CN101924856A - Method and device for testing manuscript inclining angle - Google Patents
Method and device for testing manuscript inclining angle Download PDFInfo
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- CN101924856A CN101924856A CN2009100866662A CN200910086666A CN101924856A CN 101924856 A CN101924856 A CN 101924856A CN 2009100866662 A CN2009100866662 A CN 2009100866662A CN 200910086666 A CN200910086666 A CN 200910086666A CN 101924856 A CN101924856 A CN 101924856A
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Abstract
The invention provides a method for testing a manuscript inclining angle, which comprises the steps of: scanning a manuscript to obtain a current connecting area and updating a buffer area, calculating an inclining rate of the connecting area in the updated buffer area and updating the array of the inclining rate, judging if ending the scanning of the manuscript, and calculating an inclining angle of the manuscript according to a maximum inclining rate in the array of the inclining rate when ending the scanning of the manuscript, or, continuing to scan the manuscript. The invention solves the problem of the prior art that the images are scanned twice by using the method of confirming the inclining angle of the image according to the inclining angle of partial image, which increases the buffer data volume and slows down the scanning speed. Besides, the invention also provides a device for testing a manuscript inclining angle.
Description
Technical field
The present invention relates to image processing field, in particular to a kind of method and apparatus of manuscript inclining angle detection.
Background technology
In the prior art, it is line fitting method and Hough (Hough) transform method that manuscript inclining angle detects modal method.Line fitting method is a series of to (x y) simulates straight line, and the slope by this straight line just can obtain the angle of inclination by finding.The Hough transform method is meant straight line the longest in the detected image, and the slope according to straight line draws the angle of inclination then, and the prerequisite that this method is used is that long straight line is arranged in the image, and straight slope is consistent with manuscript inclining angle.
Prior art realizes at software often, realizes that for hardware algorithm complexity is higher and hardware cost is bigger.Need to rely on some specific conditions simultaneously, such as Hough change detection angle of inclination, this method need obtain the frame information of whole manuscript, detects straight line from frame, draws the angle of inclination then; If manuscript does not have frame information, the result of Hough change detection will be difficult to guarantee.The method of fitting a straight line then will rely on the result that the colleague detects, and just must be that the result that the character with delegation calculates just might be accurate.
Also proposed the method that other manuscript inclining angle detects in the prior art, determined the angle of inclination of manuscript image, and therefore this method is difficult to guarantee precision owing to lack analysis to entire image as the angle of inclination of foundation parts of images.
In realizing process of the present invention, the inventor finds to determine that according to the angle of inclination of parts of images the method at the angle of inclination of manuscript image need cause amount of buffered data bigger to image scanning twice in the prior art that speed is slower.
Summary of the invention
The present invention aims to provide the method and apparatus that a kind of manuscript inclining angle detects, can solve in the prior art and determine that according to the angle of inclination of parts of images the method at the angle of inclination of manuscript image need be to twice of image scanning, cause amount of buffered data bigger, slow problem.
In an embodiment of the present invention, the method that provides a kind of manuscript inclining angle to detect may further comprise the steps:
The scanning manuscript obtains current connected domain, upgrades buffering area;
According to connected domain slope calculations in the buffering area after upgrading, upgrade the slope array;
Judge the whether end of scan of manuscript;
When the manuscript end of scan, according to the slope of contribution degree maximum in the slope array,
Calculate the angle of inclination of manuscript,
Otherwise, continue the scanning manuscript.
In an embodiment of the present invention, the device that also provides a kind of manuscript inclining angle to detect comprises:
Scan module is used to scan manuscript and obtains current connected domain (block), upgrades buffering area;
Computing module, all the connected domain slope calculations in the buffering area that is used for obtaining according to scan module are upgraded the slope array;
Judge module is used to judge whether scan module scanning manuscript finishes;
Filtration module is used for when the manuscript end of scan, according to the slope of contribution degree maximum in the slope array, calculates the angle of inclination of manuscript.
The foregoing description is by the run-down manuscript, to scan manuscript according to the scanning direction and obtain current connected domain, be updated to the slope array that calculates connected domain behind the buffering area, last slope according to contribution degree maximum in the slope array, calculate the angle of inclination of manuscript, reduced amount of buffered data, thereby accelerated to detect the speed of manuscript inclining angle, improved the precision that manuscript inclining angle detects, overcome in the prior art and determined that according to the angle of inclination of parts of images the method at the angle of inclination of manuscript image need be to twice of image scanning, cause amount of buffered data bigger, slow problem.
Description of drawings
Accompanying drawing described herein is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 shows the method flow diagram of manuscript inclining angle detection according to an embodiment of the invention;
Fig. 2 shows connected domain schematic diagram according to an embodiment of the invention;
Fig. 3 shows the schematic diagram of slope between according to a preferred embodiment of the present invention two connected domains of calculating;
Fig. 4 show according to an embodiment of the invention when buffering area is expired the schematic diagram of slope calculations;
Fig. 5 show according to an embodiment of the invention when buffering area less than the time slope calculations schematic diagram;
Fig. 6 shows the method flow diagram that manuscript inclining angle according to a preferred embodiment of the present invention detects;
Fig. 7 shows the device schematic diagram of manuscript inclining angle detection according to an embodiment of the invention.
Embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, describe the present invention in detail.
Fig. 1 shows the method flow diagram of manuscript inclining angle detection according to an embodiment of the invention, may further comprise the steps:
S102, the scanning manuscript obtains current connected domain, upgrades the size of buffering area;
S104 according to the connected domain slope calculations of upgrading in the buffering area of back, upgrades the slope array;
S106 judges the whether end of scan of manuscript, when the manuscript end of scan, and execution in step S108, otherwise, re-execute step S102;
S108 according to the slope of contribution degree maximum in the slope array, calculates the angle of inclination of manuscript.
The foregoing description is by the run-down manuscript, to scan manuscript according to the scanning direction and obtain current connected domain, be updated to the slope array that calculates connected domain behind the buffering area, last slope according to contribution degree maximum in the slope array, calculate the angle of inclination of manuscript, reduced amount of buffered data, thereby accelerated to detect the speed of manuscript inclining angle, improved the precision that manuscript inclining angle detects, overcome in the prior art and determined that according to the angle of inclination of parts of images the method at the angle of inclination of manuscript image need be to twice of image scanning, cause amount of buffered data bigger, slow problem.
Preferably, the slope of above-mentioned contribution degree maximum is to call the gaussian filtering algorithm slope array is handled, the slope that the occurrence number that obtains is maximum, and the gaussian filtering algorithm has denoising performance preferably, is fit to present embodiment.
Preferably, above-mentioned connected domain block is meant the connected region that continuous black pixel point constitutes, Fig. 2 shows connected domain schematic diagram according to an embodiment of the invention, as shown in Figure 2, English alphabet " ABC " comprises three connected domains, and the minimum boundary rectangle of its connected domain is respectively 21,22 and 23; Chinese " good " comprises four connected domains, and the minimum boundary rectangle of its connected domain is respectively 24,25,26 and 27.
Each connected domain comprises following information: the minimum boundary rectangle upper left corner point coordinates of connected domain and height, width and the center point coordinate of minimum boundary rectangle.
Preferably, in the method that above-mentioned manuscript inclining angle detects, upgrade buffering area and comprise:
If the size of current connected domain is normal, be stored to buffering area, redefine the size of buffering area.
Preferably, in the method that above-mentioned manuscript inclining angle detects, when buffering area less than the time, the normal size of connected domain is meant the reference dimension that sets in advance; When buffering area was expired, the normal size of connected domain was meant the connected domain of buffering area is carried out connected domain size after the small size Filtering Processing.
May there be the situation of multicolumn in whole manuscript, and the character size in the different hurdles might be inconsistent, therefore needs dynamic calculation connected domain normal size.In the above-described embodiments, when buffering area is expired, carry out the small size Filtering Processing, obtain normal dimension information by size to the connected domain in the buffering area.
Preferably, above-mentioned small size filtering is the filtering of one dimension Gaussian filter, and character duration histogram and character height histogram are done Filtering Processing respectively, removes interference of noise.
Preferably, above-mentioned one dimension Gaussian filter is 5 * 1 one dimension Gaussian filter, adopts 5 * 1 the suitable present embodiment of one dimension Gaussian filter.
Preferably, above-mentionedly store described current connected domain into buffering area, the size that redefines described buffering area comprises:
When buffering area less than the time, current connected domain is put into buffering area, simultaneously according to the positional information of all connected domains in the buffering area, determine to comprise in the buffering area the minimum boundary rectangle of all connected domains;
When buffering area is expired, the connected domain of putting at first in the buffering area is shifted out, and current connected domain is put into buffering area, simultaneously according to the positional information of all connected domains in the buffering area, determine to comprise in the buffering area the minimum boundary rectangle of all connected domains.
Preferably, in the method that above-mentioned manuscript inclining angle detects,, upgrade the slope array and comprise according to the connected domain slope calculations of buffering area:
Calculate the slope between target connected domain and the connected domain around it;
When slope in predefined slope range and the distance of its corresponding connected domain and target connected domain during less than distance threshold, above-mentioned slope is recorded in the slope array.
Fig. 3 shows the schematic diagram of slope between according to a preferred embodiment of the present invention two connected domains of calculating.Slope between two connected domains is that the center point coordinate according to two connected domains calculates.As shown in Figure 3, Chinese " ten days " comprises two connected domains, and the slope between connected domain 31 and the connected domain 32 is by the central point 33 of connected domain 31 and the straight slope of the central point 34 of connected domain 32.
Preferably, above-mentioned predefined slope range is (tan α, tan α), and wherein the span of slope threshold value tan α is (0, tan6 °); Above-mentioned distance threshold is to be the maximums of horizontal two intersection points of minimum boundary rectangle up-and-down boundary of the straight line of slope threshold value and buffering area to target connected domain distance by target connected domain and slope.
Preferably, when buffering area less than the time, the target connected domain is current connected domain; When buffering area was expired, the target connected domain was to be positioned at the middle connected domain of buffering area.
Fig. 4 show according to an embodiment of the invention when buffering area is expired the schematic diagram of slope calculations, as shown in Figure 4, the connected domain block 1 that puts into first in the current buffering area is moved out of, connected domain block 2 is current connected domains of putting into buffering area.The original size of buffering area is the rectangle L1 of dotted portion, because new block adds, the buffering area scope after the renewal is rectangle L2, and the connected domain block 3 in the middle of being positioned at then is the target connected domain that needs slope calculations.Calculate the slope between other block of L2 in target connected domain block 3 and the buffering area successively, when slope is in predefined slope range (tan α, tan α) in and block, then slope is recorded in the slope array during to the distance of target connected domain block 3 less than distance threshold R.Wherein, the span of slope threshold value tan α is (0, tan6 °), R is for by target connected domain block 3 and slope being the maximum that horizontal two intersection points of minimum boundary rectangle L2 up-and-down boundary of straight line and the buffering area of tan α arrive target connected domain block 3 distances.Finally, the slope of connected domain is recorded in the slope array in the sector region L3, and the slope that is in the block outside the sector region L3 does not need to write down.
Fig. 5 show according to an embodiment of the invention when buffering area less than the time slope calculations schematic diagram, as shown in Figure 5, the original size of buffering area is the rectangle L1 of dotted portion, because new block adds, buffering area scope after the renewal is rectangle L2, and the current connected domain block 2 that puts into buffering area is target block.Calculate the slope between other block of L2 in target connected domain block2 and the buffering area successively, when slope is in predefined slope range (tan α, tan α) in and block, then slope is recorded in the slope array during to the distance of target connected domain block 2 less than distance threshold R.Wherein, the span of slope threshold value tan α is (0, tan6 °), R is for by target connected domain block 2 and slope being the maximum that horizontal two intersection points of minimum boundary rectangle L2 up-and-down boundary of straight line and the buffering area of tan α arrive target connected domain block 2 distances.Finally, the slope of connected domain is recorded in the slope array in the sector region L3, and the slope that is in the block outside the sector region L3 does not need to write down.
Preferably, in the method that above-mentioned manuscript inclining angle detects, call the gaussian filtering algorithm and the slope array is handled the angle of inclination that obtains manuscript specifically comprise:
According to required precision, determine the size of gaussian filtering, and generate corresponding Gaussian filter;
By Gaussian filter, above-mentioned slope array is carried out gaussian filtering twice, obtain the maximum slope of occurrence number;
The angle of inclination that maximum slopes calculates manuscript appears according to above-mentioned number of times.
In the present embodiment, the slope range of setting is (tan5.5 a °, tan5.5 °), and the angle of inclination of the manuscript that calculates is 3.5 °.
Fig. 6 shows the method flow diagram that manuscript inclining angle according to a preferred embodiment of the present invention detects, and may further comprise the steps:
S202: the scanning manuscript obtains new connected domain block;
S204: judge whether buffering area full,, then carry out S206 if buffering area has been full, if buffering area less than, then carry out S208;
S206: the normal size that calculates connected domain block;
S208: judge whether current connected domain block size is normal,, then carry out S210,, then carry out S202 if size is undesired if size is normal;
S210: upgrade buffering area;
S212:, upgrade the slope array according to connected domain slope calculations in the buffering area;
S214: judge that whether manuscript scanning finishes, if the end of scan is then carried out S216, if scanning does not finish, then carries out S202;
S216: gaussian filtering obtains final manuscript inclining angle;
According to required precision, determine the gaussian filtering size in the foregoing description, and generate Gaussian filter.After carrying out twice gaussian filtering by the slope array that step S212 is obtained, obtain the maximum slope of occurrence number, and then try to achieve final manuscript inclining angle.
Fig. 7 shows the device schematic diagram of manuscript inclining angle detection according to an embodiment of the invention, comprising:
The foregoing description is by the run-down manuscript, to scan according to the scanning direction and calculate the slope array after connected domain that manuscript obtains is updated to buffering area, last slope according to contribution degree maximum in the slope array, calculate the angle of inclination of manuscript, reduced amount of buffered data, thereby accelerated to detect the speed of manuscript inclining angle, improved the precision that manuscript inclining angle detects, overcome in the prior art and determined that according to the angle of inclination of parts of images the method at the angle of inclination of manuscript image need be to twice of image scanning, cause amount of buffered data bigger, slow problem.
Preferably, the slope of above-mentioned contribution degree maximum is to call the gaussian filtering algorithm slope array is handled, the slope that the occurrence number that obtains is maximum, and the gaussian filtering algorithm has denoising performance preferably, is fit to present embodiment.
Each boundary rectangle comprises following information: upper left corner location, highly, width and center of mass point position.
Preferably, above-mentioned scan module comprises:
First judging unit is used to judge whether the size of connected domain is normal.
Preferably, above-mentioned scan module also comprises:
Second judging unit is used to judge whether buffering area is full.
Preferably, in the device that above-mentioned manuscript inclining angle detects, when buffering area less than the time, the normal size of connected domain is meant the reference dimension that sets in advance; When buffering area was expired, the normal size of connected domain was meant the connected domain of buffering area is carried out connected domain size after the small size Filtering Processing.
May there be the situation of multicolumn in whole manuscript, and the character size in the different hurdles might be inconsistent, therefore needs dynamic calculation connected domain block normal size.In the above-described embodiments, when buffering area is expired, carry out the small size Filtering Processing, obtain normal dimension information by size to the connected domain block in the buffering area.
Preferably, above-mentioned small size filtering is the one dimension gaussian filtering, and character duration histogram and character height histogram are done Filtering Processing respectively, removes interference of noise.
Preferably, above-mentioned one dimension gaussian filtering is 5 * 1 one dimension gaussian filtering, adopts 5 * 1 the suitable present embodiment of one dimension gaussian filtering.
Preferably, the aforementioned calculation module comprises:
First computing unit, be used for calculating the slope between buffering area target connected domain and the connected domain around it, when slope in predefined slope range and the distance of its corresponding connected domain and target connected domain during less than distance threshold, slope is recorded in the slope array.
Preferably, in the above-described embodiments, when buffering area less than the time, the target connected domain is current connected domain; When buffering area was expired, the target connected domain was to be positioned at the middle connected domain of buffering area.
Preferably, filtration module comprises:
Generation unit is used for according to required precision, determines the size of gaussian filtering, and generates corresponding Gaussian filter;
Second computing unit is used for the Gaussian filter according to the generation unit generation, and the slope array that is obtained by computing module is carried out gaussian filtering twice, obtains the maximum slope of occurrence number;
The 3rd computing unit, the angle of inclination that the slope that is used for obtaining according to second computing unit calculates manuscript.
Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with the general calculation device, they can concentrate on the single calculation element, perhaps be distributed on the network that a plurality of calculation element forms, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in the storage device and carry out by calculation element, perhaps they are made into each integrated circuit modules respectively, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (19)
1. the method that manuscript inclining angle detects is characterized in that, may further comprise the steps:
The scanning manuscript obtains current connected domain, upgrades buffering area;
According to the connected domain slope calculations of upgrading in the described buffering area in back, upgrade the slope array;
Judge the whether end of scan of described manuscript;
When the described manuscript end of scan,, calculate the angle of inclination of described manuscript according to the slope of contribution degree maximum in the described slope array.
Otherwise, continue the described manuscript of scanning.
2. the method that manuscript inclining angle according to claim 1 detects is characterized in that the slope of described contribution degree maximum is to call the gaussian filtering algorithm described slope array to be handled the slope that the occurrence number that obtains is maximum.
3. the method that manuscript inclining angle according to claim 2 detects is characterized in that, upgrades buffering area and comprises:
When the size of described current connected domain just often, be stored to buffering area, redefine the size of described buffering area.
4. the method that manuscript inclining angle according to claim 3 detects is characterized in that
When described buffering area less than the time, the normal size of described connected domain is meant the reference dimension that sets in advance;
When described buffering area was expired, the normal size of described connected domain was meant the connected domain of buffering area is carried out connected domain size after the small size Filtering Processing.
5. the method that manuscript inclining angle according to claim 4 detects is characterized in that described small size filtering is the filtering of one dimension Gaussian filter.
6. the method that manuscript inclining angle according to claim 5 detects is characterized in that described one dimension Gaussian filter is 5 * 1 one dimension Gaussian filter.
7. the method that manuscript inclining angle according to claim 3 detects is characterized in that store described current connected domain into buffering area, the size that redefines described buffering area comprises:
When described buffering area less than the time, described current connected domain is put into described buffering area, simultaneously according to the positional information of all connected domains in the described buffering area, determine the minimum boundary rectangle that comprises all connected domains of described buffering area;
When described buffering area is expired, the connected domain of putting at first in the buffering area is shifted out, and described current connected domain put into described buffering area, simultaneously according to the positional information of all connected domains in the described buffering area, determine the minimum boundary rectangle that comprises all connected domains of described buffering area.
8. the method that manuscript inclining angle according to claim 7 detects is characterized in that, according to the connected domain slope calculations of described buffering area, upgrades the slope array and comprises: calculate the slope between target connected domain and the connected domain around it;
When described slope in predefined slope range and the distance of its corresponding connected domain and described target connected domain during less than distance threshold, described slope is recorded in the slope array.
9. the method that manuscript inclining angle according to claim 8 detects is characterized in that,
Described slope range is (tan α, tan α), and wherein the span of slope threshold value tan α is (0, tan6 °);
Described distance threshold is to be the maximums of horizontal two intersection points of minimum boundary rectangle up-and-down boundary of the straight line of described slope threshold value and described buffering area to described target connected domain distance by described target connected domain and slope.
10. the method that manuscript inclining angle according to claim 8 detects is characterized in that,
When described buffering area less than the time, described target connected domain is described current connected domain;
When described buffering area was expired, described target connected domain was to be positioned at the middle connected domain of described buffering area.
11. the method that manuscript inclining angle according to claim 8 detects is characterized in that, according to the slope of contribution degree maximum in the described slope array, the angle of inclination that calculates described manuscript specifically comprises:
According to required precision, determine the size of gaussian filtering, and generate corresponding Gaussian filter;
By described Gaussian filter described slope array is carried out gaussian filtering twice, obtain the maximum slope of occurrence number;
Calculate the angle of inclination of described manuscript according to described slope.
12. the device that manuscript inclining angle detects is characterized in that, comprising:
Scan module is used to scan manuscript and obtains current connected domain, upgrades buffering area;
Computing module is used for according to all the connected domain slope calculations in the described buffering area, upgrades the slope array;
Judge module is used to judge whether described scan module scanning manuscript finishes;
Filtration module is used for when the described manuscript end of scan, according to the slope of contribution degree maximum in the described slope array, calculates the angle of inclination of described manuscript.
13. the device that manuscript inclining angle according to claim 12 detects is characterized in that the slope of described contribution degree maximum is to call the gaussian filtering algorithm described slope array to be handled the slope that the occurrence number that obtains is maximum.
14. the device that manuscript inclining angle according to claim 12 detects is characterized in that described scan module comprises:
First judging unit is used to judge whether the size of described connected domain is normal.
15. the device that manuscript inclining angle according to claim 14 detects is characterized in that described scan module also comprises:
Second judging unit is used to judge whether described buffering area is full.
16. the device that manuscript inclining angle according to claim 15 detects is characterized in that,
When described buffering area less than the time, the normal size of described connected domain is meant the reference dimension that sets in advance;
When described buffering area was expired, the normal size of described connected domain was meant the connected domain of buffering area is carried out connected domain size after the small size Filtering Processing.
17. the device that manuscript inclining angle according to claim 16 detects is characterized in that described computing module comprises:
First computing unit, be used for calculating the slope between buffering area target connected domain and the connected domain around it, when described slope in predefined slope range and the distance of its corresponding connected domain and described target connected domain during less than distance threshold, described slope is recorded in the slope array.
18. the device that manuscript inclining angle according to claim 17 detects is characterized in that,
When described buffering area less than the time, described target connected domain is described current connected domain;
When described buffering area was expired, described target connected domain was to be positioned at the middle connected domain of described buffering area.
19. the device that manuscript inclining angle according to claim 13 detects is characterized in that described filtration module comprises:
Generation unit is used for according to required precision, determines the size of gaussian filtering, and generates corresponding Gaussian filter;
Second computing unit is used for the described Gaussian filter according to described generation unit generation, and the slope array that is obtained by described computing module is carried out gaussian filtering twice, obtains the maximum slope of occurrence number;
The 3rd computing unit is used for the angle of inclination of calculating described manuscript according to the slope that described second computing unit obtains.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910086666 CN101924856B (en) | 2009-06-17 | 2009-06-17 | Method and device for testing manuscript inclining angle |
| JP2010101988A JP5244850B2 (en) | 2009-06-17 | 2010-04-27 | Document tilt angle detection method and document tilt angle detection apparatus |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200910086666 CN101924856B (en) | 2009-06-17 | 2009-06-17 | Method and device for testing manuscript inclining angle |
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| CN101924856B CN101924856B (en) | 2013-06-19 |
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| CN114972824A (en) * | 2022-06-24 | 2022-08-30 | 小米汽车科技有限公司 | Rod detection method and device, vehicle and storage medium |
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| JP2006211544A (en) * | 2005-01-31 | 2006-08-10 | Kyocera Mita Corp | Image forming apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20050035453A (en) * | 2003-10-13 | 2005-04-18 | 학교법인 서강대학교 | Method for spatial deinterlacing using block based region clasification |
| CN1734471A (en) * | 2004-08-10 | 2006-02-15 | 明基电通股份有限公司 | Method and apparatus for estimating file inclination |
| CN101149801A (en) * | 2007-10-23 | 2008-03-26 | 北京大学 | Complex structure file image inclination quick detection method |
| CN101425142A (en) * | 2008-09-17 | 2009-05-06 | 北大方正集团有限公司 | Method and device for determining page angle of slope |
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| CN114972824A (en) * | 2022-06-24 | 2022-08-30 | 小米汽车科技有限公司 | Rod detection method and device, vehicle and storage medium |
Also Published As
| Publication number | Publication date |
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| JP2011003181A (en) | 2011-01-06 |
| CN101924856B (en) | 2013-06-19 |
| JP5244850B2 (en) | 2013-07-24 |
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