For obtained by the alignment sensor of user's lower limb user displacement method coordinate schematic diagram, it is corresponding at this time to obtain user
The specific method of displacement is：Estimate that the position of leg is h/2 by the height h of height user, it is assumed that a foot is origin foot, is led to
Cross the posture information, the second alignment sensor 125 and the acquisition of the 4th alignment sensor in the chest of the first alignment sensor 124 acquisition
Knee posture information and third alignment sensor and the posture information of foot of the 5th alignment sensor acquisition obtain its angle
Spend parameter, that is, quaternary number posture, you can acquire shift length：Knot
The location information of the shift length S and above-mentioned ontology 110 that share the foot at family further can more accurately determine the position of ontology 110
It sets.
It should be understood that yes, after carrying out initial attitude calibration at regular intervals all can to the posture of user and position into
Row is obtained, calculates and is corrected.
Controller 130 is arranged in the ontology 110, the controller 130 and each attitude transducer and each positioning
Sensor connects, and is also connect with button 112 and indicator light 114.Optionally, all attitude transducer and alignment sensor
Wirelessly it is connect with controller 130.120 collected posture information of sensor is carried out fusion treatment by controller 130
Quaternary number is obtained, data compression also is carried out to it.As an implementation, the controller 130 in the present embodiment can be micro-
Control unit (MCU), so-called micro-control unit be also known as one chip microcomputer (Single Chip Microcomputer) or
Microcontroller is central processing unit (Central Process Unit；CPU frequency) does appropriate reduction with specification, and will be interior
Deposit the perimeter interfaces such as (memory), counter (Timer), USB, A/D conversion, UART, PLC, DMA or even LCD driving circuits all
It is incorporated on one chip, forms the computer of chip-scale.The processing chip can be a kind of IC chip, have letter
Number processing capacity.Above-mentioned processing chip can be general processor, including central processing unit (Central Processing
Unit, CPU), network processing unit (Network Processor, NP) etc.；It can also be digital signal processor (Digital
Signal Processing, DSP), application-specific integrated circuit (Application Specific Integrated Circuit,
ASIC), ready-made programmable gate array (FieldProgrammable Gate Array, FPGA) or other programmable logic devices
Part, discrete gate or transistor logic, discrete hardware components.General processor can be microprocessor or the processing core
Piece can also be any conventional processor etc..In this present embodiment, optionally, which can be STM32 series
The models such as processor, such as STM32F103C8T6, STM32F103VET6.
Body-sensing device 100 also needs to connect with an external processing equipment when carrying out complicated operation and processing, therefore body
Induction device 100 can also include the data transmission module 140 being arranged on ontology 110.
As an implementation, data transmission module 140 includes the transmission for receiving posture information from processing chip
Unit 142 and for receiving posture information from transmission unit 142 and posture information being sent to the reception of an external processing equipment
Unit 144.Wherein, transmission unit 142 is connect with processing chip, and receiving unit 144 is connected to transmission unit 142 and above-mentioned external
Between processing equipment, wirelessly connected between transmission unit 142 and receiving unit 144.
It should be understood that the portability for reinforcement induction device 100 and flexibility, electricity is additionally provided on ontology 110
Source, the power supply are rechargeable battery, are connected by controller 130 and sensor 120.
Referring to FIG. 4, Fig. 4 is a kind of structural schematic diagram for body-sensing system that the utility model embodiment provides.
The present embodiment additionally provides a kind of body-sensing system 200, and the body-sensing system 200 includes external processing equipment 210, shows
Show equipment 220 and above-mentioned body-sensing device 100.Wherein, external processing equipment 210 is connected to display equipment 220 and above-mentioned body-sensing dress
It sets between 100.
External processing equipment 210 is connected by receiving unit 144 and body-sensing device 100, and body-sensing device 100 is acquired and located
Posture information after reason carries out calculation processing and obtains the position of ontology 110 and the posture of user, and generates corresponding body-sensing and show
Information.Optionally, external processing equipment 210 can be the computing device that common computer etc. meets operation demand.
It shows that equipment 220 and external processing equipment 210 connect, shows that information generates corresponding body-sensing figure based on the body-sensing
Picture is simultaneously shown.Optionally, the display equipment 220 in the present embodiment can be VR glasses or common liquid crystals display screen etc..
In conclusion the utility model embodiment provides a kind of body-sensing apparatus and system, the body-sensing device include ontology,
The controller of sensor and setting on the body, wherein sensor is inertial sensor, by being arranged in user's trunk
Divide and the sensor of extremity portion is acquired the posture information of user and by the button of setting on the controller to button
Information is acquired, by showing that equipment shows corresponding body-sensing after handling collected posture information and key information
Image, while solving to greatly reduce the cost of somatosensory device while motion capture blind zone problem.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of body-sensing device, which is characterized in that including:
Ontology；
Sensor for the posture information for acquiring user, including alignment sensor and attitude sensor, the alignment sensor
Torso portion and lower extremities in the user is set, and the attitude sensor setting is on the body, wherein described fixed
Level sensor and the attitude sensor are inertial sensor；
Controller on the body is set, includes being connect with the alignment sensor and the attitude sensor for connecing
Receive the processing chip of the posture information.
2. body-sensing device according to claim 1, which is characterized in that the attitude sensor includes being arranged in the ontology
On prime sensor, the second sensor that is arranged on the forearm of the user and be arranged in the big of the user
Tierce sensor on arm, the prime sensor, the second sensor and tierce sensing
Device is connect with the processing chip respectively.
3. body-sensing device according to claim 2, which is characterized in that the alignment sensor includes being arranged in the user
Chest the first alignment sensor and the second alignment sensor for being arranged on the knee of the user, first positioning pass
Sensor and second alignment sensor are connect with the processing chip respectively.
4. body-sensing device according to claim 2 or 3, which is characterized in that the attitude sensor and the orientation sensing
Device includes accelerometer, gyroscope and magnetometer.
5. body-sensing device according to claim 1, which is characterized in that be additionally provided on the ontology and the processing chip
The button of connection.
6. body-sensing device according to claim 1 or 2, which is characterized in that be additionally provided with data transmission mould on the ontology
Block is connected between the processing chip and an external processing equipment.
7. body-sensing device according to claim 6, which is characterized in that the data transmission module includes for from described
Reason chip receives the transmission unit of the posture information and for receiving the posture information from the transmission unit and will be described
Posture information is sent to the receiving unit of the external processing equipment, and the transmission unit is connect with the processing chip, described
Receiving unit is connected between the receiving unit and the external processing equipment.
8. body-sensing device according to claim 7, which is characterized in that the transmission unit and the receiving unit pass through nothing
Line mode connects.
9. body-sensing device according to claim 1, which is characterized in that power supply is additionally provided on the ontology, with the control
Device processed is connected with the sensor.
10. a kind of body-sensing system, which is characterized in that including：
Body-sensing device as described in any one of claims 1-9；
For based on receive the posture information from the body-sensing device with generate body-sensing show information external processing equipment；
For showing that information generates the display equipment of body-sensing image according to the body-sensing；
Wherein, the external processing equipment is connect with the body-sensing device and the display equipment respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721619303.7U CN207675189U (en) | 2017-11-28 | 2017-11-28 | Body-sensing apparatus and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721619303.7U CN207675189U (en) | 2017-11-28 | 2017-11-28 | Body-sensing apparatus and system |
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| Publication Number | Publication Date |
|---|---|
| CN207675189U true CN207675189U (en) | 2018-07-31 |
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ID=62967085
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|---|---|---|---|
| CN201721619303.7U Expired - Fee Related CN207675189U (en) | 2017-11-28 | 2017-11-28 | Body-sensing apparatus and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207675189U (en) |
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2017
- 2017-11-28 CN CN201721619303.7U patent/CN207675189U/en not_active Expired - Fee Related
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