EP2488387A2 - Method and device for controlling the authorization of charging processes of electrically powered vehicles - Google Patents
Method and device for controlling the authorization of charging processes of electrically powered vehiclesInfo
- Publication number
- EP2488387A2 EP2488387A2 EP10771382A EP10771382A EP2488387A2 EP 2488387 A2 EP2488387 A2 EP 2488387A2 EP 10771382 A EP10771382 A EP 10771382A EP 10771382 A EP10771382 A EP 10771382A EP 2488387 A2 EP2488387 A2 EP 2488387A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- charging
- control unit
- vehicle
- vehicles
- data processing
- 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.)
- Withdrawn
Links
- 238000013475 authorization Methods 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000012545 processing Methods 0.000 claims description 52
- 230000005540 biological transmission Effects 0.000 claims description 30
- 238000004891 communication Methods 0.000 claims description 29
- 230000007246 mechanism Effects 0.000 description 8
- 230000004044 response Effects 0.000 description 4
- 230000000737 periodic effect Effects 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/66—Data transfer between charging stations and vehicles
- B60L53/665—Methods related to measuring, billing or payment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2270/00—Problem solutions or means not otherwise provided for
- B60L2270/30—Preventing theft during charging
- B60L2270/32—Preventing theft during charging of electricity
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/14—Details associated with the interoperability, e.g. vehicle recognition, authentication, identification or billing
Definitions
- Transmission is known, for example, from carrier frequency systems, which are also called powerline systems, and in which existing, provided for power lines are also used for data transmission.
- the data transmission is provided by modulating an AC signal to the voltage in the power cable, the modulated
- the polling of individual consumers at the individual outlets may be provided by push or pull traffic, i. by a request from the control unit to which the vehicles respond (pull operation) or by an autonomous transmission of the vehicle by authorization data during connection (push operation).
- the total charging current (i.e., the real total detected charging current) is compared with the sum of charging currents transmitted or transmitted from the vehicles connected to the charging sockets to the control unit.
- the charging currents of the vehicles are represented by the charging current requests.
- charging current requests are requests that are transmitted from the vehicle to the control unit to tell which charging current is currently requested by the individual vehicles or is requested.
- the charging power requests therefore concern charging currents received by the vehicle.
- Removal of electrical power from the charging socket by the driver zeugs is terminated at least temporarily due to the control command of the control unit.
- Such a temporary termination of the charging process of the vehicle allows the identification of unauthorized vehicles, after it has been detected that at least one unauthorized vehicle is connected to the power line.
- the process is repeated.
- the authorization information is repeated or interrogated periodically or transmitted from the vehicles to the control unit, the authorization information can be transmitted with the same time pattern as the charging current requests, preferably in a common message, or wherein the authorization information offset or with a lower frequency can be transmitted from the vehicles to the control unit.
- the transmission of the charging current requests, the authorization information or the above-mentioned message from the vehicles to the control unit may be a proactive transmission as part of a push operation, or may be a response to a corresponding request by the control unit as part of a push operation ,
- the authorization information is queried when it has been detected that the total charging current exceeds the sum, or when all charging sockets, at least one charging socket or only one charging socket is switched off.
- the method provides shutdown mechanisms or polling mechanisms that are performed when the total charging current exceeds the sum.
- These mechanisms are provided in particular as follows.
- all charging sockets in front of the control unit can be switched off at least for a predetermined period of time if the total charging current exceeds the sum.
- the predetermined period of time may be a fixed period, for example one minute or five minutes.
- all charging sockets can be switched off by the control unit and remain switched off until the control unit is added or receives a corresponding signal. If all charging sockets for one predetermined period of time are switched off, so preferably at power-up at the end of the predetermined period of time, the above-written authorization query and the transmission of charging current requests are performed.
- control unit transmits shutdown commands individually to the vehicles, wherein the vehicles interrupt the charging process upon receipt of the shutdown commands.
- the control unit performs the comparing step after each interruption or every transmission of the shutdown command. In the comparison, the reported
- the thus corrected sum corresponds to a setpoint, which reflects all reported charging currents. If the detected charging current exceeds this corrected sum, then it can be assumed that an unauthorized vehicle has a
- the control unit determines at least one vehicle by comparing the total charging current with the sum of the reported charging currents (in particular with the corrected sum), which receives charging current from the charging socket despite the absence of authorization or received switch-off command.
- the control unit causes a signal output of this at least one vehicle, if this reacts to it, to make the unauthorized vehicle from the outside by the signal output.
- the control unit switches off by transmission of an interrupt signal to a switching module of the charging socket, which at least one vehicle is connected to this charging socket, which receives charging current from the charging socket despite lack of authorization or despite received shutdown command.
- the control unit determines at least one vehicle due to the individual shutdowns by comparing the total charging current with the sum of the reported charging currents, which is authorized for current consumption.
- the individual shutdowns and the associated comparison processes are preferably used to determine all vehicles which are connected and have authorization to charge and to respond to the shutdown command by interrupting the charging process.
- authorized vehicles are caused by the control unit by a signal output command to perform a signal output. In this way, all vehicles are identified from the outside by the signal output, which have an authorization.
- all other vehicles are identified by all authorized vehicles output a signal that is visible from the outside.
- a signal output in particular, the control of the turn signal lights, a driving light or actuation of the horn for a short period of time, for example, 5 seconds is suitable.
- the invention further provides a control unit with a main supply connection, a delivery connection, an interrupter unit and a communication unit.
- the main supply connection is designed to be connected to a central power supply connection, which may also be referred to as the main connection.
- the dispensing port is configured to forward the main port power and to be connected to a power line for the controlled supply of a plurality of charging sockets (connected to the power line).
- the interrupter unit is connected between the main supply terminal and the output terminal.
- a current measuring unit of the control unit is connected to the main supply terminal, discharge terminal or in-between to detect the current flowing through the control unit.
- the communication unit is connected to the output port to set up another logical channel for the power line.
- the communication unit comprises a demodulator as well as a modulator in order to transmit and receive data via modulated signals via the output connection and a connectable power line.
- the control unit further comprises a data processing unit that implements various control mechanisms. This is connected to the communication unit in order to store charge current information of charging current requests, which are sent to the communication unit, in a charge current storage memory via these and via the output connection.
- the data processing unit can store all the individual charging currents as communicated by the connected vehicle.
- the data processing unit for example by means of a summer, set up to sum the charging current information and thereby detect the sum of the charging currents of the vehicles, which are connected to the charging sockets, which in turn on the
- Power line can be connected to the output port.
- the data processing unit is set up, for example by means of a comparator, to compare this sum with the total current detected by the current measuring unit.
- This comparator or the data processing unit thus provides a decision-making entity which detects impermissible current decreases and then takes measures.
- the interrupter unit is triggered by the data processing unit as a measure by sending an interrupt signal when the data processing unit determines by comparison that the sum of the reported current draws (i.e., the charge current indications and their charge current specifications) exceeds the total output current.
- the data processing unit is arranged to receive (or request) authorization information from the vehicles to evaluate and verify the authorization.
- authorization information transmitted from the vehicles via the power line connectable to the output terminal is sent to the output terminal, and the data processing unit connected to the output terminal via the communication unit evaluates the received permission information.
- the authorization information is verified by comparing it with a list of authorized vehicles.
- the list of authorized vehicles can be reproduced not only by a vehicle identification itself, but also by payment or subscription information that authorizes the purchase of electricity. In this case, the list is stored in a memory of the control unit or of the data processing unit.
- the list may be maintained in a remote authorization retrieval system, in which case the Control unit further comprises a remote transmission interface to send information, and in particular the authorization information via the remote transmission interface to a connectable authorization query system.
- the remote transmission interface can in particular be provided by an Internet connection, for example via a WLAN access point, or a radio-network-based Internet connection such as via GPRS and WAP.
- the long-distance transmission interface can be provided for the types of transmission described above, for example as a WLAN radio module or as a mobile radio network module, or also as a powerline module which is set up to connect the control unit to the Internet via a mains supply based transmission protocol via the main supply connection connect.
- the data processing unit is set up, together with the communication unit connected thereto, to receive authorization information in the form of a credential from the vehicle via the delivery connection. Furthermore, the data processing unit is set up to compare the credential with the list and thus to verify the credentials. The proof of entitlement can basically be proactively transmitted by the vehicle or transmitted to the request by the control unit. Therefore, the data processing unit is also arranged to send authorization information in the form of a request for a credential to the vehicle via the dispensing terminal, or is arranged to both send the request of the credential to the vehicle and to receive the credential from the vehicle via the dispensing terminal.
- prepaid constructions in which the authorization information in the form of an available amount of money (or a power equivalent) is sent from the vehicle to the data processing unit, which then evaluates the amount of money and, for example together with a maximum duration, the associated vehicle as entitled in a memory of the control unit stores.
- the data processing unit is set up to send an interruption signal to the interrupt unit for a predetermined period of time when the data processing unit determines that the
- the data processing unit can be set up to transmit an interrupt signal or a signal output command via the output connection to the vehicles or to switching modules of the charging sockets individually for a predetermined period of time or continuously.
- a locking mechanism is provided which prevents the loading of unauthorized vehicles.
- a mechanism can be provided by the interrupt signal via the output connection, which interrupts individual vehicles at least temporarily in their charging process, in order to detect by the individual check which of the vehicles is not responsive to the interrupt signal. Acts and / or has no authority to receive charging current.
- the charging sockets may be provided with switching modules that implement the interrupt signal, wherein it is provided with regard to the control unit for this purpose that the data processing unit is set up to control these charging sockets via the output connection as a data transmission interface.
- the control unit may include a timer that determines the time duration.
- the control unit may include a timer that repeatedly or periodically sends the charging current request to vehicles.
- FIG. 1 shows a block diagram for a more detailed explanation of the invention, including an embodiment of the control unit according to the invention.
- FIG. 1 shows a control unit 100 according to the invention within a conventional environment.
- the components shown for the control unit according to the invention are shown by solid lines, the components of the usual operating environment are shown in dashed lines. All three-digit reference numbers refer to components of the control unit according to the invention, and all two-digit reference numbers refer to components of the environment in which the control unit is used, and which are not part of the invention, but are helpful for the further explanation of the invention.
- the control unit 100 comprises a main supply terminal 110 and an output connection 120 and an interrupter unit 130 connected therebetween.
- the control unit 100 according to the invention comprises a communication unit 140, which in turn is connected to the output terminal 120 for modulation of an alternating current signal.
- connection between communication unit 140 and output port 120 is represented by arrows representing bidirectional data traffic, the connection being set up for data transfer only. Further connections, which are set up only for data transfer, are shown in FIG. 1 with arrows. The arrows give the Data transmission direction. Connections that do not have arrows are connections for transmitting electrical power.
- Memory 170 are stored.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Secondary Cells (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009045756A DE102009045756A1 (en) | 2009-10-16 | 2009-10-16 | Method and device for controlling the authorization of charging processes of electrically operated vehicles |
PCT/EP2010/065136 WO2011045249A2 (en) | 2009-10-16 | 2010-10-08 | Method and device for controlling the authorization of charging processes of electrically powered vehicles |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2488387A2 true EP2488387A2 (en) | 2012-08-22 |
Family
ID=43736295
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10771382A Withdrawn EP2488387A2 (en) | 2009-10-16 | 2010-10-08 | Method and device for controlling the authorization of charging processes of electrically powered vehicles |
Country Status (6)
Country | Link |
---|---|
US (1) | US9168842B2 (en) |
EP (1) | EP2488387A2 (en) |
JP (1) | JP5619170B2 (en) |
CN (1) | CN102548791B (en) |
DE (1) | DE102009045756A1 (en) |
WO (1) | WO2011045249A2 (en) |
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- 2010-10-08 US US13/377,763 patent/US9168842B2/en active Active
- 2010-10-08 CN CN201080046414.8A patent/CN102548791B/en active Active
- 2010-10-08 WO PCT/EP2010/065136 patent/WO2011045249A2/en active Application Filing
- 2010-10-08 EP EP10771382A patent/EP2488387A2/en not_active Withdrawn
- 2010-10-08 JP JP2012533585A patent/JP5619170B2/en active Active
Non-Patent Citations (2)
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None * |
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Also Published As
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CN102548791B (en) | 2015-04-01 |
JP5619170B2 (en) | 2014-11-05 |
WO2011045249A3 (en) | 2011-12-08 |
WO2011045249A2 (en) | 2011-04-21 |
JP2013507902A (en) | 2013-03-04 |
US20120150360A1 (en) | 2012-06-14 |
DE102009045756A1 (en) | 2011-04-21 |
US9168842B2 (en) | 2015-10-27 |
CN102548791A (en) | 2012-07-04 |
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