JP5045736B2 - 産業車両の走行制御装置 - Google Patents
産業車両の走行制御装置 Download PDFInfo
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- 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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/46—Series type
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- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/10—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for automatic control superimposed on human control to limit the acceleration of the vehicle, e.g. to prevent excessive motor current
-
- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/61—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries by batteries charged by engine-driven generators, e.g. series hybrid electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/11—Controlling the power contribution of each of the prime movers to meet required power demand using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07572—Propulsion arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/15—Fork lift trucks, Industrial trucks
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- 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
- Y02T10/62—Hybrid 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- 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
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Geology (AREA)
- Automation & Control Theory (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Description
このように本発明に係る産業車両の走行制御装置においては、走行モータの回転数と発電電動機の出力電力とを含む情報に基づいて、バッテリの放電電力制限値を超過しない範囲内に加速度指令値を制限するための加速度制限値を求める。そして、操作手段の操作状態及び走行モータの回転数に基づいた加速度指令基準値と当該加速度制限値とに基づいて、走行モータに対する加速度指令値を決定することにより、予めバッテリの放電電力制限値を超過しない範囲内に制限された加速度指令値が得られるようになる。これにより、過剰な加速制限を行うこと無しに、バッテリの放電電力制限値を守ることができる。
また、加速度指令値決定手段は、加速度指令基準値生成手段により求められた加速度指令基準値と加速度制限値生成手段により求められた加速度制限値のうち値の小さいほうを走行モータに対する加速度指令値と決定する。これにより、バッテリの放電電力制限値を超過しない範囲内に制限された加速度指令値を簡単な処理で且つ確実に得ることができる。
電力制限値=バッテリ放電電力制限値−発電モータ電力≧0
発電モータ指令電力=(−1)×走行モータ電力≦0
走行に使用可能な電力=バッテリ放電電力制限値−発電モータ電力−マージン
…(1)
駆動力−走行抵抗=(車両総重量+回転慣性重量)×加速度 …(2)
走行抵抗=走行抵抗係数×車両総重量×重力加速度 …(3)
回転慣性重量=回転慣性係数×車両総重量 …(4)
タイヤ軸でのトルク=駆動力×タイヤ半径 …(5)
モータ軸でのトルク=タイヤ軸でのトルク/(ギヤ比×ギヤ効率) …(6)
走行モータ電力=走行モータ回転数×モータ軸でのトルク/(60/2π×
1000)+ロス分 …(7)
Claims (2)
- エンジンと同軸上に配置された発電電動機と、走行動作を行うための走行モータと、前記走行モータの駆動に関する操作を行う操作手段と、前記発電電動機及び前記走行モータに駆動電力を供給するバッテリとを備えた産業車両の走行制御装置において、
前記操作手段の操作状態及び前記走行モータの回転数に基づいた加速度指令基準値を求める加速度指令基準値生成手段と、
前記走行モータの回転数と前記発電電動機の出力電力とを含む情報に基づいて、車両の運動方程式を用いて前記バッテリの放電電力制限値を超過しない範囲内に加速度指令値を制限するための加速度制限値を求める加速度制限値生成手段と、
前記加速度指令基準値生成手段により求められた前記加速度指令基準値と前記加速度制限値生成手段により求められた前記加速度制限値とに基づいて、前記走行モータに対する加速度指令値を決定する加速度指令値決定手段と、
前記加速度指令値決定手段により決定された前記加速度指令値を用いて前記走行モータを制御する走行モータ制御手段とを備え、
前記加速度指令値決定手段は、前記加速度指令基準値生成手段により求められた前記加速度指令基準値と前記加速度制限値生成手段により求められた前記加速度制限値のうち値の小さいほうを前記走行モータに対する加速度指令値と決定することを特徴とする産業車両の走行制御装置。 - エンジンと同軸上に配置された発電電動機と、走行動作を行うための走行モータと、前記走行モータの駆動に関する操作を行う操作手段と、前記発電電動機及び前記走行モータに駆動電力を供給するバッテリとを備えた産業車両の走行制御装置において、
前記操作手段の操作状態及び前記走行モータの回転数に基づいた加速度指令基準値を求める加速度指令基準値生成手段と、
前記産業車両の総重量を推定する車両重量推定手段と、
前記走行モータの回転数と前記発電電動機の出力電力と前記車両重量推定手段により推定された前記産業車両の総重量とを含む情報に基づいて、前記バッテリの放電電力制限値を超過しない範囲内に加速度指令値を制限するための加速度制限値を求める加速度制限値生成手段と、
前記加速度指令基準値生成手段により求められた前記加速度指令基準値と前記加速度制限値生成手段により求められた前記加速度制限値とに基づいて、前記走行モータに対する加速度指令値を決定する加速度指令値決定手段と、
前記加速度指令値決定手段により決定された前記加速度指令値を用いて前記走行モータを制御する走行モータ制御手段とを備え、
前記加速度指令値決定手段は、前記加速度指令基準値生成手段により求められた前記加速度指令基準値と前記加速度制限値生成手段により求められた前記加速度制限値のうち値の小さいほうを前記走行モータに対する加速度指令値と決定することを特徴とする産業車両の走行制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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JP2009276403A JP5045736B2 (ja) | 2009-12-04 | 2009-12-04 | 産業車両の走行制御装置 |
US12/959,062 US8423218B2 (en) | 2009-12-04 | 2010-12-02 | Travel controller for industrial vehicle |
EP10193515A EP2329984A3 (en) | 2009-12-04 | 2010-12-02 | Travel controller for industrial vehicle |
Applications Claiming Priority (1)
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JP2009276403A JP5045736B2 (ja) | 2009-12-04 | 2009-12-04 | 産業車両の走行制御装置 |
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JP2011116279A JP2011116279A (ja) | 2011-06-16 |
JP5045736B2 true JP5045736B2 (ja) | 2012-10-10 |
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JP2009276403A Expired - Fee Related JP5045736B2 (ja) | 2009-12-04 | 2009-12-04 | 産業車両の走行制御装置 |
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US (1) | US8423218B2 (ja) |
EP (1) | EP2329984A3 (ja) |
JP (1) | JP5045736B2 (ja) |
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Publication number | Priority date | Publication date | Assignee | Title |
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JP5647731B2 (ja) | 2011-05-24 | 2015-01-07 | 京セラ株式会社 | 電力制御装置及び電力制御方法 |
JP5854265B2 (ja) * | 2011-11-08 | 2016-02-09 | 株式会社ジェイテクト | 操舵機構の制御装置 |
FR2987525B1 (fr) * | 2012-02-28 | 2014-06-20 | Renault Sa | Procede et systeme de commande du frein moteur d'un moteur electrique pour vehicule automobile. |
CN104039680B (zh) * | 2013-01-08 | 2016-06-08 | 株式会社小松制作所 | 蓄电池式叉车 |
JP2014230681A (ja) * | 2013-05-30 | 2014-12-11 | 船井電機株式会社 | パワーアシスト装置及び歩行補助車 |
KR102138328B1 (ko) | 2013-08-16 | 2020-07-28 | 한화디펜스 주식회사 | 차량 주행 장치 및 방법 |
FR3015452B1 (fr) * | 2013-12-20 | 2017-02-24 | Manitou Bf | Chariot de manutention |
US9358975B1 (en) * | 2015-04-10 | 2016-06-07 | Google Inc. | Virtual moving safety limits for vehicles transporting objects |
DE102015118535A1 (de) * | 2015-10-29 | 2017-05-04 | Terex MHPS IP Management GmbH | Schwerlaststapler |
CN106891748B (zh) * | 2015-12-18 | 2019-02-26 | 比亚迪股份有限公司 | 电动汽车及其车载充电器和车载充电器的控制方法 |
CN106891744B (zh) * | 2015-12-18 | 2019-11-08 | 比亚迪股份有限公司 | 电动汽车及其车载充电器和车载充电器的控制方法 |
CN106904083B (zh) * | 2015-12-18 | 2019-09-13 | 比亚迪股份有限公司 | 电动汽车及其车载充电器和车载充电器的控制方法 |
JP6568158B2 (ja) * | 2017-07-28 | 2019-08-28 | 株式会社Subaru | 車両用制御装置 |
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JP2003054899A (ja) * | 2001-08-20 | 2003-02-26 | Nippon Yusoki Co Ltd | フォークリフトの制御装置 |
JP3912332B2 (ja) | 2003-05-30 | 2007-05-09 | トヨタ自動車株式会社 | 動力出力装置およびその制御方法並びに自動車 |
JP2005200212A (ja) * | 2003-11-20 | 2005-07-28 | Mitsubishi Heavy Ind Ltd | フォークリフトの転倒防止装置 |
JP4399311B2 (ja) * | 2004-04-13 | 2010-01-13 | 株式会社豊田自動織機 | 荷役作業用産業車両の荷役装置 |
JP3918836B2 (ja) * | 2004-08-03 | 2007-05-23 | 日産自動車株式会社 | ハイブリッド車のバッテリ電力補償制御装置 |
WO2006054678A1 (ja) * | 2004-11-19 | 2006-05-26 | Mitsubishi Heavy Industries, Ltd. | フォークリフトの転倒防止装置 |
JP4831824B2 (ja) * | 2006-09-11 | 2011-12-07 | 三菱重工業株式会社 | バッテリー制御装置及びこれを備えたハイブリッド式フォークリフト |
US7908841B2 (en) * | 2008-10-08 | 2011-03-22 | General Electric Company | Gasifier and cyclone separator for coal combustion |
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2009
- 2009-12-04 JP JP2009276403A patent/JP5045736B2/ja not_active Expired - Fee Related
-
2010
- 2010-12-02 US US12/959,062 patent/US8423218B2/en not_active Expired - Fee Related
- 2010-12-02 EP EP10193515A patent/EP2329984A3/en not_active Withdrawn
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US20110137503A1 (en) | 2011-06-09 |
EP2329984A3 (en) | 2012-03-14 |
US8423218B2 (en) | 2013-04-16 |
EP2329984A2 (en) | 2011-06-08 |
JP2011116279A (ja) | 2011-06-16 |
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