JPS62120510A - 自動掃除機の制御方法 - Google Patents
自動掃除機の制御方法Info
- Publication number
- JPS62120510A JPS62120510A JP60259895A JP25989585A JPS62120510A JP S62120510 A JPS62120510 A JP S62120510A JP 60259895 A JP60259895 A JP 60259895A JP 25989585 A JP25989585 A JP 25989585A JP S62120510 A JPS62120510 A JP S62120510A
- Authority
- JP
- Japan
- Prior art keywords
- obstacle
- vacuum cleaner
- area
- map
- point
- 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
Links
- 238000000034 method Methods 0.000 title claims description 69
- 238000004140 cleaning Methods 0.000 claims abstract description 36
- 238000001514 detection method Methods 0.000 claims description 16
- 238000004519 manufacturing process Methods 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 17
- 230000033001 locomotion Effects 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000000691 measurement method Methods 0.000 description 3
- 102100031584 Cell division cycle-associated 7-like protein Human genes 0.000 description 2
- 101000777638 Homo sapiens Cell division cycle-associated 7-like protein Proteins 0.000 description 2
- 239000013256 coordination polymer Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 241000723346 Cinnamomum camphora Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000000053 physical method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60259895A JPS62120510A (ja) | 1985-11-21 | 1985-11-21 | 自動掃除機の制御方法 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60259895A JPS62120510A (ja) | 1985-11-21 | 1985-11-21 | 自動掃除機の制御方法 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62120510A true JPS62120510A (ja) | 1987-06-01 |
| JPH0582602B2 JPH0582602B2 (fr) | 1993-11-19 |
Family
ID=17340427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60259895A Granted JPS62120510A (ja) | 1985-11-21 | 1985-11-21 | 自動掃除機の制御方法 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62120510A (fr) |
Cited By (63)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01187606A (ja) * | 1988-01-21 | 1989-07-27 | Mitsubishi Heavy Ind Ltd | 走行体の走行軌道計算方法 |
| JPH01195515A (ja) * | 1988-01-29 | 1989-08-07 | Matsushita Electric Ind Co Ltd | 自走式掃除機 |
| JPH07281752A (ja) * | 1994-04-14 | 1995-10-27 | Minolta Co Ltd | 清掃ロボット |
| JP2004227474A (ja) * | 2003-01-27 | 2004-08-12 | Matsushita Electric Ind Co Ltd | 自走機器およびそのプログラム |
| WO2004072752A1 (fr) * | 2003-02-14 | 2004-08-26 | Dyson Technology Limited | Machine autonome |
| JP2009500741A (ja) * | 2005-07-08 | 2009-01-08 | アクティエボラゲット エレクトロラックス | ロボット清掃装置 |
| CN102018481A (zh) * | 2009-09-11 | 2011-04-20 | 德国福维克控股公司 | 驱动清洁机器人的方法 |
| CN103271699A (zh) * | 2013-05-29 | 2013-09-04 | 东北师范大学 | 一种智能家居清洁机器人 |
| US8874264B1 (en) | 2004-07-07 | 2014-10-28 | Irobot Corporation | Celestial navigation system for an autonomous robot |
| US8930023B2 (en) | 2009-11-06 | 2015-01-06 | Irobot Corporation | Localization by learning of wave-signal distributions |
| US8966707B2 (en) | 2005-02-18 | 2015-03-03 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
| US8978196B2 (en) | 2005-12-02 | 2015-03-17 | Irobot Corporation | Coverage robot mobility |
| US8985127B2 (en) | 2005-02-18 | 2015-03-24 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
| US9043953B2 (en) | 2006-03-17 | 2015-06-02 | Irobot Corporation | Lawn care robot |
| US9104204B2 (en) | 2001-06-12 | 2015-08-11 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
| CN104887155A (zh) * | 2015-05-21 | 2015-09-09 | 南京创维信息技术研究院有限公司 | 智能扫地机 |
| US9144361B2 (en) | 2000-04-04 | 2015-09-29 | Irobot Corporation | Debris sensor for cleaning apparatus |
| US9215957B2 (en) | 2004-01-21 | 2015-12-22 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
| US9223749B2 (en) | 2004-07-07 | 2015-12-29 | Irobot Corporation | Celestial navigation system for an autonomous vehicle |
| US9317038B2 (en) | 2006-05-31 | 2016-04-19 | Irobot Corporation | Detecting robot stasis |
| US9392920B2 (en) | 2005-12-02 | 2016-07-19 | Irobot Corporation | Robot system |
| US9446521B2 (en) | 2000-01-24 | 2016-09-20 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
| US9445702B2 (en) | 2005-02-18 | 2016-09-20 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
| US9480381B2 (en) | 2007-05-09 | 2016-11-01 | Irobot Corporation | Compact autonomous coverage robot |
| US9486924B2 (en) | 2004-06-24 | 2016-11-08 | Irobot Corporation | Remote control scheduler and method for autonomous robotic device |
| US9492048B2 (en) | 2006-05-19 | 2016-11-15 | Irobot Corporation | Removing debris from cleaning robots |
| US9582005B2 (en) | 2001-01-24 | 2017-02-28 | Irobot Corporation | Robot confinement |
| US9622635B2 (en) | 2001-01-24 | 2017-04-18 | Irobot Corporation | Autonomous floor-cleaning robot |
| US9811089B2 (en) | 2013-12-19 | 2017-11-07 | Aktiebolaget Electrolux | Robotic cleaning device with perimeter recording function |
| US9826678B2 (en) | 2014-12-22 | 2017-11-28 | Irobot Corporation | Robotic mowing of separated lawn areas |
| JP2017213429A (ja) * | 2017-08-16 | 2017-12-07 | シャープ株式会社 | 自走式掃除機 |
| US9854737B2 (en) | 2014-10-10 | 2018-01-02 | Irobot Corporation | Robotic lawn mowing boundary determination |
| US9939529B2 (en) | 2012-08-27 | 2018-04-10 | Aktiebolaget Electrolux | Robot positioning system |
| US9946263B2 (en) | 2013-12-19 | 2018-04-17 | Aktiebolaget Electrolux | Prioritizing cleaning areas |
| US9949608B2 (en) | 2002-09-13 | 2018-04-24 | Irobot Corporation | Navigational control system for a robotic device |
| US10021830B2 (en) | 2016-02-02 | 2018-07-17 | Irobot Corporation | Blade assembly for a grass cutting mobile robot |
| US10045675B2 (en) | 2013-12-19 | 2018-08-14 | Aktiebolaget Electrolux | Robotic vacuum cleaner with side brush moving in spiral pattern |
| US10067232B2 (en) | 2014-10-10 | 2018-09-04 | Irobot Corporation | Autonomous robot localization |
| US10149589B2 (en) | 2013-12-19 | 2018-12-11 | Aktiebolaget Electrolux | Sensing climb of obstacle of a robotic cleaning device |
| US10209080B2 (en) | 2013-12-19 | 2019-02-19 | Aktiebolaget Electrolux | Robotic cleaning device |
| US10219665B2 (en) | 2013-04-15 | 2019-03-05 | Aktiebolaget Electrolux | Robotic vacuum cleaner with protruding sidebrush |
| US10231591B2 (en) | 2013-12-20 | 2019-03-19 | Aktiebolaget Electrolux | Dust container |
| US10274954B2 (en) | 2014-12-15 | 2019-04-30 | Irobot Corporation | Robot lawnmower mapping |
| US10314449B2 (en) | 2010-02-16 | 2019-06-11 | Irobot Corporation | Vacuum brush |
| US10433697B2 (en) | 2013-12-19 | 2019-10-08 | Aktiebolaget Electrolux | Adaptive speed control of rotating side brush |
| US10448794B2 (en) | 2013-04-15 | 2019-10-22 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
| US10459063B2 (en) | 2016-02-16 | 2019-10-29 | Irobot Corporation | Ranging and angle of arrival antenna system for a mobile robot |
| US10499778B2 (en) | 2014-09-08 | 2019-12-10 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
| US10518416B2 (en) | 2014-07-10 | 2019-12-31 | Aktiebolaget Electrolux | Method for detecting a measurement error in a robotic cleaning device |
| US10534367B2 (en) | 2014-12-16 | 2020-01-14 | Aktiebolaget Electrolux | Experience-based roadmap for a robotic cleaning device |
| US10617271B2 (en) | 2013-12-19 | 2020-04-14 | Aktiebolaget Electrolux | Robotic cleaning device and method for landmark recognition |
| US10678251B2 (en) | 2014-12-16 | 2020-06-09 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
| US10729297B2 (en) | 2014-09-08 | 2020-08-04 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
| US10877484B2 (en) | 2014-12-10 | 2020-12-29 | Aktiebolaget Electrolux | Using laser sensor for floor type detection |
| US10874274B2 (en) | 2015-09-03 | 2020-12-29 | Aktiebolaget Electrolux | System of robotic cleaning devices |
| US10874271B2 (en) | 2014-12-12 | 2020-12-29 | Aktiebolaget Electrolux | Side brush and robotic cleaner |
| US11099554B2 (en) | 2015-04-17 | 2021-08-24 | Aktiebolaget Electrolux | Robotic cleaning device and a method of controlling the robotic cleaning device |
| US11115798B2 (en) | 2015-07-23 | 2021-09-07 | Irobot Corporation | Pairing a beacon with a mobile robot |
| US11122953B2 (en) | 2016-05-11 | 2021-09-21 | Aktiebolaget Electrolux | Robotic cleaning device |
| US11169533B2 (en) | 2016-03-15 | 2021-11-09 | Aktiebolaget Electrolux | Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection |
| US11470774B2 (en) | 2017-07-14 | 2022-10-18 | Irobot Corporation | Blade assembly for a grass cutting mobile robot |
| US11474533B2 (en) | 2017-06-02 | 2022-10-18 | Aktiebolaget Electrolux | Method of detecting a difference in level of a surface in front of a robotic cleaning device |
| US11921517B2 (en) | 2017-09-26 | 2024-03-05 | Aktiebolaget Electrolux | Controlling movement of a robotic cleaning device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6052443A (ja) * | 1983-08-30 | 1985-03-25 | Fuji Xerox Co Ltd | ロ−ル紙保持装置 |
-
1985
- 1985-11-21 JP JP60259895A patent/JPS62120510A/ja active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6052443A (ja) * | 1983-08-30 | 1985-03-25 | Fuji Xerox Co Ltd | ロ−ル紙保持装置 |
Cited By (84)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01187606A (ja) * | 1988-01-21 | 1989-07-27 | Mitsubishi Heavy Ind Ltd | 走行体の走行軌道計算方法 |
| JPH01195515A (ja) * | 1988-01-29 | 1989-08-07 | Matsushita Electric Ind Co Ltd | 自走式掃除機 |
| JPH07281752A (ja) * | 1994-04-14 | 1995-10-27 | Minolta Co Ltd | 清掃ロボット |
| US9446521B2 (en) | 2000-01-24 | 2016-09-20 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
| US9144361B2 (en) | 2000-04-04 | 2015-09-29 | Irobot Corporation | Debris sensor for cleaning apparatus |
| US9582005B2 (en) | 2001-01-24 | 2017-02-28 | Irobot Corporation | Robot confinement |
| US9622635B2 (en) | 2001-01-24 | 2017-04-18 | Irobot Corporation | Autonomous floor-cleaning robot |
| US9104204B2 (en) | 2001-06-12 | 2015-08-11 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
| US9949608B2 (en) | 2002-09-13 | 2018-04-24 | Irobot Corporation | Navigational control system for a robotic device |
| JP2004227474A (ja) * | 2003-01-27 | 2004-08-12 | Matsushita Electric Ind Co Ltd | 自走機器およびそのプログラム |
| US7873437B2 (en) | 2003-02-14 | 2011-01-18 | Dyson Technology Limited | Autonomous machine |
| WO2004072752A1 (fr) * | 2003-02-14 | 2004-08-26 | Dyson Technology Limited | Machine autonome |
| US9215957B2 (en) | 2004-01-21 | 2015-12-22 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
| US9486924B2 (en) | 2004-06-24 | 2016-11-08 | Irobot Corporation | Remote control scheduler and method for autonomous robotic device |
| US8874264B1 (en) | 2004-07-07 | 2014-10-28 | Irobot Corporation | Celestial navigation system for an autonomous robot |
| US9223749B2 (en) | 2004-07-07 | 2015-12-29 | Irobot Corporation | Celestial navigation system for an autonomous vehicle |
| US9229454B1 (en) | 2004-07-07 | 2016-01-05 | Irobot Corporation | Autonomous mobile robot system |
| US9445702B2 (en) | 2005-02-18 | 2016-09-20 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
| US8966707B2 (en) | 2005-02-18 | 2015-03-03 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
| US10470629B2 (en) | 2005-02-18 | 2019-11-12 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
| US8985127B2 (en) | 2005-02-18 | 2015-03-24 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
| JP2009500741A (ja) * | 2005-07-08 | 2009-01-08 | アクティエボラゲット エレクトロラックス | ロボット清掃装置 |
| US8978196B2 (en) | 2005-12-02 | 2015-03-17 | Irobot Corporation | Coverage robot mobility |
| US9392920B2 (en) | 2005-12-02 | 2016-07-19 | Irobot Corporation | Robot system |
| US9043952B2 (en) | 2006-03-17 | 2015-06-02 | Irobot Corporation | Lawn care robot |
| US11194342B2 (en) | 2006-03-17 | 2021-12-07 | Irobot Corporation | Lawn care robot |
| US9043953B2 (en) | 2006-03-17 | 2015-06-02 | Irobot Corporation | Lawn care robot |
| US10037038B2 (en) | 2006-03-17 | 2018-07-31 | Irobot Corporation | Lawn care robot |
| US9713302B2 (en) | 2006-03-17 | 2017-07-25 | Irobot Corporation | Robot confinement |
| US10244915B2 (en) | 2006-05-19 | 2019-04-02 | Irobot Corporation | Coverage robots and associated cleaning bins |
| US9492048B2 (en) | 2006-05-19 | 2016-11-15 | Irobot Corporation | Removing debris from cleaning robots |
| US9955841B2 (en) | 2006-05-19 | 2018-05-01 | Irobot Corporation | Removing debris from cleaning robots |
| US9317038B2 (en) | 2006-05-31 | 2016-04-19 | Irobot Corporation | Detecting robot stasis |
| US9480381B2 (en) | 2007-05-09 | 2016-11-01 | Irobot Corporation | Compact autonomous coverage robot |
| US11498438B2 (en) | 2007-05-09 | 2022-11-15 | Irobot Corporation | Autonomous coverage robot |
| US10299652B2 (en) | 2007-05-09 | 2019-05-28 | Irobot Corporation | Autonomous coverage robot |
| US10070764B2 (en) | 2007-05-09 | 2018-09-11 | Irobot Corporation | Compact autonomous coverage robot |
| CN102018481A (zh) * | 2009-09-11 | 2011-04-20 | 德国福维克控股公司 | 驱动清洁机器人的方法 |
| US8930023B2 (en) | 2009-11-06 | 2015-01-06 | Irobot Corporation | Localization by learning of wave-signal distributions |
| US11058271B2 (en) | 2010-02-16 | 2021-07-13 | Irobot Corporation | Vacuum brush |
| US10314449B2 (en) | 2010-02-16 | 2019-06-11 | Irobot Corporation | Vacuum brush |
| US9939529B2 (en) | 2012-08-27 | 2018-04-10 | Aktiebolaget Electrolux | Robot positioning system |
| US10448794B2 (en) | 2013-04-15 | 2019-10-22 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
| US10219665B2 (en) | 2013-04-15 | 2019-03-05 | Aktiebolaget Electrolux | Robotic vacuum cleaner with protruding sidebrush |
| CN103271699A (zh) * | 2013-05-29 | 2013-09-04 | 东北师范大学 | 一种智能家居清洁机器人 |
| US10045675B2 (en) | 2013-12-19 | 2018-08-14 | Aktiebolaget Electrolux | Robotic vacuum cleaner with side brush moving in spiral pattern |
| US10433697B2 (en) | 2013-12-19 | 2019-10-08 | Aktiebolaget Electrolux | Adaptive speed control of rotating side brush |
| US10209080B2 (en) | 2013-12-19 | 2019-02-19 | Aktiebolaget Electrolux | Robotic cleaning device |
| US10149589B2 (en) | 2013-12-19 | 2018-12-11 | Aktiebolaget Electrolux | Sensing climb of obstacle of a robotic cleaning device |
| US10617271B2 (en) | 2013-12-19 | 2020-04-14 | Aktiebolaget Electrolux | Robotic cleaning device and method for landmark recognition |
| US9946263B2 (en) | 2013-12-19 | 2018-04-17 | Aktiebolaget Electrolux | Prioritizing cleaning areas |
| US9811089B2 (en) | 2013-12-19 | 2017-11-07 | Aktiebolaget Electrolux | Robotic cleaning device with perimeter recording function |
| US10231591B2 (en) | 2013-12-20 | 2019-03-19 | Aktiebolaget Electrolux | Dust container |
| US10518416B2 (en) | 2014-07-10 | 2019-12-31 | Aktiebolaget Electrolux | Method for detecting a measurement error in a robotic cleaning device |
| US10729297B2 (en) | 2014-09-08 | 2020-08-04 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
| US10499778B2 (en) | 2014-09-08 | 2019-12-10 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
| US10067232B2 (en) | 2014-10-10 | 2018-09-04 | Irobot Corporation | Autonomous robot localization |
| US9854737B2 (en) | 2014-10-10 | 2018-01-02 | Irobot Corporation | Robotic lawn mowing boundary determination |
| US11452257B2 (en) | 2014-10-10 | 2022-09-27 | Irobot Corporation | Robotic lawn mowing boundary determination |
| US10750667B2 (en) | 2014-10-10 | 2020-08-25 | Irobot Corporation | Robotic lawn mowing boundary determination |
| US10877484B2 (en) | 2014-12-10 | 2020-12-29 | Aktiebolaget Electrolux | Using laser sensor for floor type detection |
| US10874271B2 (en) | 2014-12-12 | 2020-12-29 | Aktiebolaget Electrolux | Side brush and robotic cleaner |
| US11231707B2 (en) | 2014-12-15 | 2022-01-25 | Irobot Corporation | Robot lawnmower mapping |
| US10274954B2 (en) | 2014-12-15 | 2019-04-30 | Irobot Corporation | Robot lawnmower mapping |
| US10678251B2 (en) | 2014-12-16 | 2020-06-09 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
| US10534367B2 (en) | 2014-12-16 | 2020-01-14 | Aktiebolaget Electrolux | Experience-based roadmap for a robotic cleaning device |
| US10159180B2 (en) | 2014-12-22 | 2018-12-25 | Irobot Corporation | Robotic mowing of separated lawn areas |
| US20190141888A1 (en) | 2014-12-22 | 2019-05-16 | Irobot Corporation | Robotic Mowing of Separated Lawn Areas |
| US10874045B2 (en) | 2014-12-22 | 2020-12-29 | Irobot Corporation | Robotic mowing of separated lawn areas |
| US9826678B2 (en) | 2014-12-22 | 2017-11-28 | Irobot Corporation | Robotic mowing of separated lawn areas |
| US11099554B2 (en) | 2015-04-17 | 2021-08-24 | Aktiebolaget Electrolux | Robotic cleaning device and a method of controlling the robotic cleaning device |
| CN104887155A (zh) * | 2015-05-21 | 2015-09-09 | 南京创维信息技术研究院有限公司 | 智能扫地机 |
| US11115798B2 (en) | 2015-07-23 | 2021-09-07 | Irobot Corporation | Pairing a beacon with a mobile robot |
| US10874274B2 (en) | 2015-09-03 | 2020-12-29 | Aktiebolaget Electrolux | System of robotic cleaning devices |
| US11712142B2 (en) | 2015-09-03 | 2023-08-01 | Aktiebolaget Electrolux | System of robotic cleaning devices |
| US10426083B2 (en) | 2016-02-02 | 2019-10-01 | Irobot Corporation | Blade assembly for a grass cutting mobile robot |
| US10021830B2 (en) | 2016-02-02 | 2018-07-17 | Irobot Corporation | Blade assembly for a grass cutting mobile robot |
| US10459063B2 (en) | 2016-02-16 | 2019-10-29 | Irobot Corporation | Ranging and angle of arrival antenna system for a mobile robot |
| US11169533B2 (en) | 2016-03-15 | 2021-11-09 | Aktiebolaget Electrolux | Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection |
| US11122953B2 (en) | 2016-05-11 | 2021-09-21 | Aktiebolaget Electrolux | Robotic cleaning device |
| US11474533B2 (en) | 2017-06-02 | 2022-10-18 | Aktiebolaget Electrolux | Method of detecting a difference in level of a surface in front of a robotic cleaning device |
| US11470774B2 (en) | 2017-07-14 | 2022-10-18 | Irobot Corporation | Blade assembly for a grass cutting mobile robot |
| JP2017213429A (ja) * | 2017-08-16 | 2017-12-07 | シャープ株式会社 | 自走式掃除機 |
| US11921517B2 (en) | 2017-09-26 | 2024-03-05 | Aktiebolaget Electrolux | Controlling movement of a robotic cleaning device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0582602B2 (fr) | 1993-11-19 |
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