EP1777163B1 - Dispositif pour orienter des récipients - Google Patents

Dispositif pour orienter des récipients Download PDF

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Publication number
EP1777163B1
EP1777163B1 EP06022035A EP06022035A EP1777163B1 EP 1777163 B1 EP1777163 B1 EP 1777163B1 EP 06022035 A EP06022035 A EP 06022035A EP 06022035 A EP06022035 A EP 06022035A EP 1777163 B1 EP1777163 B1 EP 1777163B1
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EP
European Patent Office
Prior art keywords
container
camera
camera system
image data
cameras
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.)
Not-in-force
Application number
EP06022035A
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German (de)
English (en)
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EP1777163A1 (fr
Inventor
Herbert Menke
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KHS GmbH
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KHS GmbH
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Publication date
Application filed by KHS GmbH filed Critical KHS GmbH
Priority to PL06022035T priority Critical patent/PL1777163T3/pl
Publication of EP1777163A1 publication Critical patent/EP1777163A1/fr
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Publication of EP1777163B1 publication Critical patent/EP1777163B1/fr
Not-in-force legal-status Critical Current
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
    • B65C9/00—Details of labelling machines or apparatus
    • B65C9/06—Devices for presenting articles in predetermined attitude or position at labelling station
    • B65C9/067—Devices for presenting articles in predetermined attitude or position at labelling station for orienting articles having irregularities, e.g. holes, spots or markings, e.g. labels or imprints, the irregularities or markings being detected

Definitions

  • the invention relates to a device for positionally or positionally accurate alignment of containers according to the preamble of claim 1 and as from DE 202 03 529 U known, as well as on a labeling machine with such a device according to the preamble of claim 22.
  • the typical geometrical container characteristics on its outer surface such. B. seal surface, ornament, embossing, raised lettering, etc.
  • the camera system has four cameras, which are provided consecutively along the movement path of the container receptacles in the direction of rotation of the rotor. Each camera captures each part of the circumference of the container, overlapping each 100 ° of this circumference with rotating around its container axis containers. Due to the actual image data supplied by the cameras, a rotational position correction of the container recordings and then takes place the orientation of the containers relative to their typical geometric container feature.
  • the object of the invention is to provide a device with which an alignment of containers with respect to at least one typical, geometric container feature with a significantly improved accuracy is possible, and in particular at a high power, i. at a plurality of processed per unit time container.
  • a device according to the patent claim 1 is formed.
  • a labeling machine is the subject of claim 22.
  • the image data of a first camera system are used to pre-align the containers in such a way that they have at least approximately the required orientation after pre-aligning, in particular also with respect to their geometrical container features used for the alignment, namely at least one Accuracy as achievable with known devices.
  • the test area i. H. the circumferential region of the respective container, where the at least one geometric container feature is located, detected over a large area.
  • the image data of at least one other camera system takes place a more accurate, possibly even the final orientation of each container. Since the container area detected by the at least one camera of the at least one further camera system is much smaller than the area to be detected by the at least one camera of the first camera system, d. H. the at least one camera of the further camera system e.g. a much smaller opening angle than the at least one camera of the first camera system, the alignment using the image data supplied by the at least one further camera system can be done very precisely in an extremely short time.
  • the in the FIG. 1 illustrated and there generally designated 1 labeling machine is used for labeling containers 2, for example, bottles, the labeling machine 1 fed to a container inlet 3 and leave the labeling machine 1 in the labeled state at a container outlet 4.
  • the containers 2 are for example bottles made of a translucent material, for example made of glass, and are on their container outside each with at least one typical geometric container feature, such. B. sealing surface, ornament, embossing, raised lettering, etc. provided.
  • the containers 2 are to be provided with high accuracy of application in relation to these geometric features with the labels.
  • the labeling machine 1 comprises u. a. the rotatable about a vertical axis of the machine in the direction of arrow A rotary table or rotor 5, which has at its periphery a plurality of container carriers or receptacles 6, which are each distributed at equal angular intervals around the vertical axis of the machine and at which for applying the Labels each a container 3 is provided with its container axis parallel to the vertical machine axis.
  • the containers 2 are the labeling machine 1 on the container inlet 3 via a conveyor, not shown, upright, ie oriented with its container axis in the vertical direction, but otherwise fed in any random orientation also in terms of their typical geometric container characteristics, in this purely random orientation each pass a container receptacle 6 and then aligned in an angular range W1 of the rotational movement A of the rotor 5, so that each container 3 is exactly aligned at the end of this angular range with respect to its typical geometric container characteristics, ie having a predetermined orientation.
  • each container 2 is moved past a labeling station 7, which does not move with the rotor 5, for applying at least one label, so that it is then applied to the respective container 2 with the desired high accuracy of application with respect to the geometric container features.
  • a labeling station 7 which does not move with the rotor 5, for applying at least one label, so that it is then applied to the respective container 2 with the desired high accuracy of application with respect to the geometric container features.
  • the labeling station 7 to the container outlet 3 angle range W2 of the rotational movement A of the rotor 5 is then carried out the usual pressing and / or brushing the labels.
  • the container receptacles 6 are each rotatable about their own actuators about an axis parallel to the vertical machine axis, namely controlled by a multi-level image recognition system explained in more detail below with a plurality of electronic cameras 9-11 and an associated, preferably formed by a computer Evaluation and control electronics 12.
  • the non-moving with the rotor 5 cameras 8 - 11 are each arranged radially outside the trajectory of the container receptacle 6 such that with each camera, the passing container 2 at least on the test area or on the typical geometric container features having their Container outer surface are detected. Furthermore, all cameras are 8-11 within the angular range W1 and thus in the direction of rotation A in front of the labeling station. 7
  • the two cameras 8 and 9 which are arranged in a following on the container inlet 3 portion of the angular range W1, a first Kammerasystem or a first stage of the image recognition system, together with a not moving with the rotor 5, a white Background or a white background mirror forming background element 13, which in the illustrated embodiment with respect to the circular path of movement of the container receptacles 6 radially inwardly and the two cameras 8 and 9 is arranged opposite, and together with a direction indicated by the arrow B1 front lighting.
  • the two cameras 8 and 9 are arranged with their optical axes at an angle to each other such that with them a peripheral region or a settlement greater than 180 ° of the respectively moved past container 2 is detected.
  • the images or image data supplied by the two cameras 8 and 9 are combined, for example, into an overall image or an overall data set which corresponds to an image of the development or of the container peripheral region of greater than 180 °.
  • the first stage of the image recognition system is followed by the second stage of this system formed by the single camera 10.
  • the camera 10 is in turn associated with a background element 14 corresponding to the element 13 and forming a white background or a white background mirror, specifically in the illustrated embodiment with respect to the movement path of the container receptacle 6 radially inward.
  • this second stage has a front lighting, as indicated by the arrow B2.
  • the elements 13 and 14 of the first and second stages may also be formed by a single, continuous element.
  • the front lighting for both stages can also be formed by one or more common light sources, for example luminescent screens.
  • the third stage of the image acquisition system formed by the single camera 11 is provided, namely with a backlight B3, for example, from a fluorescent screen 15 on the camera 11 not moved with the rotor 5
  • the backlight B3 is selected in terms of color and / or intensity as a function of the optical properties of the container 2 or the container material and / or depending on the optical properties of the filling material for optimal optical detection or adjustable.
  • the alignment of the container 2 with the image recognition system takes place in such a way that with the first stage or with the two local cameras 8 and 9, the respective random orientation of the passing container 2 with one receptacle per container and camera 8 and 9 respectively is detected.
  • the current orientation of the respective container 2 is determined in the electronics 12 , From this determines the necessary correction to achieve the required advance direction and performs the correction by appropriate control of the actuator of the respective container receptacle 6.
  • the position correction is carried out in the described manner by driving the container receptacle 6 in this manner, so that each container 2 is aligned at least with a positional accuracy which is the subsequent exact detection of the position of the at least one typical container feature used for the final alignment allows.
  • each moved container 2 is detected in a narrower area of its typical geometric container feature.
  • the optics of the camera 10 for this purpose, for example, designed so that the optical aperture angle of the camera 10 is smaller than the corresponding aperture angle of the cameras 8 and 9 and the region of the respective container having the typical geometric container feature is shown as full format filling.
  • the image thus generated by each container 2 is in turn compared in the electronics 12 with a stored there for the container type or image stored for the particular type of container characteristics, then determines the necessary position correction and then by appropriate control of the actuator of the respective container receptacle. 6 causes. Due to the image area reduced to the typical container feature, the second stage of the image recognition system already achieves a very precise orientation of each container 2, in particular also with respect to the pre-alignment (with the first stage).
  • a fine adjustment or fine alignment of each container 2 takes place before it reaches the labeling station 7.
  • a criterion in this fine alignment for example, at least one edge profile or at least one typical edge point is used, namely on the at least one typical container feature used for aligning and / or in the region of this container feature.
  • the image data delivered by the camera 11 are in turn compared in the electronics 12 with image data stored there for the respective container type or with characteristic values stored there for the respective container type, so that the still necessary position correction is calculated from this comparison and the appropriate actuation of the actuator relevant container receptacle can be made.
  • Container reaches with only four cameras before they reach the labeling station 7, so that the desired application accuracy when applying the labels with respect to the typical geometrical container characteristics with high reliability even at a very high performance for the labeling, for example, with a labeling of several tens 000 containers per hour is guaranteed.
  • Fig. 2 shows by way of example a typical container feature an embossing pattern 16 on a bottle in a nearly frontal view. The edge of the bottle as well as the center of the wrong one is marked with a thin vertical red line. From this frontal view, let the angle of rotation be zero degrees. Of course one defines the zero point of the rotation angle on the basis of the symmetry of the embossing pattern (thus "in the middle of the embossing pattern"). Along the horizontal test line 17, the points 17.1 - 17.7 are indicated where the embossing intersects the test line 17. These points are referred to below as imprinting points.
  • variable x i denotes the position of an embossed point in a captured image and z i represents the world coordinates on the surface of the bottle.
  • the running index i numbers the individual embossing points.
  • Fig. 3 shows the same embossing pattern with the bottle twisted 24 degrees to the left. The imprints are also marked in this picture. Due to the rotation of the bottle, the position and the distances of the embossing points 17.1 - 17.7 have changed in a characteristic manner. For example, has due to the perspective distortion on the cylindrical bottle body of the visible distance from two adjacent imprinting points, which have nourished the left edge of the bottle, compared to the untwisted state shortened.
  • the position z i of a stamping point is defined by the distance from the bottle center measured measured along the bottle surface.
  • the position z i of the individual embossing points with respect to the center line can now be measured by applying a measuring tape to the bottle body and made available in a list to the recognition algorithm.
  • the formula (2) allows to obtain this information directly from a captured image.
  • the position x i is determined in the image with a known rotation angle.
  • the world coordinates z i on the bottle surface can be determined therefrom by means of formula (2).
  • the learning of an embossing pattern for the recognition algorithm is thereby greatly simplified. As in the FIGS.
  • embossing points 17.1 - 17.7 can be run in a computer program, a user guide in which a user can mark the crossing points of the embossing pattern with a test line 17. With the help of formula (2) can then be clicked immediately Convert screen functions x i to world coordinates z i on the bottle surface.
  • the user can provide the embossing pattern to the algorithm in the form of a list of embossing points 17.1-17.2.
  • the imprinting points z i are determined in world coordinates for a stamping pattern, they can be converted into positions x i seen in the opposite direction for any angle of rotation of the bottle by the formula (1).
  • the recognition algorithm can therefore calculate the positions x i ( ⁇ ) for the given embossing pattern for all possible angles of rotation ⁇ of the bottle.
  • the algorithm can and must hold the associated distribution of the observed positions x i ( ⁇ k ) in memory Do not recalculate them for the pattern search for the next bottle with the same embossing pattern. This can save a lot of computing time.
  • the algorithm has to decide which distribution x i ( ⁇ k ) best fits the situation observed in the image.
  • a method is used which assigns a score S k to each distribution x i ( ⁇ k ). This score is designed to be the larger the better the observed situation fits a distribution.
  • the largest evaluation number S kMax which is achieved for a given image situation, thus defines the angle of rotation ⁇ kMax of the bottle.
  • the brightness curve H (x) along the test line 17 is first determined ( Fig. 6 ).
  • x denotes the pixel position along the horizontal test profile.
  • embossing points are noticeable by significant fluctuations in brightness on a length scale which corresponds to the approximate width of an imprinting point.
  • these brightness fluctuations are also superimposed on other brightness fluctuations, which however all take place on a significantly larger length scale and can thus be separated from the brightness fluctuations caused by embossing points in the following manner: From the brightness profile H (x), a brightness profile H Ave (x) is calculated is smoothed on a length scale, which is well above the width of an imprinting point.
  • the locations b i of the imprinting points in the given image can be identified in this way.
  • the score S k for a distribution of the viewed positions x i ( ⁇ k ) is then calculated as follows: We search for the pair of points b i and x j with the smallest distance.
  • this distance is smaller than a predetermined maximum distance d, then the pair of points found is judged to be suitable, ie it is assumed that the position of the embossing point b i found in the image matches a position of the embossing pattern to the bottle twist ⁇ k . In this case, a bonus contribution is added to the rating number S k . Since the embossing patterns of different bottles are never quite exactly the same, the bottle geometry and the bottle position to the camera are subject to fluctuations during image acquisition, one can never assume an exact match of a pair of points b i and x j . Therefore, the maximum distance d requires that the points be sufficiently close together.
  • FIG. 7 shows for that in the FIG. 3 Example shown the dependence of the score S k as a function of angle. It is evident that there is a sharp peak at approximately -24 degrees, ie the seen points pattern best x j corresponds to the j b dot pattern with a bottle rotation angle of -24 degrees.
  • the invention has been described above by means of an embodiment. It is understood that numerous changes and modifications are possible without thereby departing from the inventive idea underlying the invention.
  • the first stage of the image recognition system two cameras 8 and 9 and the second or third stage each have only one camera 10 and 11 respectively.
  • the number of cameras in these stages may also be chosen differently, but it is necessary, but at least advisable, for the first-stage camera system to detect as large a peripheral area as possible of the container 2 passed by.
  • the cameras 8, 9, 10 and 11 are each designed and / or driven in such a way that they are each created an image or an image data set of each container 2 passed and then the pre-alignment (in the first stage) on the basis of this image data set. , the pre-adjustment (in the second stage) and the fine adjustment (in the third stage) by comparison with the respective image data.

Claims (22)

  1. Dispositif destiné à orienter des récipients (2) par référence à au moins une caractéristique géométrique (16) d'un récipient dans une position ou orientation de consigne, comportant un transporteur (5) avec des porte-récipient (6) destinés à recevoir chacun un récipient, et comportant des caméras (8, 9, 10, 11), disposées le long d'une trajectoire de transport formée par le transporteur (5), d'un système de reconnaissance d'images qui, à l'appui d'une comparaison des données d'image réelles, fournies par les caméras (8, 9, 10, 11), avec des données d'image théoriques ou des paramètres, stockés dans un dispositif électronique d'analyse et de commande (12), induit une orientation des récipients (2), une orientation préliminaire des récipients (2) étant effectuée au moyen d'un premier système de caméra formant un premier niveau du système de reconnaissance d'images, et ladite au moins une caméra (8, 9) de ce premier système de caméra enregistrant une grande surface de la face extérieure ou périphérique du récipient, munie de la caractéristique géométrique (16) d'un récipient, de telle sorte qu'au moins un système de caméra supplémentaire, consécutif dans le sens de transport, enregistre le récipient (2) transporté à chaque fois le long dudit système pour une autre orientation dans une zone plus étroite de la face périphérique, munie de ladite au moins une caractéristique géométrique (16) d'un récipient, et de telle sorte que le dispositif électronique, à l'appui d'autres données d'images ou paramètres stockés, induit en présence de divergences existantes par rapport à la position de consigne une autre orientation par l'intermédiaire du servomoteur du porte-récipient (6) concerné, caractérisé en ce que le dispositif électronique (12) compare la distance, entre au moins deux points de référence (17.1 - 17.7) de la caractéristique (16) typique de chaque récipient (2) dans les données d'image fournies par ladite au moins une caméra (8, 9, 10, 11), avec des paramètres stockés pour le type de récipient, concerné et le résultat de la comparaison est utilisé pour activer le servomoteur du porte-récipient (6) concerné.
  2. Dispositif selon la revendication 1, caractérisé en ce que, dans le sens de transport (A) du transporteur (5) à la suite du premier système de caméra formant le premier niveau du système de reconnaissance d'images, il est prévu au moins un deuxième système de caméra formant un deuxième niveau du système de reconnaissance d'images, ainsi qu'un troisième système de caméra formant un troisième niveau du système de reconnaissance d'images, munis chacun d'au moins une caméra (10, 11).
  3. Dispositif selon la revendication 1 ou 2, caractérisé en ce qu'avec le premier système de caméra ou ladite au moins une caméra (8, 9) de ce système est enregistrée une zone périphérique supérieure à 180° de chaque récipient (2).
  4. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le premier système de caméra comporte au moins deux caméras (8, 9), qui sont disposées avec leurs axes en formant un angle entre ceux-ci.
  5. Dispositif selon la revendication 4, caractérisé en ce que les images ou données d'images, fournies par lesdites au moins deux caméras (8, 9) du premier système de caméra, sont combinées dans le dispositif électronique (12) pour former une image globale.
  6. Dispositif selon l'une des revendications précédentes, caractérisé en ce qu'au moins un système de caméra comporte au moins deux caméras (8, 9).
  7. Dispositif selon l'une des revendications précédentes, caractérisé en ce que ledit au moins un système de caméra supplémentaire, en particulier le deuxième et le troisième système de caméra, comportent chacun seulement une caméra (10, 11).
  8. Dispositif selon l'une des revendications précédentes, caractérisé en ce que les systèmes de caméra, plus précisément leurs caméras, sont réalisés pour générer des images individuelles des récipients (2) passant devant lesdites caméras.
  9. Dispositif selon l'une des revendications précédentes, caractérisé en ce que les caméras (8, 9, 10, 11) des systèmes de caméra sont conçues et/ou commandées de telle sorte qu'elles génèrent chacune seulement une image du récipient (2) passant à chaque fois devant lesdites caméras.
  10. Dispositif selon l'une des revendications précédentes, caractérisé en ce qu'au moins un système de caméra, de préférence le premier système de caméra, est réalisé avec un éclairage en premier plan (B1, B2).
  11. Dispositif selon l'une des revendications précédentes, caractérisé en ce qu'au moins un système de caméra, par exemple ledit au moins un système de caméra supplémentaire ou le troisième système de caméra, est réalisé pour générer des images ou données d'images par translucidité.
  12. Dispositif selon l'une des revendications précédentes, caractérisé en ce qu'au moins un système de caméra est réalisé avec un éclairage en arrière-plan.
  13. Dispositif selon la revendication 10 ou 12, caractérisé en ce que la couleur et/ou l'intensité de l'éclairage en premier plan ou de l'éclairage en arrière-plan est réglable.
  14. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le transporteur est un rotor (5) apte à être entraîné en rotation autour d'un axe vertical de la machine.
  15. Dispositif selon l'une des revendications précédentes, caractérisé en ce que chaque porte-récipient (6) comporte son propre servomoteur.
  16. Dispositif selon l'une des revendications précédentes, caractérisé en ce que les porte-récipient (6) sont des plateaux rotatifs.
  17. Dispositif selon la revendication 1, caractérisé en ce que le dispositif électronique compare, à partir d'un modèle de distances, plusieurs distances entre des points de référence (17.1 - 17.7) de la caractéristique (16) typique du récipient (2) concerné dans les données d'images, fournies par ladite au moins une caméra (8, 9, 10, 11), avec au moins un modèle de distances stocké pour le type de récipient.
  18. Dispositif selon la revendication 17, caractérisé en ce que le dispositif électronique (12) compare la distance ou le modèle de distance des points de référence (17.1 - 17.7) dans les données d'images, fournies par ladite au moins une caméra (8, 9, 10, 11), avec des distances ou modèles de distance stockés pour le type de récipient concerné, détermine la distance coïncidant le mieux avec la distance dans les données d'images ou le modèle de distance coïncidant le mieux avec le modèle de distance dans les données d'images, et, à partir de là, calcule la correction nécessaire pour l'orientation du récipient (2).
  19. Dispositif selon l'une des revendications précédentes, caractérisé en ce que ledit dispositif est une partie intégrante d'une machine d'étiquetage (1) avec une admission de récipients (3) pour les récipients (2) à étiqueter, avec une sortie de récipients (4) pour les récipients (2) étiquetés, ainsi qu'avec au moins un poste d'étiquetage (7) prévu sur une trajectoire de transport formée par le transporteur (5) entre l'admission des récipient (3) et la sortie de récipients (4), et en ce que le premier système de caméra, ainsi que ledit au moins un système de caméra supplémentaire, sont prévus sur la trajectoire de transport entre l'admission de récipients (3) et ledit au moins un poste d'étiquetage (7).
  20. Dispositif selon la revendication 19, caractérisé en ce que le transporteur est un rotor (5) tournant autour d'un axe vertical de ladite machine et comportant une pluralité de porte-récipient (6).
  21. Dispositif selon l'une des revendications précédentes, caractérisé en ce que chaque porte-récipient est apte à tourner au moyen d'un servomoteur, actionné par le dispositif électronique, pour orienter le récipient (2) prévu sur ce porte-récipient.
  22. Machine d'étiquetage comportant un dispositif destiné à orienter des récipients (2) par référence à un moins une caractéristique géométrique (16) d'un récipient dans une position ou orientation de consigne, caractérisée en ce que ledit dispositif est réalisé selon l'une des revendications précédentes.
EP06022035A 2005-10-21 2006-10-20 Dispositif pour orienter des récipients Not-in-force EP1777163B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL06022035T PL1777163T3 (pl) 2005-10-21 2006-10-20 Urządzenie do ustawiania pojemników

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102005050902A DE102005050902A1 (de) 2005-10-21 2005-10-21 Vorrichtung zum Ausrichten von Behältern sowie Etikettiermaschine mit einer solchen Vorrichtung

Publications (2)

Publication Number Publication Date
EP1777163A1 EP1777163A1 (fr) 2007-04-25
EP1777163B1 true EP1777163B1 (fr) 2009-12-30

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP06022035A Not-in-force EP1777163B1 (fr) 2005-10-21 2006-10-20 Dispositif pour orienter des récipients

Country Status (7)

Country Link
US (1) US7331152B2 (fr)
EP (1) EP1777163B1 (fr)
CN (1) CN101049865B (fr)
AT (1) ATE453574T1 (fr)
DE (2) DE102005050902A1 (fr)
PL (1) PL1777163T3 (fr)
UA (1) UA94895C2 (fr)

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PL1777163T3 (pl) 2010-06-30
EP1777163A1 (fr) 2007-04-25
US20070095017A1 (en) 2007-05-03
CN101049865B (zh) 2010-07-28
DE502006005771D1 (de) 2010-02-11
UA94895C2 (ru) 2011-06-25
ATE453574T1 (de) 2010-01-15
CN101049865A (zh) 2007-10-10
US7331152B2 (en) 2008-02-19

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