WO2017111660A1 - Dispositif inertiel et procédé de commande inertielle de systèmes électroniques - Google Patents

Dispositif inertiel et procédé de commande inertielle de systèmes électroniques Download PDF

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Publication number
WO2017111660A1
WO2017111660A1 PCT/RU2016/000854 RU2016000854W WO2017111660A1 WO 2017111660 A1 WO2017111660 A1 WO 2017111660A1 RU 2016000854 W RU2016000854 W RU 2016000854W WO 2017111660 A1 WO2017111660 A1 WO 2017111660A1
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WO
WIPO (PCT)
Prior art keywords
longitudinal axis
housing
value
user
angular velocity
Prior art date
Application number
PCT/RU2016/000854
Other languages
English (en)
Russian (ru)
Inventor
Дмитрий Олегович СОЛОВЬЁВ
Антон Владимирович ФЕДОРОВ
Олег Александрович МЕЗЕНЦЕВ
Original Assignee
Дмитрий Олегович СОЛОВЬЁВ
Антон Владимирович ФЕДОРОВ
Олег Александрович МЕЗЕНЦЕВ
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Дмитрий Олегович СОЛОВЬЁВ, Антон Владимирович ФЕДОРОВ, Олег Александрович МЕЗЕНЦЕВ filed Critical Дмитрий Олегович СОЛОВЬЁВ
Priority to CA3008423A priority Critical patent/CA3008423A1/fr
Publication of WO2017111660A1 publication Critical patent/WO2017111660A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
    • G06F3/03545—Pens or stylus
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/038—Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
    • G06F3/0383—Signal control means within the pointing device
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/04815—Interaction with a metaphor-based environment or interaction object displayed as three-dimensional, e.g. changing the user viewpoint with respect to the environment or object
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/0482—Interaction with lists of selectable items, e.g. menus
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G06F3/04883—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures for inputting data by handwriting, e.g. gesture or text

Definitions

  • the present invention relates to miniature
  • inertial devices for remote control of electronic systems, and more particularly, to an input device configured to detect rotation and with the ability to send control commands based on
  • a mouse, joystick, etc. require a surface on which they can be moved, such as a table or a touch screen surface.
  • Gyroscopic pointers as described in US4787051, for example, do not need a surface, but have a restriction of freedom to act, usually only on moving the cursor left-right, up-down.
  • control in two dimensions is not sufficient, and it would be useful to increase the degree of freedom to enter a wider range of information.
  • Such control will allow you to change the scale or scroll the page based on the movement of a person’s hand, or change the appearance of the application.
  • it is important to have a familiar and convenient for manipulation shape, for example, of a pencil, and also so that errors associated with inaccurate operation of the sensors do not lead to an undesirable response on the device and violations of control.
  • the inertial part of the input device usually consists of one, two or three accelerometers (or one 3-axis accelerometer) and one, two or three gyroscopes (or one 3-axis gyroscope).
  • a gyroscope is a device designed to measure or maintain orientation, usually by measuring the angular velocity of rotation with respect to a given axis. Gyroscopes can be made on the basis of several methods, but gyroscopes made using microelectromechanical technology (MEMS) are the most popular, especially in the field of consumer electronics and others.
  • MEMS microelectromechanical technology
  • Acceleration sensors or accelerometers are designed to measure apparent acceleration. They can also be constructed on the basis of MEMS technology, but there are other types, for example, string and pendulum ones. MEMS technology, as well as in the case of gyroscopes, allows you to reduce the cost and ensure sufficient accuracy with small sizes.
  • An accelerometer is a device that measures the projection of apparent acceleration (the difference between the true acceleration of an object and gravitational acceleration).
  • the accelerometer is a sensitive mass fixed in an elastic suspension. Mass deviation from it the initial position in the presence of an apparent acceleration carries information about the magnitude of this acceleration. At zero true acceleration, the accelerometer will measure the projection of gravitational acceleration on the axis of its sensitivity.
  • KR20130095551, KR20140032782 and KR20130115452 which we took as a prototype.
  • gyroscopes and accelerometers in known control devices are used to determine the position of the device in space.
  • the known device and method using it is a remote control device for various television receivers and consoles, comprising gyroscopes and accelerometers, and is used to control the on-screen pointer in
  • this device does not use rotation around its third axis to control the screen interface and requires the operator to hold it in a certain way with respect to the horizon (otherwise, the operator’s arm turns with the device around the vertical and
  • the device determines the amount of rotation of the housing in horizontal and vertical planes, regardless of the angle by which this housing is rotated relative to its longitudinal axis.
  • the device described in this application unlike the prior art, regardless of its rotation around its longitudinal axis, transforms its coordinate system in such a way that the axes, rotation around which is used to move the screen interface cursor up and down and to the right to the left, always tied to the position of the horizon.
  • This approach allows, in addition to the ability to hold the device in hand, not paying attention to its rotation around the longitudinal axis, use this rotation to control the screen interface, for example, scrolling or scaling screen objects in this way.
  • the accelerometer in such a device allows you to control the scrolling and / or scaling in the positions of the longitudinal axis of the body with a deviation from the vertical no more than
  • this mode allows you to control a multimedia projector, TV, game console, remotely controlled toy, music system, as well as virtual and augmented reality systems.
  • An important property of the presented device is also that it is universal and can be used to control both a personal computer and other devices without making structural changes to the device, while the electronic systems in which
  • the invention relates to inertial devices for remote control of electronic
  • a three-axis gyroscope including a three-axis gyroscope, a three-axis accelerometer, a microprocessor, a data channel, a tactile feedback device, touch touch sensors and a power source enclosed in an elongated body and determining the amount of rotation of the specified body in horizontal and vertical
  • part of the control functions can be carried out in excess values of the angular velocity along the longitudinal axis of the housing are higher than the value specified by the user, and part of the control functions can be carried out in the positions of the longitudinal axis of the housing with a deviation from the vertical by no more than a value specified by the user, and where control does not require a surface.
  • the invention also relates to a method for remote control of electronic systems using
  • part of the control functions can be carried out when the value of the angular velocity along the longitudinal axis of the housing is higher than the value set by the user; part of the control functions can be carried out in the positions of the longitudinal axis of the housing with a deviation from the vertical of no more than an amount specified by the user; and where control does not require a surface.
  • Inertial device for remote control of electronic systems including:
  • a tactile feedback device and at least two touch sensors further comprising a tactile feedback device and at least two touch sensors, and enclosed in an oblong shape housing that determines the amount of rotation of the housing in horizontal and vertical planes, regardless the angle by which this body is rotated relative to its longitudinal axis; allowing to carry out part of the control functions in excess of the value of the angular velocity along the longitudinal axis of the casing higher than specified by the user
  • part of the control functions is in the positions of the longitudinal axis of the body with a deviation from the vertical of no more than an amount specified by the user.
  • the indicated parts of the functions are scrolling and / or scaling.
  • the housing may be in the form of an elongated cylinder, writing pen or pencil.
  • touch sensors are used to control the graphical interface, and one of the touch sensors can be used to activate the device when there is contact with the user's hand.
  • the communication channel is wireless and represents Bluetooth.
  • an inertial device including:
  • a tactile feedback device and at least two touch sensors further comprising a tactile feedback device and at least two touch sensors, and enclosed in an elongated body, including determining the magnitude of the rotation of the device body in horizontal and vertical planes, regardless of the angle by which this body is rotated relative to its longitudinal axis and remote data transmission; where part of the control functions can be performed when the angular velocity value is exceeded along the longitudinal axis the case is higher than the user-specified value; and where control does not require a surface.
  • part of the control functions can be carried out in the provisions of the longitudinal axis of the housing with a deviation from
  • the controlled electronic device is a personal computer (PC), multimedia projector, television, game console, remotely controlled toy, music system, lighting system, etc., and part of the control functions, which can be performed when the value of the angular velocity is exceeded by the longitudinal axis is higher than the value set by the user, represents scrolling or switching pages, scaling an image, text, program window;
  • PC personal computer
  • multimedia projector multimedia projector
  • television game console
  • remotely controlled toy music system
  • lighting system etc.
  • part of the control functions which can be performed when the value of the angular velocity is exceeded by the longitudinal axis is higher than the value set by the user, represents scrolling or switching pages, scaling an image, text, program window;
  • electronic systems means any electronic system that uses a human-computer interface and incorporates any device for visualizing information and then reading it out by a person.
  • Such systems include: personal computers, such as
  • graphical interface within of this application is understood as a kind of user interface in which the interface elements (menus, buttons, icons, lists, etc.) presented to the user on the display are made in the form of graphic images.
  • the user has random access (using input devices - keyboard, mouse, joystick, joystick, etc.) to all visible on-screen objects
  • angular velocity sensor that is, a device
  • acceleration in the framework of this application refers to a device for measuring the apparent acceleration directed along the axis (uniaxial) or axes (three-axis) of the device.
  • microprocessor within the framework of this application, means a software-controlled device for processing information made in the form of a single-chip microcircuit and containing both ALU (arithmetic logic device) and RAM (random access memory)
  • ROM read-only memory
  • data transmission channel within the framework of this application, means a system of technical means that provides data transfer in two directions (from an inertial device to an electronic system and from an electronic system to an inertial device)
  • USB as a wired channel
  • Bluetooth as a wireless communication channel
  • power source refers to any power source that provides autonomous operation of the device.
  • a galvanic cell or battery For example, a galvanic cell or battery.
  • tactile feedback device in the framework of this application is understood to mean any device that allows a person to receive information about the operation of the device through touch, such as a vibrator or solinoid capable of creating tangible seismic
  • touch sensor in the framework of this application refers to an electric area coated with a dielectric, changing its capacitance with respect to the body of the device from touching it.
  • oval-shaped body in the framework of this application is understood to mean such a body that has one dimension 4 or more times the size of two other dimensions.
  • An example of such a shape is a pencil or writing pen.
  • longitudinal axis as used in this application means the axis of the coordinate system associated with an inertial device, indicated in FIG. 1 as X.
  • control function in the framework of this application refers to various options and control modes of electronic systems.
  • angular velocity in the framework of this application refers to a value characterizing the speed of rotation of the material points that make up the solid body, around the axis of rotation per unit of time.
  • axis of rotation in the framework of this application, refers to a straight line perpendicular to planes in which the material points of a solid during rotation describe circular paths.
  • threshold of angular velocity in the framework of this application, refers to a predetermined value of the angular velocity module, when exceeded, the algorithm of the device changes.
  • angular velocity module in the framework of this application, refers to the magnitude of the angular velocity without taking into account the direction of rotation.
  • vertical axis in the framework of this application, refers to any axis of rotation perpendicular to the horizontal plane.
  • surface in the framework of this application, refers to any solid base necessary for the operation of a contact type remote control device.
  • a base is required on which the mouse will move during operation.
  • the term "user" in the framework of this application means a person using an inertial device or other device for remote control of the human-computer interface.
  • scale factors in the framework of the present application refers to numerical constants that linearly relate the measured inertial device angular velocities and speeds of cursor movement on the screen or the speed of scrolling and / or scaling of objects of the screen interface.
  • the device is assembled in a housing, the material of which may be metal, plastic, glass, wood, or a combination of the above materials.
  • the implementation of the housing may be coated with paint, for example, soft touch or other
  • the sensors are ring-shaped and may be located closer to one end of the device body.
  • one or more of the sensors can be used to turn on the device, for example, the device is activated when there is contact between the user's hand and one of the sensor sensors
  • the device has the ability to detect when the user touches the device. This is used to prevent unwanted cursor control while the device is not in the hand. The device only starts when it is in your hand.
  • Some implementations of the device are equipped with a built-in microphone that can recognize voice commands.
  • the microphone is able to recognize not only the voice, but also characteristic clicks of the fingers, “scratching” and
  • the device has multiple touch or click sensors.
  • tactile feedback from the operation of sensors may be provided, for example,
  • a device for this comprises a vibratory motor.
  • touch sensors are used to control the graphical interface.
  • a device designed to control the position of the cursor, light, or any other graphic object
  • the role of controlled devices can be:
  • the device may
  • control sensors can be made in the form of sensors for changing the geometry of the surface of the housing or the housing of the device.
  • the housing is sealed with protection from dust, dirt, sand and water.
  • the device may be implemented in a housing that allows the device to be immersed in water.
  • the device contains a microprocessor that performs the calculations necessary to convert the data on the movement of the device into commands for controlling the electronic system.
  • the device comprises a data transmission channel from the device to an electronic device controlled by it.
  • the data channel is wired, in other embodiments, wireless, for example, Bluetooth, a radio channel, or an optical channel.
  • wireless for example, Bluetooth, a radio channel, or an optical channel.
  • the preferred option is a wireless channel, preferably Bluetooth.
  • the housing has an elongated shape, such as an elongated cylinder, and in shape and size it is made as an average pen or pencil.
  • the device has a power source, such as a battery or battery.
  • a battery may be any battery suitable in shape and size, for example, AAA for the shape of a writing pen or pencil.
  • the housing of the device may have a mount or a hole for mounting
  • the configuration program may be executed in various ways and have both a graphical and a text interface.
  • parameters can be set in the form of records in a text configuration file, where the above parameters will be assigned numerical values. Subsequently, the program will read the values from this file and write to the memory of the inertial device.
  • a variant of the inertial device configuration program with a graphical interface is also possible.
  • the parameters that control the operating modes of the inertial device will be entered in the corresponding fields of the program, and after completion will be written to the memory by the command.
  • the software can be bundled with the device on any suitable medium or placed on the server of the manufacturer for further download.
  • FIG. 2 presents a device including:
  • the ATSAMD21E18A chip manufactured by Atmel is used, which is a micropower microcontroller based on the ARM CortexMO core.
  • the device is powered by a 1.5V battery or a AAA NiMH battery.
  • Touch sensors are brass rings coated with non-conductive paint
  • the body of the device consists of a metal thin-walled tube painted with soft-touch paint, metal rings of touch sensors and several plastic parts that serve to connect all of the above elements.
  • the rotation of the device around the axis is used to move the cursor on the computer screen left and right.
  • the rotation of the device around the axis is used to move the cursor on the computer screen left and right.
  • c is the cosine matrix of the transformation from B to L.
  • the longitudinal axis of the device will be called X.
  • the coordinate system of the screen is attached to the local horizon, and the Z axis is directed upward and aligned with the local gravity vector. If the device is at rest, the accelerometer measures acceleration:
  • C ' L is the cosine matrix of the transformation from L to B;
  • g is the acceleration of gravity
  • the scalar product of the second and third row must be zero.
  • This transformation is used to find the projections of the angular velocity of the device measured by the gyroscope on the axis of the coordinate system associated with the interface screen:
  • C-L is the angular velocity vector in the coordinate system associated with the screen
  • ⁇ ⁇ is the angular velocity vector in the coordinate system associated with the hand
  • the projection on the ⁇ axis is used to move the cursor left and right, and on the ⁇ axis to move up and down.
  • angular velocity along the X axis is used to implement additional functions, such as scrolling and menu navigation.
  • the cursor control function In positions when the X axis of the device is deviated from the vertical angle is less than the one specified by the user, the cursor control function is disabled and the device is used only for scrolling or scaling.
  • the device operation mode When exceeding the angular velocity module along the X axis of a predetermined threshold, the device operation mode
  • the X value of the angular velocity is used to scroll or scale the screen objects. If the value of the angular velocity is below the threshold value for a given period of time, the cursor position is returned to the control mode.
  • the device allows easy and ergonomic control of scrolling (up and down) and / or scaling
  • the cursor position is “frozen” and does not change even when the device position in space changes.
  • speed of rotation of the device around the longitudinal axis decreases below a predetermined
  • the device returns to normal operation, in which
  • the cursor position is controlled along two axes.
  • the device can unambiguously change the position of the cursor on the screen from left to right or up-down, when the device is rotated by the user in horizontal and / or
  • the device transforming its coordinate system, ensures that the axis, rotation around which it is used to move the screen interface cursor up and down and left and right, always tied to the horizontal position, regardless of the rotation of the device’s body around its longitudinal axis.
  • the above-described properties allow, in addition to the ability to hold the device in hand, not paying attention to its rotation around the longitudinal axis, use this rotation to control the screen interface, for example, by scrolling or scaling screen objects by rotating the device in the user's hand or the user's hand with the device .

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Position Input By Displaying (AREA)
  • Selective Calling Equipment (AREA)

Abstract

Le groupe d'inventions concerne la microélectronique et décrit un dispositif inertiel réalisé de manière à permettre de déterminer les grandeurs d'orientation du corps du dispositif dans les plans horizontal et vertical indépendamment de l'angle auquel ce corps et orienté par rapport à son axe longitudinal. L'invention concerne aussi des procédés de commande de systèmes électroniques au moyen du dispositif inertiel.
PCT/RU2016/000854 2015-12-23 2016-12-14 Dispositif inertiel et procédé de commande inertielle de systèmes électroniques WO2017111660A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CA3008423A CA3008423A1 (fr) 2015-12-23 2016-12-14 Dispositif inertiel et procede de commande inertielle de systemes electroniques

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
RU2015155141 2015-12-23
RU2015155141A RU2648938C2 (ru) 2015-12-23 2015-12-23 Инерциальное устройство и способы дистанционного управления электронными системами

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Publication Number Publication Date
WO2017111660A1 true WO2017111660A1 (fr) 2017-06-29

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CA (1) CA3008423A1 (fr)
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US20090267897A1 (en) * 2008-04-23 2009-10-29 Smk Corporation Remote control transmitter
US20130027297A1 (en) * 2006-11-07 2013-01-31 Apple Inc. 3d remote control system employing absolute and relative position detection
WO2013032410A1 (fr) * 2011-08-29 2013-03-07 Valicek Stefan Dispositif de commande d'ordinateur avec périphérique d'entrée à stylet multifonctionnel
US20150268666A1 (en) * 2013-07-31 2015-09-24 SZ DJI Technology Co., Ltd Remote control method and terminal
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RU2235362C2 (ru) * 2001-05-28 2004-08-27 Шелевой Константин Дмитриевич Ручка для рукописного ввода данных в компьютер
RU80036U1 (ru) * 2008-06-24 2009-01-20 Александр Петрович Алексеев Манипулятор для ввода информации
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US20130027297A1 (en) * 2006-11-07 2013-01-31 Apple Inc. 3d remote control system employing absolute and relative position detection
US20090267897A1 (en) * 2008-04-23 2009-10-29 Smk Corporation Remote control transmitter
WO2013032410A1 (fr) * 2011-08-29 2013-03-07 Valicek Stefan Dispositif de commande d'ordinateur avec périphérique d'entrée à stylet multifonctionnel
US20150268666A1 (en) * 2013-07-31 2015-09-24 SZ DJI Technology Co., Ltd Remote control method and terminal
US20150346824A1 (en) * 2014-05-27 2015-12-03 Apple Inc. Electronic Devices with Low Power Motion Sensing and Gesture Recognition Circuitry

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RU2648938C2 (ru) 2018-03-28
RU2015155141A (ru) 2017-06-29

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