JP6148234B2 - 整調可能無線電力アーキテクチャ - Google Patents
整調可能無線電力アーキテクチャ Download PDFInfo
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Classifications
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- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- 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
- B60L53/12—Inductive energy transfer
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- 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
- B60L53/12—Inductive energy transfer
- B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
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- H01—ELECTRIC ELEMENTS
- H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
- H01F38/00—Adaptations of transformers or inductances for specific applications or functions
- H01F38/14—Inductive couplings
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/60—Circuit arrangements or systems for wireless supply or distribution of electric power responsive to the presence of foreign objects, e.g. detection of living beings
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- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
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- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Amplifiers (AREA)
Description
本発明は、2011年8月4日に出願された米国特許仮出願第61/515,324号の恩典を主張する。
本発明は、無線エネルギー伝送、方法、このような伝送を行うシステム及び装置、並びに用途に関する。
図3及び4は、無線エネルギー伝送システムにおける例示的ソースのための、発電、モニタリング、及び制御用のコンポーネントを示す、高位のブロック図を示す。図3は、ハーフブリッジ切替え電力増幅器と、及び関連する測定回路、整調回路及び制御回路のうち若干とを有するソースのブロック図である。図4は、フルブリッジ切替え電力増幅器と、及び関連する測定回路、整調回路及び制御回路のうち若干とを有するソースのブロック図である。
スイッチング増幅器、例えば、D,E,F級の増幅器等、又はこれらの任意な組合せは、増幅器のスイッチング素子にほとんど電力消失がないときに、電力を負荷に最大効率で送給する。この動作条件は、最も臨界的(すなわち、スイッチング損失に最も至りそうな)状況であるスイッチング動作が、スイッチング素子に加わる電圧及びスイッチング素子を流れる電流の双方がほぼゼロのときに行われるよう、システム設計することによって達成することができる。これら条件は、それぞれゼロ電圧スイッチング(ZVS:Zero Voltage Switching)及びゼロ電流スイッチング(ZVS:Zero Current Switching)条件と称される。増幅器がZVS及び/又はZCSで動作するとき、スイッチング素子に加わる電圧又はスイッチング素子を流れる電流のいずれかがゼロになり、したがって、スイッチ内での電力消失をなくすことができる。スイッチング増幅器は、DC(又は極めて低い周波数のAC)電力を固有周波数又は周波数レンジでAC電力に変換するため、負荷の前にフィルタを導入し、スイッチング過程で発生するおそれがある望ましくない高調波が付加に達して消失するのを防止できるようにする。実施形態において、スイッチング増幅器は、品質係数(例えば、Q>5)を有し、同時ZVS及びZCSに至る特定インピーダンスZ* 0がZ* 0=R0+jX0である共振器負荷に接続するとき、最大の電力変換効率で動作するよう設計することができる。Z0=R0−jX0は増幅器の固有インピーダンスと定義し、最大送電効率を得ることは共振器負荷を増幅器の固有インピーダンスにインピーダンス整合させることと等しい。
R0=FR(dc)/ωCa,X0=FX(dc)/ωCa (1)
ここで、dcはスイッチング素子のオンスイッチ状態におけるデューティサイクル、関数FR(dc)及びFX(dc)は図7にプロットし(D級及びE級双方について)、ωはスイッチング素子が切替わる周波数であり、Ca=naCswitcであり、ただしCswitcはトランジスタ出力キャパシタンス及びスイッチに並列に配置したあり得る外部キャパシタ双方を含む各スイッチに加わるキャパシタンスとするとともに、フルブリッジに対してna=1であり、ハーフブリッジに対してはna=2である。D級に対しては、以下の分析的表現で記述することができる。すなわち、
FR(dc)=sin2u/π,FX(dc)=(u−sinu・cosu)/π (2)
ここで、u=π(1−2・dc)であり、D級増幅器の固有インピーダンスレベルは、デューティサイクルdcが50%に向かって増大するにつれて減少することを示す。D級増幅器のdc=50%である動作に対して、ZVS及びZCSは、スイッチング素子がほとんど出力キャパシタンスを持たず(Ca=0)、また負荷がまさに共振する(X0=0)ときのみ得ることができ、R0は任意とすることができる。
用途において、駆動される負荷は、この負荷を接続する外部駆動回路の固有インピーダンスとは極めて異なるインピーダンスを有することができる。さらに、駆動される負荷は共振回路網ではないものとすることができる。インピーダンス整合回路網(IMN:Impedance Matching Network)は、図6Bに示すような負荷の手前に接続し得る回路網とし、IMN回路及び負荷よりなる回路網の入力部に現れるインピーダンスを調節できるようにする。IMN回路は、一般的に駆動周波数に近似する共振を生ずることによってこの調節を行うことができる。このようなIMN回路は、電力発生器から負荷までの送電効率を最大化するのに必要なすべての(スイッチング増幅器に対する共振及びインピーダンス整合からZVS及びZCSにいたるまでの)条件を成し遂げるので、実施形態において、IMN回路を駆動回路と負荷との間に使用することができる。
固有インピーダンスZ0=R0−jX0を有する外部回路に対するこの回路網のインピーダンス整合条件は、Rl(ω)=R0,Xl(ω)=X0である。
負荷が可変の実施形態において、負荷と外部駆動回路、例えば線形増幅器又はスイッチング電力増幅器との間におけるインピーダンス整合は、可変負荷を外部回路(図6B参照)の固定固有インピーダンスZ0に整合させるよう調整することができるIMN回路における調整可能/整調可能コンポーネントを使用することによって達成することができる。インピーダンスの実数部及び虚数部双方を整合させるため、IMN回路内に2個の整調可能/可変の素子を必要とする。
Rl(ω)=FR(dc)/ωCa,Xl(ω)=FX(dc)/ωCa (3)
D級電力増幅器802、インピーダンス整合回路網804及び誘導負荷806の回路レベル構造を表す簡単な回路図を図8に示す。この図は、電源810、スイッチング素子808及びキャパシタを含むスイッチング増幅器804を有するシステムの基本コンポーネントを示す。インピーダンス整合回路網はインダクタ及びキャパシタを有し、負荷806はインダクタ及び抵抗としてモデル化した。
無線電力伝送用途において、低損失誘導素子は、1個以上のデバイス側共振器又は他の共振器、例えばリピータ共振器に結合されるソース側共振器のコイルとすることができる。誘導素子のインピーダンスR+jωLは、ソース側共振器のコイルで他の共振器の反射インピーダンスを含む場合がある。誘導素子のR及びLの変動は、ソース側共振器及び/又は他の共振器の近傍における外部摂動に起因して、又はコンポーネントの熱的ドリフトに起因して生ずる場合がある。誘導素子のR及びLの変動は、さらに、無線送電システムの通常の使用中に、デバイス側及び他の共振器のソース側共振器に対する相対運動によって生ずる場合がある。これらデバイス側及び他の共振器のソース側共振器に対する相対運動、又は他のソース側共振器の相対運動若しくは相対位置は、デバイスのソースに対する結合の変動(ひいては反射インピーダンスの変動)を生ずることがあり得る。さらに、誘導素子のR及びLの変動は、無線送電システムの通常の使用中に、他の結合した共振器内における変化、例えば、負荷の電力引込みにおける変化に起因して生ずることがあり得る。これまで記載した方法及び実施形態のすべてをこのケースに適用することができ、これによりこの誘導素子を駆動する外部回路に対する、この誘導素子の動的インピーダンス整合を達成できる。
無線エネルギー伝送システムにおいて、無線伝送プロセス中のエネルギー損失の若干部分は熱として消失される。エネルギーは共振器コンポーネント自体で消失する。例えば、高Q値の導体及びコンポーネントであっても若干の損失又は抵抗があり、これら導体及びコンポーネントは電気信号及び/又は電磁場がそれらを流れるとき発熱する。エネルギーは材料及び共振器周りの物体内で消失する。例えば、共振器を包囲する又は共振器近傍における不完全導体又は誘電体内で消失する渦電流は、それら物体を加熱する。それら物体の材料特性に影響することの他に、この熱は、伝導、放射、又は対流プロセスにより共振器コンポーネントに伝達される。これら加熱効果はいずれも共振器のQ値、インピーダンス、周波数等、したがって、無線エネルギー伝送システムの性能に影響を与えるおそれがある。
無線エネルギー伝送システムは、エネルギーが指定共振器間で確実に伝送されていることを検証するステップが必要である。例えば、無線エネルギー伝送システムにおいて、ソース側共振器、デバイス側共振器及びリピータ共振器は、エネルギー交換をするために互いに物理的接触させる必要はなく、これら共振器は、システムにおける共振器のサイズ及び個数に基づいて、センチメートル又はメートル単位の距離で互いに離間させることができる。若干の実施形態において、複数の共振器は電力を送受する位置をとり得るが、これら共振器のうち単に2個又は若干のみが指定共振器となる。
無線送電システムにおけるソース側ユニットの一実施形態におけるシステムブロック図を図20Aに示す。この実施形態におけるDC/DCコンバータは、少なくとも1つのソースパラメータ、例えばスイッチング増幅器のDCバス電圧、及びひいては増幅器の出力電力を調節するのに使用できる。無線送電システムにおけるデバイス側ユニットの一実施形態におけるシステムブロック図を図20Bに示す。この実施形態におけるDC/DCコンバータは、少なくとも1つのデバイスパラメータ、例えばDC/DCコンバータ出力におけるDC負荷電圧、又は整流器の入力側に見られるインピーダンスを調節するのに使用できる。本明細書において、本発明者らは、DC/DCコンバータなしで、ただし、図21A及び21Bに示す制御可能(整調可能)スイッチング増幅器及び整流器のみを用いて、ソース側及びデバイス側のユニットにおける同一パラメータを調節することができ、またシステムのフルチューニング(完全整調)を行うことができることを実証しようとするものである。システムにおける各電力系統段階(例えば、DC/DCコンバータ)は、若干の効率コストを伴うのが一般的であるので、段階排除はこれら段階のエネルギー損失を排除することができる。したがって、DC−DCコンバータを使用しない送電システムの実施形態は、DC−DCコンバータを使用するシステムよりもシステム効率を改善することができる。
スイッチング増幅器及び整流器は、D又はE級のハーフブリッジ又はフルブリッジトポロジーを有することができる。説明としての一実施形態において、D級のハーフブリッジトポロジーを考慮し、この場合、コンバータ(増幅器又は整流器)のDC側の電圧は、ほぼ一定とし、また適切なサイズのDCフィルタ並列キャパシタを使用することによって得られるものとし、コンバータのAC側の電流は、ほぼ正弦波状とし、また適切なサイズのフィルタ直列インダクタを使用して、スイッチングコンバータによって生ずるより高い電流高調波をフィルタ処理することによって得られるものとする。例示的増幅器及び例示的整流器のトポロジーを図22A及び22Bに示す。特別な実施例のトポロジーをここで考察するが、現行仕様の一般的原理で設計した任意のトポロジーを無線送電システムに使用できることを理解されたい。例えば、DCフィルタ直列インダクタ及びACフィルタ並列キャパシタを有するフルブリッジコンバータは、正弦波状AC電圧及び一定DC電流を生ずるよう設計することができる。
整流器は、小さい並列キャパシタンスを有することができるスイッチとしてダイオードを使用することがよくある。ダイオードは自動スイッチングするものと見なすことができるので、図22Bのトポロジーにおいて、一般的にゼロ近傍電圧で自動オン、及びゼロ近傍電流で自動オフ状態となり。したがって、スイッチング損失を被ることはない。しかし、ダイオード電圧低下に起因して大きな導通損失を被る。したがって、MOSFET、又は任意なタイプの能動スイッチ、例えば、限定しないが、トランジスタ、電界効果トランジスタ(FET)、IGBT等をスイッチとして使用することができ、また入力電流波形に同期し、ダイオードと同様に動作し、MOSFETのオン抵抗が小さいことに起因して極めて少ない導通損失しか被らないよう構成することができる。ダイオードをMOSFETで代用することは、同期整流器ともときに称されるアーキテクチャになる。MOSFETは、並列出力キャパシタンス及び並列逆ボディーダイオードを有することができる。若干の実施形態において、外部キャパシタンス及び/又はダイオードは、整流器ブリッジの各MOSFETに並列接続することができる。外部ダイオードは、ショットキーダイオードとすることができる。MOSFETブリッジの実効キャパシタンスCrは、オン状態のスイッチがないとき、ブリッジに対する入力側から見たキャパシタンスとして定義することができる。スイッチのオン抵抗に起因する効率に対する効果は、スイッチが入力に直列接続されている導通中のように、AC入力整流器インピーダンスの実数部が小さくなればなるほど大きくなる。若干の実施形態において、入力インピーダンスの期待される実数部よりも相当小さいオン抵抗を有するMOSFETを選択することができる。
(1)
(2)
図22Aに示す増幅器の一実施形態において、MOSFETをスイッチとして使用することができる。MOSFETは、並列出力キャパシタンス及び並列逆ボディーダイオードを有することができる。若干の実施形態において、外部キャパシタンス及び/又はダイオードは、増幅器ブリッジの各MOSFETに並列接続することができる。外部ダイオードは、ショットキーダイオードとすることができる。MOSFETブリッジの実効キャパシタンスCrは、オン状態のスイッチがないとき、増幅器の出力側から見たキャパシタンスとして定義することができる。スイッチのオン抵抗に起因する効率に対する効果は、スイッチが出力に直列接続されている導通中のように、増幅器出力におけるACインピーダンスの実数部が小さくなればなるほど大きくなる。若干の実施形態において、出力インピーダンスの期待される実数部よりも相当小さいオン抵抗を有するMOSFETを選択することができる。MOSFET増幅器及び整流器の図22A,22Bに示すトポロジーは同一であるので、増幅器のあり得る異なる動作モードは、対応の整流器の波形を時間反転することによって分析することができる。
例示的な実施形態として、変動がなく(Rs,Ls,Rd,Ld及びMsdが変動しない)、また負荷が一定抵抗R1となり得る、無線送電WPT(wireless power transmission)システムのシナリオを考慮する。図22A及び22Bは、このような例示的な実施形態を示す。このような固定的全体システムに対しては、終端間効率を最適化するのにソース側及びデバイス側のユニットに何らの整調素子を設ける必要はない。むしろシステム効率を最適化するには、上述したように、デバイス側のインピーダンス整合回路網IMNd(Impedance Matching Network)を以下のように設計する、すなわち、デバイス側コイルからの負荷を見つけるとき、動作周波数f=ω/2πで整流器の入力インピーダンスZrを次式、すなわち、
図24は、本発明による無線エネルギー伝送システムの例示的ブロック図を示す。図24に示すシステムは、少なくとも1つの無線エネルギー捕捉デバイスにエネルギーを伝送する無線エネルギーソースを有する。このシステムは、システムのエネルギー伝送を調整できる整調可能ソース側素子及び整調可能デバイス側素子を有する。エネルギー伝送の調整は、デバイス側に伝送されるエネルギー量を制御するのに使用することができる。この調整を使用して、異なる負荷条件、異なるデバイスのソースに対する相対位置/指向性の下に、負荷に対して送給する電力を制御することができる。エネルギー伝送の調整を使用して、システム素子に貯蔵される又はシステム素子に流れる過剰なエネルギーに起因するシステム素子におけるムダな又は消失されるエネルギーを減少することによって、エネルギーが効率よく伝送されることを確実にする
Claims (12)
- 電力源と負荷との間でエネルギー伝送するための無線エネルギー伝送システムにおいて、
ソース側共振器コイルと、
デバイス側共振器コイルと、
前記電力源によって駆動されると共に、ソース側インピーダンス整合回路網を介して前記ソース側共振器コイルを駆動するように構成された、整調可能なスイッチング増幅器であって、電子的制御可能なスイッチング素子を備える、該スイッチング増幅器と、
前記負荷を駆動すると共に、デバイス側インピーダンス整合回路網を介して前記デバイス側共振器コイルからエネルギーを受取るように構成された、整調可能なスイッチング整流器であって、電子的制御可能なスイッチング素子を備える、該スイッチング整流器と、
前記整調可能な増幅器における前記スイッチング素子のスイッチング特性を制御し、前記電力源から抽出した電力を調節するよう構成した、ソース側の増幅器制御部と、及び
前記整流器における前記スイッチング素子のスイッチング特性を制御し、前記負荷に現れる出力の特性を調節するよう構成した整流器制御部であって、前記ソース側の増幅器制御部に通信的に結合するように構成した、該整流器制御部と
を備え、
前記システムの動作中、前記ソース側の増幅器制御部は、前記増幅器における前記スイッチング素子にほぼ固定のスイッチング周波数を与える構成とし、また、前記ソース側の増幅器制御部は、前記増幅器における前記スイッチング素子のスイッチング特性のうち少なくとも1つの不感時間を制御して、ゼロ電圧スイッチングを維持する構成とし、
最大負荷電力レベルで、前記整調可能なスイッチング増幅器がゼロ電流スイッチングを維持され、そして、所定の出力DC電圧が前記負荷に提供されるよう、インピーダンス整合が前記無線エネルギー伝送システムを通して達成され、
そして、前記ソース側の増幅器制御部は、前記負荷による電力要求が前記最大負荷電力レベルよりも小さいとき、前記ソース側の増幅器制御部が前記整調可能なスイッチング増幅器の前記スイッチング素子のデューティサイクルを減少させることによって前記整調可能なスイッチング増幅器の出力電力レベルを減少させ、これにより、ゼロ電流スイッチングを喪失させ、そして、前記無線エネルギー伝送システムを通して前記インピーダンス整合を維持する構成とした、無線エネルギー伝送システム。 - 請求項1記載の無線エネルギー伝送システムにおいて、前記増幅器はハーフブリッジのトポロジーを有している、無線エネルギー伝送システム。
- 請求項1記載の無線エネルギー伝送システムにおいて、前記増幅器はフルブリッジのトポロジーを有し、また前記ソース側の増幅器制御部は前記増幅器における前記スイッチング素子の位相を制御する構成とした、無線エネルギー伝送システム。
- 請求項1記載の無線エネルギー伝送システムにおいて、前記整流器はハーフブリッジのトポロジーを有し、また前記整流器制御部は前記整流器における前記スイッチング素子のスイッチングデューティサイクルを制御する構成とした、無線エネルギー伝送システム。
- 請求項1記載の無線エネルギー伝送システムにおいて、前記整流器はフルブリッジのトポロジーを有し、また前記整流器制御部は前記整流器における前記スイッチング素子の位相を制御する構成とした、無線エネルギー伝送システム。
- 請求項1記載の無線エネルギー伝送システムにおいて、前記少なくとも1つの不感時間は、前記増幅器の出力電圧及び出力電流の測定に応じて制御される、無線エネルギー伝送システム。
- 請求項1記載の無線エネルギー伝送システムにおいて、前記システムの動作中、前記整流器制御部は、前記整流器における前記スイッチング素子のスイッチング特性のうち少なくとも1つの不感時間を制御して、ゼロ電圧スイッチングを維持するよう構成した、無線エネルギー伝送システム。
- 請求項7記載の無線エネルギー伝送システムにおいて、前記整流器の前記スイッチング素子のスイッチング特性の前記少なくとも1つの不感時間は、前記増幅器又は前記整流器の出力電圧及び出力電流の測定に応じて制御される、無線エネルギー伝送システム。
- 請求項1記載の無線エネルギー伝送システムにおいて、前記ソース側インピーダンス整合回路網は、少なくとも1個の整調可能素子を有する構成とした、無線エネルギー伝送システム。
- 請求項9記載の無線エネルギー伝送システムにおいて、前記少なくとも1個の整調可能素子は、調整可能のキャパシタを備える、無線エネルギー伝送システム。
- 請求項10記載の無線エネルギー伝送システムにおいて、前記システムの動作中、前記ソース側の増幅器制御部は、前記ソース側共振周波数を維持するために、前記キャパシタを調整するように構成される、無線エネルギー伝送システム。
- 無線エネルギー伝送システム内の負荷に伝送されるエネルギーを制御する方法において、
前記方法は、
制御可能なスイッチング素子を備える整調可能なスイッチング増幅器を設けたソースを準備するソース側準備ステップと、
制御可能なスイッチング素子を備える整調可能なスイッチング整流器を設けたデバイスを準備するデバイス側準備ステップであり、前記整流器を前記ソース側の前記増幅器に通信的に結合するように構成した、該デバイス側準備ステップと、
前記整調可能なスイッチング増幅器の前記スイッチング素子にほぼ固定のスイッチング周波数を与えるための、ソース側の増幅器制御部を使用する、ステップと、
ゼロ電圧スイッチングを実質的に維持するために、前記整調可能なスイッチング増幅器における少なくとも1つの不感時間を制御する、ステップと、を備え、
最大負荷電力レベルで、ゼロ電流スイッチングを維持して、そして、所定の出力DC電圧が前記負荷に提供される間、インピーダンス整合が前記無線エネルギー伝送システムを通して達成され、そして、
前記負荷による電力要求が前記最大負荷電力レベルよりも小さいとき、前記方法は、前記整調可能なスイッチング増幅器の前記スイッチング素子のデューティサイクルを減少させることによって、前記整調可能なスイッチング増幅器の出力電力レベルを減少させる、ステップを備え、これにより、ゼロ電流スイッチングを喪失させ、そして、前記無線エネルギー伝送システムを通して前記インピーダンス整合を維持する、方法。
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- 2012-08-06 CN CN201280048893.6A patent/CN103843229B/zh active Active
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- 2012-08-06 JP JP2014524162A patent/JP6148234B2/ja active Active
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EP2764604A4 (en) | 2015-05-13 |
EP3435389A1 (en) | 2019-01-30 |
US9384885B2 (en) | 2016-07-05 |
CN103843229A (zh) | 2014-06-04 |
CN108418314A (zh) | 2018-08-17 |
US11621585B2 (en) | 2023-04-04 |
CA2844062C (en) | 2017-03-28 |
EP2764604A2 (en) | 2014-08-13 |
US9787141B2 (en) | 2017-10-10 |
EP2764604B1 (en) | 2018-07-04 |
CN103843229B (zh) | 2018-02-23 |
CN108110907B (zh) | 2022-08-02 |
AU2012289855A1 (en) | 2014-03-13 |
WO2013020138A2 (en) | 2013-02-07 |
US20130033118A1 (en) | 2013-02-07 |
KR20140053282A (ko) | 2014-05-07 |
US10734842B2 (en) | 2020-08-04 |
US20160352152A1 (en) | 2016-12-01 |
CA2844062A1 (en) | 2013-02-07 |
WO2013020138A3 (en) | 2013-04-04 |
CN108110907A (zh) | 2018-06-01 |
US20180048188A1 (en) | 2018-02-15 |
JP2014527793A (ja) | 2014-10-16 |
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