EP1232988A1 - Verfahren zur Erzeugung von einer Aufzugssteuerung dienender Schachtinformation - Google Patents
Verfahren zur Erzeugung von einer Aufzugssteuerung dienender Schachtinformation Download PDFInfo
- Publication number
- EP1232988A1 EP1232988A1 EP02405119A EP02405119A EP1232988A1 EP 1232988 A1 EP1232988 A1 EP 1232988A1 EP 02405119 A EP02405119 A EP 02405119A EP 02405119 A EP02405119 A EP 02405119A EP 1232988 A1 EP1232988 A1 EP 1232988A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- image
- shaft
- elevator
- determined
- elevator shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3492—Position or motion detectors or driving means for the detector
Definitions
- the invention relates to a method for generating an elevator control serving shaft information a Elevator shaft with one movable in the elevator shaft Elevator car, the shaft information from figuratively recognizable patterns is generated.
- a device is known from the patent specification EP 0 722 903 B1 for generating shaft information of an elevator shaft known.
- the elevator shaft is in the area Stop arranged a reflector with a code.
- the Code has two identical tracks.
- a drive-in area a stop in which the bridging of door contacts is allowed, is half above and below one Level line.
- the Code of the tracks is made by one at the elevator car arranged 2-channel evaluation device detected and evaluated. Transmitters of the evaluation device illuminate the Traces of a reflector.
- the illuminated areas of the Traces are on the evaluation unit's CCD sensors mapped and recorded using a pattern recognition logic.
- the processing of the images for the elevator control serving information takes place by means of a Computing device.
- a disadvantage of the known device is that to create a pattern in the elevator shaft arranged code strip is necessary.
- the code strip must be precise and without overstretching in the elevator shaft to be ordered. Furthermore, it is not guaranteed that the code strip is not completely off the pad or partially solves. Improper assembly or an Detaching the code strip has no or wrong patterns Episode.
- the invention seeks to remedy this.
- the invention as characterized in claim 1, solves the problem to avoid the disadvantages of the known device and to provide a system and procedure by which the Generation from an elevator control serving Manhole information is guaranteed in every case.
- the advantages achieved by the invention are in essential to see that no additional Installation in the elevator shaft is necessary.
- the Installation time of the elevator can be significant be shortened.
- To generate the shaft information one with sensors arranged on the elevator car is sufficient provided evaluation unit.
- the shaft information system delivers the as soon as it starts without the Elevator car an absolute position.
- it can System floor stop positions manage and so far used shaft switch for example for the Brake insert, for door zones, for emergency stops or others Simulate shaft switch.
- the system is therefore compatible with existing elevator controls.
- 1 shows the system according to the invention for generating Shaft information.
- the current one Direction of travel of the elevator car is with an arrow P1 designated.
- the CCD line sensor is P1 in the direction of travel arranged in the elevator car and has, for example, 128 Picture elements.
- a section for example, the foot 1.1 of the guide rail 1 of for example, measured 2 cm measured in the direction of travel P1 become.
- the picture shows the Surface structure or the surface pattern of the Guide rail portion.
- the CCD line sensor can for example with fast-moving elevator cars an image frequency of 1000 Hz, the Picture elements convert the incident light into charges.
- the charges are evaluated in the CCD line camera 3 and processed to image data that is sent to a computer be transmitted.
- Illumination 4 radiates the one to be detected Guide rail section, the section reflected light in charges of the picture elements of the CCD line sensor is converted.
- To improve the Image quality can be 4 flashed LEDs or lighting Halogen lamps are used. Furthermore, the Image quality through digital filtering and / or through certain methods of image processing are improved.
- the surface structure or Surface pattern of the guide rail 1 can for example the surface structure or the Surface pattern of the masonry of the elevator shaft 2 or the surface structure or the surface pattern of Construction parts (steel beams) of the elevator shaft 2 are captured by the CCD line camera 3.
- Guide rail, Masonry or structural parts serve primarily not the generation of shaft information, but perform their traditional tasks such as leadership and / or Carrying the elevator car and / or counterweight or Carrying parts of buildings.
- the CCD line camera 3 recorded surface structure or the surface pattern in the Memory of the computer together with a position index stored.
- the elevator car is moved to the desired height, the position recorded by the system and as a floor setpoint managed.
- Two redundant systems can be used to increase security be provided.
- One system records the Surface structure or the surface pattern of one Guide rail, the other system detects the Surface structure or the surface pattern of the others Guide rail.
- both systems can Surface structure or the surface pattern of the same Detect the guide rail.
- the output signals of one Systems can act as a training signal for the other system and vice versa. If since Calibration of the surface structure or that Surface pattern that has changed a guide rail, can the new surface structure or the new Surface pattern with the position data of the other Systems are provided.
- Fig. 1 is the image of the surface structure or Surface pattern of the guide rail section of the Position i shown with a solid line, the Image already captured and the associated absolute position has been determined.
- Fig. 1 shows the method for Determination of the image of the surface structure or Surface pattern of the guide rail section of the Position i + 1.
- the new picture with the position i + 1 is with dashed line and is with the image of Position i overlapping.
- the image data are not on the transfer shown computer with memory.
- a first one software-implemented correlator I of the computer calculated from the image of position i and the new image position i + 1 is an incremental or relative position and from this using the absolute position i an estimated position.
- the estimated position of the Image with the position i + 1 becomes a second Correlator II of the computer implemented in software fed that with the estimated position the relevant Localized database section in which the at Calibration filed image lies. As explained above, is add a position index to the stored image.
- the Correlator II compares the new image of position i + 1 with the stored image and determined based on the Position indexes the absolute position i + 1 that corresponds to the Elevator control is forwarded.
- a CCD line camera 3 with a Optics and provided with a CCD line sensor instead of the line sensor can also be a two-dimensional one Area sensor may be provided.
- the picture elements of the Direction of travel are perpendicular dimension averaged, creating a one-dimensional brightness profile arises.
- the speed v of the elevator car can be determined from the difference in position p1 at time t1 and position p2 at time t2.
- v (p2-p1) / (t2-t1)
- a double sensor system can also be used are used with two LEDs as light sources and two photo resistors as brightness detectors.
- at moving elevator car corresponds to the one signal delayed mapping of the other signal.
- the two Signals can be compared using correlation methods and the speed of the elevator car can be adjusted by means of the Time delay and the distance between the sensors determined become.
- the position can be achieved by integrating the Speed and on the other hand by comparison with the saved during calibration and running later corrected data can be determined.
- the correlation (correlator I or Correlator II) a current image with a reference image correlated.
- a correlation window is extracted and then pixel by pixel over the reference image pushed.
- the difference of the Pixel gray values determined and then their squares summed up. This calculation method determines the Length of the difference vector between two image vectors, the correspond to the one-dimensional images.
- the pixel-by-pixel calculation of correlation values also enables a reliability value to be derived.
- the correlation values are at a minimum because two quasi-identical images are approximately zero apart.
- the absolute minimum aM, the second best minimum zM and the standard deviation S over the entire correlation length are used to calculate a reliability value ZW.
- ZW (zM-aM) / S
- Fig. 2 shows the procedure for determining an incremental or relative position of a captured section for example the guide rail.
- the first Correlator I of the computer implemented in software calculated from the image of position i and the new image position i + 1 is an incremental or relative position.
- the image data of the CCD line camera 3 a one-dimensional image with pixels or pixels are extracted or generated. That also image vector or image called brightness vector is then in the Step S2 through a high pass and low pass filter stage directed.
- a high-pass filter By editing the image vector or Brightness vectors using a high-pass filter become external Interference with lighting profile suppressed.
- By editing the image vector or Brightness vector using a low-pass filter becomes thermal Noise from the CCD line scan camera eliminated.
- step S3 becomes the processed image vector or brightness vector position i + 1 a correlation window or a Correlation vector with defined length taken, where the correlation window in step S4 pixel by pixel over the Image vector of the previous image i is pushed.
- Step S5 becomes the distance between pixels i + 1 per pixel and pixel i calculated.
- step S6 Ralative shift between the image of position i and the image of the position i + 1 determined. 1 is the Relative position called incremental position.
- step S7 becomes the relative position to the previous one Absolute position i added.
- the new in Fig. 1 as estimated position is the designated absolute position decisive for the localization of the relevant Database cutout. According to step S7 for example three of the new absolute position nearest image vectors are read from the image database and fed to the sequence according to FIG. 3.
- Fig. 3 shows the procedure for determining an absolute Position of a detected section, for example the Guide rail.
- the second implemented in software Correlator II of the computer calculated from the image of the Position i and the new image of position i + 1 one absolute position.
- a tenth step S10 is off the image data of the CCD line camera 3 a one-dimensional Extracted or generated image with pixels.
- the image also called image vector or brightness vector is then in step S11 via a high pass and Low pass filter stage directed.
- step S12 becomes the processed image vector or brightness vector position i + 1 a correlation window or a Correlation vector with defined length taken, where the correlation window in step S13 pixel by pixel over the image vectors taken from the image database in step S7 is pushed.
- step S14 the distance per pixel between pixels i + 1 and pixels of the extracted image vectors calculated.
- step S15 the pixel becomes i + 1 with the smallest distance determines what the results in current absolute position.
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
Abstract
Description
eine schematische Darstellung des erfindungsgemässen Systems,
den Ablauf zur Bestimmung einer inkrementalen bzw. relativen Position eines erfassten Abschnittes einer Schachtstruktur und
den Ablauf zur Bestimmung einer absoluten Position eines erfassten Abschnittes.
ZW = (zM-aM)/S
Claims (8)
- Verfahren zur Erzeugung von einer Aufzugssteuerung dienender Schachtinformation eines Aufzugsschachtes mit einer im Aufzugsschacht verfahrbaren Aufzugskabine, wobei die Schachtinformation aus bildweise erkennbaren Mustern erzeugt wird,
dadurch gekennzeichnet, dass die Schachtinformation aus im Aufzugsschacht vorhandenen Mustern erzeugt wird, wobei als Muster die Oberflächenstruktur anderen Funktionen dienender Schachtbauteile oder Schachtausrüstung verwendet wird. - Verfahren nach Anspruch 1,
dadurch gekennzeichnet, dass aus den abschnittweise erfassten Mustern Bilder erzeugt werden, wobei eine relative Position eines aktuellen Bildes zu einem vorangehenden Bild und eine absolute Position des aktuellen Bildes bestimmt wird. - Verfahren nach den Ansprüchen 1 oder 2,
dadurch gekennzeichnet, dass aus der Überlappung eines Bildes der Position i+1 mit einem Bild der Position i eine relative Position bestimmt wird, wobei mit der relativen Position und der absoluten Position des Bildes i eine geschätzte Position bestimmt wird, die der Lokalisierung eines Ausschnittes einer Bilddatenbank dient und wobei aus dem Vergleich des lokalisierten Datenbankbildes mit dem aktuellen Bild die absolute Position des aktuellen Bildes bestimmt wird. - Verfahren nach Anspruch 3,
dadurch gekennzeichnet, dass die Bestimmung der Position mittels eines Vergleichs der einzelnen Bildpixels erfolgt, wobei die Distanz des aktuellen Pixels zu einem vorbekannten Pixel zur Bestimmung der Position massgebend ist. - Verfahren nach den Ansprüchen 3 oder 4,
dadurch gekennzeichnet, dass zur Überprüfung der Positionen ein Zuverlässigkeitswert bestimmt wird. - Verfahren nach einem der Ansprüche 3 bis 5,
dadurch gekennzeichnet, dass zur Erzeugung der Bilddatenbank der Aufzugsschacht durchfahren wird und die erfassten Muster mit einem Positionsindex versehen und in der Bilddatenbank abgelegt werden. - Verfahren nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet, dass die Oberflächenstruktur einer im Aufzugsschacht angeordneten Führungsschiene oder das Mauerwerk des Aufzugsschachtes als Muster verwendet wird. - Verfahren nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet, dass mindestens ein System bestehend aus einer CCD-Zeilenkamera und einem Rechner mit Speicher die Muster erfasst und die Positionen bestimmt.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DK02405119T DK1232988T3 (da) | 2001-02-20 | 2002-02-18 | Fremgangsmåde til opnåelse af en elevatorstyring tjenende skaktinformation |
EP02405119A EP1232988B1 (de) | 2001-02-20 | 2002-02-18 | Verfahren zur Erzeugung von einer Aufzugssteuerung dienender Schachtinformation |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP01810174 | 2001-02-20 | ||
EP01810174 | 2001-02-20 | ||
EP02405119A EP1232988B1 (de) | 2001-02-20 | 2002-02-18 | Verfahren zur Erzeugung von einer Aufzugssteuerung dienender Schachtinformation |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1232988A1 true EP1232988A1 (de) | 2002-08-21 |
EP1232988B1 EP1232988B1 (de) | 2004-07-21 |
Family
ID=8183745
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP02405119A Expired - Lifetime EP1232988B1 (de) | 2001-02-20 | 2002-02-18 | Verfahren zur Erzeugung von einer Aufzugssteuerung dienender Schachtinformation |
Country Status (18)
Country | Link |
---|---|
US (1) | US6612403B2 (de) |
EP (1) | EP1232988B1 (de) |
JP (1) | JP4283479B2 (de) |
CN (1) | CN1178838C (de) |
AR (1) | AR032717A1 (de) |
AT (1) | ATE271511T1 (de) |
AU (1) | AU783425B2 (de) |
BR (1) | BR0200457A (de) |
CA (1) | CA2370883C (de) |
DE (1) | DE50200642D1 (de) |
DK (1) | DK1232988T3 (de) |
ES (1) | ES2225748T3 (de) |
HK (1) | HK1049141A1 (de) |
MX (1) | MXPA02001741A (de) |
MY (1) | MY127975A (de) |
NO (1) | NO321417B1 (de) |
SG (1) | SG96681A1 (de) |
ZA (1) | ZA200201079B (de) |
Cited By (7)
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US7731000B2 (en) | 2004-02-27 | 2010-06-08 | Otis Elevator Company | Roll-calling mechanism based vision system for elevator positioning |
WO2016087528A1 (de) * | 2014-12-02 | 2016-06-09 | Inventio Ag | Verfahren und system zur bestimmung der position einer aufzugskabine |
WO2016096697A1 (de) * | 2014-12-16 | 2016-06-23 | Inventio Ag | Positionsermittlungssystem für einen aufzug |
WO2016096698A1 (de) * | 2014-12-15 | 2016-06-23 | Inventio Ag | Verfahren für die nachbearbeitung einer oberflächenstruktur von schachtmaterial |
EP3336030A1 (de) * | 2016-12-16 | 2018-06-20 | Otis Elevator Company | Optischer sensor |
WO2018210627A1 (de) | 2017-05-18 | 2018-11-22 | Inventio Ag | System und verfahren zur bestimmung der position einer aufzugkabine einer aufzuganlage |
WO2020001971A1 (de) | 2018-06-27 | 2020-01-02 | Inventio Ag | Verfahren und system zur bestimmung der position einer aufzugkabine einer aufzuganlage |
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DE50204874D1 (de) * | 2001-05-31 | 2005-12-15 | Inventio Ag | Einrichtung zur ermittlung der position einer schienengeführten aufzugskabine mit codeträger |
US6986409B2 (en) * | 2002-02-02 | 2006-01-17 | Bucher Hydraulics Ag | Apparatus for determining the position of an elevator car |
US20060232789A1 (en) * | 2002-12-30 | 2006-10-19 | Jae-Hyuk Oh | Position referencing system |
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WO2005115899A1 (ja) * | 2004-05-28 | 2005-12-08 | Mitsubishi Denki Kabushiki Kaisha | エレベータのレール継ぎ目検出装置、及びエレベータ装置 |
BRPI0415954B1 (pt) | 2004-05-31 | 2017-11-07 | Mitsubishi Denki Kabushiki Kaisha | Lifting appliance using a sensor unit to obtain information from a car ?? |
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EP2794452B1 (de) * | 2011-12-21 | 2017-04-05 | Kone Corporation | Aufzug |
US9352934B1 (en) | 2013-03-13 | 2016-05-31 | Thyssenkrupp Elevator Corporation | Elevator positioning system and method |
US9469501B2 (en) * | 2013-10-05 | 2016-10-18 | Thyssenkrupp Elevator Corporation | Elevator positioning clip system and method |
CN104016201A (zh) * | 2014-05-30 | 2014-09-03 | 日立电梯(中国)有限公司 | 电梯轿厢绝对位置检测装置 |
CN107207191A (zh) * | 2015-02-04 | 2017-09-26 | 奥的斯电梯公司 | 用于无绳电梯系统的位置确定 |
CN105151940A (zh) * | 2015-10-22 | 2015-12-16 | 日立电梯(中国)有限公司 | 电梯轿厢绝对位置检测系统及检测方法 |
CN105173949A (zh) * | 2015-10-22 | 2015-12-23 | 日立电梯(中国)有限公司 | 电梯轿厢相对位置和速度检测系统及检测方法 |
US10479648B2 (en) | 2017-05-12 | 2019-11-19 | Otis Elevator Company | Automatic elevator inspection systems and methods |
US10577221B2 (en) | 2017-05-12 | 2020-03-03 | Otis Elevator Company | Imaging inspection systems and methods for elevator landing doors |
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ES2870974T3 (es) | 2017-05-12 | 2021-10-28 | Otis Elevator Co | Sistemas y métodos de inspección de ascensor automático |
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JP7100515B2 (ja) * | 2018-07-06 | 2022-07-13 | 株式会社日立製作所 | エレベーター |
JP7120976B2 (ja) * | 2019-08-30 | 2022-08-17 | 株式会社日立製作所 | 計測装置、エレベータシステムおよび計測方法 |
JP7418369B2 (ja) | 2021-02-26 | 2024-01-19 | 株式会社日立製作所 | 計測装置、エレベーターシステム、及びエレベーター運行方法 |
WO2022249383A1 (ja) * | 2021-05-27 | 2022-12-01 | 株式会社日立製作所 | かご位置検出装置、並びにそれを用いるエレベータの安全装置 |
WO2022269893A1 (ja) * | 2021-06-25 | 2022-12-29 | 株式会社日立製作所 | かご位置検出装置、並びにそれを用いるエレベータの安全装置 |
WO2023175859A1 (ja) * | 2022-03-17 | 2023-09-21 | 株式会社日立製作所 | エレベータ装置 |
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2002
- 2002-01-31 SG SG200200590A patent/SG96681A1/en unknown
- 2002-02-05 JP JP2002027698A patent/JP4283479B2/ja not_active Expired - Fee Related
- 2002-02-06 CA CA002370883A patent/CA2370883C/en not_active Expired - Fee Related
- 2002-02-07 ZA ZA200201079A patent/ZA200201079B/xx unknown
- 2002-02-15 MY MYPI20020516A patent/MY127975A/en unknown
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Cited By (21)
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US7731000B2 (en) | 2004-02-27 | 2010-06-08 | Otis Elevator Company | Roll-calling mechanism based vision system for elevator positioning |
DE112004002766B4 (de) * | 2004-02-27 | 2014-08-28 | Otis Elevator Co. | Positioniersystem für einen Aufzug |
AU2015357119B2 (en) * | 2014-12-02 | 2019-04-04 | Inventio Ag | Method and system for determining the position of a lift car |
US20170349399A1 (en) * | 2014-12-02 | 2017-12-07 | Inventio Ag | Method and apparatus for determining the position of an elevator car |
US10549947B2 (en) | 2014-12-02 | 2020-02-04 | Inventio Ag | Method and apparatus for determining the position of an elevator car |
KR20170089870A (ko) * | 2014-12-02 | 2017-08-04 | 인벤티오 아게 | 리프트 카의 포지션을 결정하기 위한 방법 및 시스템 |
WO2016087528A1 (de) * | 2014-12-02 | 2016-06-09 | Inventio Ag | Verfahren und system zur bestimmung der position einer aufzugskabine |
AU2015366482B2 (en) * | 2014-12-15 | 2019-04-18 | Inventio Ag | Method for post-processing a surface structure of shaft material |
RU2707203C2 (ru) * | 2014-12-15 | 2019-11-25 | Инвенцио Аг | Способ заключительной обработки поверхностной структуры материала шахты лифта и компоненты лифта |
US10696522B2 (en) | 2014-12-15 | 2020-06-30 | Inventio Ag | Method for post-processing a surface structure of shaft material |
WO2016096698A1 (de) * | 2014-12-15 | 2016-06-23 | Inventio Ag | Verfahren für die nachbearbeitung einer oberflächenstruktur von schachtmaterial |
WO2016096697A1 (de) * | 2014-12-16 | 2016-06-23 | Inventio Ag | Positionsermittlungssystem für einen aufzug |
KR20170098828A (ko) * | 2014-12-16 | 2017-08-30 | 인벤티오 아게 | 엘리베이터용 위치-결정 시스템 |
US10577220B2 (en) | 2014-12-16 | 2020-03-03 | Inventio Ag | Position-determination system for an elevator |
EP3336030A1 (de) * | 2016-12-16 | 2018-06-20 | Otis Elevator Company | Optischer sensor |
WO2018210627A1 (de) | 2017-05-18 | 2018-11-22 | Inventio Ag | System und verfahren zur bestimmung der position einer aufzugkabine einer aufzuganlage |
US11130654B2 (en) | 2017-05-18 | 2021-09-28 | Inventio Ag | System and method for determining the position of an elevator car of an elevator installation |
WO2020001971A1 (de) | 2018-06-27 | 2020-01-02 | Inventio Ag | Verfahren und system zur bestimmung der position einer aufzugkabine einer aufzuganlage |
CN112154114A (zh) * | 2018-06-27 | 2020-12-29 | 因温特奥股份公司 | 用于确定电梯设备的电梯轿厢的位置的方法和系统 |
AU2019295865B2 (en) * | 2018-06-27 | 2022-04-28 | Inventio Ag | Method and system for determining the position of an elevator car of an elevator installation |
CN112154114B (zh) * | 2018-06-27 | 2022-08-23 | 因温特奥股份公司 | 用于确定电梯设备的电梯轿厢的位置的方法和系统 |
Also Published As
Publication number | Publication date |
---|---|
DE50200642D1 (de) | 2004-08-26 |
NO20020817L (no) | 2002-08-21 |
US20020112926A1 (en) | 2002-08-22 |
AR032717A1 (es) | 2003-11-19 |
BR0200457A (pt) | 2002-10-29 |
NO321417B1 (no) | 2006-05-08 |
EP1232988B1 (de) | 2004-07-21 |
CN1178838C (zh) | 2004-12-08 |
CA2370883C (en) | 2009-07-28 |
NO20020817D0 (no) | 2002-02-19 |
JP4283479B2 (ja) | 2009-06-24 |
HK1049141A1 (en) | 2003-05-02 |
MXPA02001741A (es) | 2003-08-20 |
MY127975A (en) | 2007-01-31 |
ES2225748T3 (es) | 2005-03-16 |
CA2370883A1 (en) | 2002-08-20 |
SG96681A1 (en) | 2003-06-16 |
AU783425B2 (en) | 2005-10-27 |
JP2002274765A (ja) | 2002-09-25 |
AU1568002A (en) | 2002-08-22 |
ZA200201079B (en) | 2002-08-21 |
CN1371857A (zh) | 2002-10-02 |
US6612403B2 (en) | 2003-09-02 |
DK1232988T3 (da) | 2004-11-01 |
ATE271511T1 (de) | 2004-08-15 |
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