WO2012137594A1 - しわ検出装置およびしわ検出方法 - Google Patents
しわ検出装置およびしわ検出方法 Download PDFInfo
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- WO2012137594A1 WO2012137594A1 PCT/JP2012/057017 JP2012057017W WO2012137594A1 WO 2012137594 A1 WO2012137594 A1 WO 2012137594A1 JP 2012057017 W JP2012057017 W JP 2012057017W WO 2012137594 A1 WO2012137594 A1 WO 2012137594A1
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- separator
- slit light
- wrinkle
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- wrinkle detection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
- G01B11/306—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces for measuring evenness
-
- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Definitions
- the present invention relates to a wrinkle detection apparatus and a wrinkle detection method.
- the secondary battery includes a battery element in which a positive electrode, a separator, and a negative electrode are stacked.
- electrodes and separators are alternately stacked in the order of positive electrode, separator, negative electrode, and separator.
- the separator When the separator is stacked on the electrode, the separator may be wrinkled or bulges that may be wrinkled later. If the separator is wrinkled, the stacking becomes uneven, local pressure is applied, or the distance between the electrodes is changed, and the battery quality is deteriorated. Therefore, whether or not wrinkles have occurred is important in determining battery quality. Although wrinkles can be determined visually, there are cases where there are oversights, and this is not preferable from the viewpoint of cycle time.
- wrinkles are detected based on the size (length, width).
- a wrinkle that will be wrinkled in the future or a wrinkle that actually becomes a problem can be determined not by the size but by the slope of the undulation.
- This invention is made
- One embodiment of the present invention is a wrinkle detection apparatus including a light projecting unit, a photographing unit, and a determination unit.
- the light projecting unit projects slit light to the outermost separator while moving relative to the stacked body in which the electrode and the separator are stacked.
- the imaging unit captures the shape of the slit light projected on the separator.
- the determination unit calculates the gradient of the separator based on the shape of the captured slit light, and determines wrinkles based on the calculated gradient.
- Another aspect of the present invention is a wrinkle detection method including a light projection step, a photographing step, and a determination step.
- the light projecting step slit light is projected to the outermost separator while moving relative to the laminated body in which the electrodes and the separator are laminated.
- the photographing process the shape of the slit light projected on the separator is photographed.
- the determining step the gradient of the separator is calculated based on the shape of the captured slit light, and wrinkles are determined based on the calculated gradient.
- FIG. 1 is a perspective view showing the appearance of a lithium ion secondary battery.
- FIG. 2 is an exploded perspective view of the lithium ion secondary battery.
- FIG. 3 is a plan view of the negative electrode.
- FIG. 4 is a plan view of the packaged positive electrode.
- FIG. 5 is a diagram showing a schematic configuration of the wrinkle detection apparatus.
- FIG. 6 is a diagram illustrating a state in which slit light is projected on wrinkles on the separator.
- FIG. 7 is a cross-sectional view showing the wrinkles of the separator.
- FIG. 8 is a diagram illustrating a state in which pixels that are wrinkle candidates are specified.
- FIG. 9 is a diagram showing a state of identifying wrinkles.
- FIG. 1 is a perspective view showing the appearance of a lithium ion secondary battery.
- FIG. 2 is an exploded perspective view of the lithium ion secondary battery.
- FIG. 3 is a plan view of the negative electrode.
- FIG. 4 is a plan
- FIG. 10 is a diagram illustrating a state where wrinkles of the separator of the packaged positive electrode conveyed by the suction conveyor are detected.
- FIG. 11 is a diagram illustrating a state in which wrinkles of the separator on the power generation element that is placed on the pallet and conveyed are detected.
- the separator is a target for detecting wrinkles by the wrinkle detection device.
- FIG. 1 is a perspective view showing the appearance of a lithium ion secondary battery (stacked battery)
- FIG. 2 is an exploded perspective view of the lithium ion secondary battery
- FIG. 3 is a plan view of the negative electrode
- FIG. 4 is a plan view of the packaged positive electrode.
- the Z direction indicates the stacking direction or the thickness direction
- the X direction indicates the direction in which the positive electrode tab and the negative electrode tab are derived from the exterior material
- the Y direction indicates a direction orthogonal to the Z direction and the X direction.
- a direction parallel to the XY plane orthogonal to the Z direction or a direction parallel to the surface to be wrinkled detection is also referred to as a plane direction.
- the lithium ion secondary battery 10 has a flat rectangular shape, and the positive electrode tab and the negative electrode tab are led out from the same end of the exterior material.
- a power generation element (battery element) 20 in which a charge / discharge reaction proceeds is accommodated inside the exterior material.
- the power generation element 20 is formed by alternately laminating negative electrodes 30 and packed positive electrodes 40.
- the negative electrode 30 is formed by forming a negative electrode active material layer on both surfaces of a very thin sheet-like negative electrode current collector.
- the packaged positive electrode 40 has a positive electrode 50 sandwiched between separators 60.
- the positive electrode 50 is formed by forming a positive electrode active material layer on both surfaces of a sheet-like positive electrode current collector.
- the positive electrode 50 has a tab portion pulled out from the bag of the separator 60.
- the two separators 60 are welded to each other from the welded portion 62 at the end portions, and are formed in a bag shape.
- the welding part 62 is formed by heat welding, for example.
- the method of manufacturing the lithium ion secondary battery by alternately laminating the negative electrodes 30 and the packaged positive electrodes 40 is a general method of manufacturing a lithium secondary battery, and thus detailed description thereof is omitted.
- FIG. 5 is a diagram showing a schematic configuration of the wrinkle detection device
- FIG. 6 is a diagram showing a state in which slit light is projected onto the wrinkles on the separator
- FIG. 7 is a cross-sectional view showing the wrinkles of the separator.
- the wrinkle detection apparatus 100 includes a light projecting unit 110, a camera 120, and a control unit 130.
- the light projecting unit 110 projects slit light onto the separator 60.
- FIG. 5 shows a state in which slit light is projected onto the separator 60 of the packaged positive electrode 40. The slit light is projected linearly on the surface of the separator 60 as indicated by the alternate long and short dash line in FIG.
- the camera 120 shoots the shape of the slit light projected on the surface of the separator 60 as an imaging unit from an oblique direction. For example, as shown in FIG. 6, when the undulation 64 is present on the separator 60, the shape of the slit light viewed from the camera 120 is distorted according to the undulation 64 and becomes a curved line. The camera 120 photographs the deformation of the slit light caused by the undulations 64. If there is an undulation 64 as shown in FIG. 6, the undulation 64 may collapse in the future and become a wrinkle 66. As shown in FIG. 7, the wrinkle 66 is in a state of being folded on the surface of the separator 60. The camera 120 can detect such undulations 64 that are likely to become wrinkles 66 in the future.
- the camera 120 can photograph the deformation of the slit light caused by the wrinkles 66.
- the camera 120 can photograph both the undulation 64 as shown in FIG. 6 and the folded wrinkle 66 as shown in FIG.
- the light projecting unit 110 and the camera 120 are moved relative to the separator 60 so that slit light can be sequentially projected on the entire surface of the separator 60.
- the moving direction is a direction that intersects the direction in which the linear slit light projected on the surface of the separator 60 extends.
- the slit light can be projected on the entire surface of the separator 60 and photographed by the camera 120.
- the light projecting unit 110 projects slit light that intersects the plane direction with respect to the transport direction (the light projecting unit 110 is on the surface of the wrinkle detection target).
- the slit light extending in the direction intersecting the transport direction is projected on the surface.
- the light projecting unit 110 extends on the surface of the wrinkle detection target in a direction intersecting with the transport direction by 90 degrees. Projects slit light.
- the control unit 130 detects the surface shape of the separator 60 and determines wrinkles from the surface gradient.
- the wrinkle detection and determination method is as follows.
- the gradient means an inclination with respect to the surface direction of the surface of the wrinkle detection target.
- FIG. 8 is a diagram showing a state of specifying a candidate pixel for wrinkles
- FIG. 9 is a diagram showing a state of specifying wrinkles.
- the control unit 130 calculates the cross-sectional shape of the separator 60 at the position where the slit light is projected, based on the shape of the slit light on the separator 60 taken by the camera 120.
- This cross-sectional shape includes height.
- the slit light shown in FIG. 6 has a shape reflecting two bulges.
- the sectional shape (height) of the separator 60 at the slit light projection portion is calculated.
- the surface shape of the separator 60 is specified three-dimensionally. This is a method called a light cutting method.
- the control unit 130 associates height information with each pixel representing the projected portion of the slit light based on the cross-sectional shape and stores the height information in the storage unit 131. After associating the height with each pixel, the control unit 130 calculates whether there is a steep gradient around each pixel.
- the control unit 130 stores the pixel P1 as a candidate for a part forming a wrinkle (wrinkle candidate).
- the wrinkle candidate is colored red and stored separately from other pixels. The control unit 130 determines whether or not all pixels indicating the separator 60 photographed by the camera 120 are wrinkle candidates.
- the control unit 130 extracts only the wrinkle candidate and specifies the wrinkle range using each pixel of the wrinkle candidate, as shown in FIG.
- the wrinkle range is specified as follows. The number of wrinkle candidate pixels within a radius R2 from the wrinkle candidate pixel P2 is counted. If the counted number is equal to or greater than a predetermined threshold th3, it is determined that the pixel P2 forms a wrinkle and stored. The control unit 130 determines whether or not wrinkles are formed for all wrinkle candidate pixels.
- the wrinkle detection apparatus 100 can photograph the surface of the separator 60, associate the height with the pixel, detect a steep slope from the difference in height from the surrounding pixels of each pixel, and determine wrinkles. That is, wrinkles can be determined based on the gradient of the surface of the separator 60. Therefore, the packaged positive electrode 40 determined to have wrinkles can be discharged in a later process, or a battery including such a packaged positive electrode 40 can be excluded as a defective product.
- the radius R1 is a value appropriately determined by those skilled in the art.
- R1 is 2 to 3 mm.
- the threshold th1 and the threshold th2 can be appropriately set by those skilled in the art. By reducing the value of the radius R1 and increasing the value of the threshold th1 / threshold th2, it is possible to determine a more rapid change as a wrinkle.
- the radius R1, the threshold value th1, and the threshold value th2 are parameters that constitute a threshold value for determining wrinkles.
- the threshold value of the gradient for determining the wrinkle can be adjusted.
- the radius R2 and the threshold th3 are also values that are appropriately determined by those skilled in the art. By appropriately adjusting the radius R2 and the threshold th3, it is possible to adjust the gradient threshold for determining a wrinkle.
- FIG. 10 is a diagram showing a state in which wrinkles of the separator of the packed positive electrode conveyed by the suction conveyor are detected.
- the wrinkle detection device 100 can be applied.
- the packaged positive electrode 40 is conveyed by the suction conveyors 70 and 72 in the direction indicated by the arrow in the figure.
- the suction conveyors 70 and 72 generate a negative pressure on the surface of the rotating conveyor, and convey the fixed positive electrode 40 with the negative pressure.
- a gap 74 is provided between the suction conveyor 70 and the suction conveyor 72. At the opposite ends of the suction conveyor 70 and the suction conveyor 72, the negative pressure is released, and the packed positive electrode 40 is smoothly transferred between the suction conveyors 70 and 72.
- the wrinkle detection device 100 two sets of the light projecting unit 110 and the camera 120 are provided above and below the suction conveyors 70 and 72 on the transport path. Wrinkles on the surface of the separator 60 on the front side of the packaged positive electrode 40 can be detected by the upper light projecting unit 110 and the camera 120. Further, the lower light projecting unit 110 and the camera 120 can detect wrinkles on the surface of the separator 60 on the back side of the packed positive electrode 40. The angle of the lower light projecting unit 110 and the camera 120 is adjusted so that slit light is projected from the gap 74 between the suction conveyors 70 and 72 onto the surface of the separator 60 and the slit light can be photographed.
- the wrinkle detection device 100 aims at the interval between the conveying devices, even when the packaged positive electrode 40 in which the separator 60 is arranged on both sides is adopted, the wrinkle on the surface of the separator 60 on both sides is adopted. Can be detected.
- the wrinkle detection device 100 can be applied.
- FIG. 11 is a diagram showing a state in which the wrinkles of the separator on the power generation element that is carried on the pallet are detected.
- the wrinkle detection device 100 can be applied to a process in which the separator 60 is stacked on the uppermost layer (outermost layer) and conveyed.
- the slit light can be projected from the light projecting unit 110 whose posture is fixed to the entire surface of the moving separator 60.
- the control unit 130 can detect the wrinkles of the separator 60.
- electrodes and separators may be alternately stacked on the non-moving pallet 80 sequentially.
- the light projecting unit 110 and the camera 120 installed above the pallet 80 project slit light over the entire surface of the separator 60 and move so that the slit light can be photographed.
- the moving direction is a direction intersecting the plane direction with respect to the direction in which the slit light extends (direction intersecting with the direction in which the slit light extends on the surface of the wrinkle detection target), and preferably intersects with 90 degrees.
- Direction is a direction intersecting the plane direction with respect to the direction in which the slit light extends (direction intersecting with the direction in which the slit light extends on the surface of the wrinkle detection target), and preferably intersects with 90 degrees.
- the wrinkle detection apparatus 100 of the present embodiment can be applied to various processes in the production line.
- the pixel P when there are more than thth threshold pixels having a height difference equal to or greater than the threshold th1 within the radius R1, the pixel P is determined as a wrinkle candidate.
- the wrinkles were judged according to the conditions shown in. However, it is not limited to this.
- the portion of the pixel that satisfies the condition of FIG. 8 may be determined as a wrinkle instead of a wrinkle candidate.
- pixels were evaluated in the range of radii R1 and R2.
- the pixels may be evaluated in a rectangular area or other polygonal areas instead of circular areas such as the radii R1 and R2.
- the form in which the positive electrode 50 is packed in the separator 60 as the packed positive electrode 40 has been described.
- the negative electrode 30 may be packaged. Even in this case, wrinkles on the surface of the separator 60 can be similarly detected.
- the positive electrode tab and the negative electrode tab are led out from the same end portion of the exterior material.
- the positive and negative tabs may be derived from opposite ends, for example.
- the negative electrode 30 and the packaged positive electrode 40 are laminated so that the tab portions are opposite to each other.
- one linear slit light is projected on the separator 60, but the present invention is not limited to this.
- a plurality of stripe-shaped slit lights may be projected.
- wrinkles can be detected based on the gradient of the separator surface.
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
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Abstract
Description
20 発電要素
30 負極
40 袋詰正極
50 正極
60 セパレータ
62 溶着部
70、72 吸着コンベア
74 隙間
80 パレット
90 積層体
100 検出装置
110 投光部
120 カメラ(撮影部)
130 制御部
Claims (5)
- 電極およびセパレータが積層されてなる積層体に対して相対的に移動しながら、最外層の前記セパレータに対して、スリット光を投光する投光部と、
前記セパレータ上に映し出された前記スリット光の形状を撮影する撮影部と、
撮影されたスリット光の形状に基づいて、前記セパレータの勾配を算出し、算出した勾配に基づいてしわを判定する判定部と、
を有するしわ検出装置。 - 前記投光部および前記撮影部は、前記積層体を搬送する搬送経路に設置されており、
前記撮影部は、前記積層体におけるセパレータの表面形状を検出する請求項1記載のしわ検出装置。 - 前記積層体は、袋状に形成されたセパレータ内に電極が配置されてなり、
前記投光部は、前記積層体の両面にそれぞれスリット光を投光し、
前記撮影部は、前記積層体の両面のセパレータ表面のスリット光の形状を撮影する請求項1または請求項2に記載のしわ検出装置。 - 前記判定部は、撮影されたスリット光の形状に基づいて、前記撮影部により撮影された前記セパレータの画像を構成する各画素に高さを関連付け、前記画素毎に、所定の範囲内における他の前記画素との高低差を比較して、しわを構成するか判定する請求項1~3のいずれか一項に記載のしわ検出装置。
- 電極およびセパレータが積層されてなる積層体に対して相対的に移動しながら、最外層の前記セパレータに対して、スリット光を投光する投光工程と、
前記セパレータ上に映し出された前記スリット光の形状を撮影する撮影工程と、
撮影されたスリット光の形状に基づいて、前記セパレータの勾配を算出し、算出した勾配に基づいてしわを判定する判定工程と、
を含むしわ検出方法。
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP12767260.8A EP2696165B8 (en) | 2011-04-07 | 2012-03-19 | Wrinkle detection device and wrinkle detection method |
US14/009,286 US9243903B2 (en) | 2011-04-07 | 2012-03-19 | Wrinkle detection device and wrinkle detection method |
RU2013149404/28A RU2564369C2 (ru) | 2011-04-07 | 2012-03-19 | Устройство определения складок и способ определения складок |
MX2013011497A MX2013011497A (es) | 2011-04-07 | 2012-03-19 | Dispositivo de deteccion de pliegues y metodo de deteccion de pliegues. |
BR112013025770-9A BR112013025770A2 (ja) | 2011-04-07 | 2012-03-19 | A wrinkles detecting device and a wrinkles detecting method |
CN201280015555.2A CN103534552B (zh) | 2011-04-07 | 2012-03-19 | 褶皱检测装置以及褶皱检测方法 |
KR1020137028694A KR20130137693A (ko) | 2011-04-07 | 2012-03-19 | 주름 검출 장치 및 주름 검출 방법 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2011085793A JP5736921B2 (ja) | 2011-04-07 | 2011-04-07 | しわ検出装置およびしわ検出方法 |
JP2011-085793 | 2011-04-07 |
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PCT/JP2012/057017 WO2012137594A1 (ja) | 2011-04-07 | 2012-03-19 | しわ検出装置およびしわ検出方法 |
Country Status (11)
Country | Link |
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US (1) | US9243903B2 (ja) |
EP (1) | EP2696165B8 (ja) |
JP (1) | JP5736921B2 (ja) |
KR (1) | KR20130137693A (ja) |
CN (1) | CN103534552B (ja) |
BR (1) | BR112013025770A2 (ja) |
MX (1) | MX2013011497A (ja) |
PT (1) | PT2696165T (ja) |
RU (1) | RU2564369C2 (ja) |
TW (1) | TWI490447B (ja) |
WO (1) | WO2012137594A1 (ja) |
Cited By (1)
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WO2015087631A1 (ja) * | 2013-12-10 | 2015-06-18 | 日産自動車株式会社 | 検知方法及び検知装置 |
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NL2017071B1 (nl) * | 2016-06-29 | 2018-01-05 | De Greef's Wagen- Carrosserie- En Machb B V | Meetinrichting voor het meten van producten en werkwijze daarvoor |
CN108061528A (zh) * | 2017-09-07 | 2018-05-22 | 浙江悦达塑业股份有限公司 | 一种蓄电池塑壳的变形测试设备及方法 |
CN110273320B (zh) * | 2018-03-14 | 2022-11-29 | 金红叶纸业(南通)有限公司 | 造纸起皱系统及其起皱方法 |
CN110146040A (zh) * | 2019-06-14 | 2019-08-20 | 李筱穗 | 一种非接触式带钢板形仪 |
CN112950778B (zh) * | 2021-02-26 | 2022-03-18 | 西南林业大学 | 一种度量地貌褶皱的栅格化曲面的构建方法及系统 |
DE102022205762A1 (de) * | 2022-06-07 | 2023-12-07 | Körber Technologies Gmbh | Inspektionsanordnung für die Energiezellen produzierende Industrie |
KR102548125B1 (ko) | 2022-11-09 | 2023-06-28 | (주)해원티앤디 | 시트재 주름 검지 장치 및 방법 |
KR102548127B1 (ko) | 2023-01-19 | 2023-06-28 | (주)해원티앤디 | 시트재 주름 검지 장치 |
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2011
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2012
- 2012-03-19 RU RU2013149404/28A patent/RU2564369C2/ru not_active IP Right Cessation
- 2012-03-19 BR BR112013025770-9A patent/BR112013025770A2/ja not_active IP Right Cessation
- 2012-03-19 PT PT127672608T patent/PT2696165T/pt unknown
- 2012-03-19 KR KR1020137028694A patent/KR20130137693A/ko active Search and Examination
- 2012-03-19 WO PCT/JP2012/057017 patent/WO2012137594A1/ja active Application Filing
- 2012-03-19 EP EP12767260.8A patent/EP2696165B8/en active Active
- 2012-03-19 MX MX2013011497A patent/MX2013011497A/es active IP Right Grant
- 2012-03-19 CN CN201280015555.2A patent/CN103534552B/zh active Active
- 2012-03-19 US US14/009,286 patent/US9243903B2/en active Active
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015087631A1 (ja) * | 2013-12-10 | 2015-06-18 | 日産自動車株式会社 | 検知方法及び検知装置 |
CN105981200A (zh) * | 2013-12-10 | 2016-09-28 | 日产自动车株式会社 | 检测方法以及检测装置 |
JPWO2015087631A1 (ja) * | 2013-12-10 | 2017-03-16 | 日産自動車株式会社 | 検知方法及び検知装置 |
KR101739714B1 (ko) | 2013-12-10 | 2017-05-24 | 닛산 지도우샤 가부시키가이샤 | 검지 방법 및 검지 장치 |
CN105981200B (zh) * | 2013-12-10 | 2017-09-26 | 日产自动车株式会社 | 检测方法以及检测装置 |
US10026999B2 (en) | 2013-12-10 | 2018-07-17 | Nissan Motor Co., Ltd. | Detection method and detection device |
Also Published As
Publication number | Publication date |
---|---|
TWI490447B (zh) | 2015-07-01 |
CN103534552A (zh) | 2014-01-22 |
PT2696165T (pt) | 2019-11-15 |
CN103534552B (zh) | 2016-08-17 |
RU2564369C2 (ru) | 2015-09-27 |
EP2696165A4 (en) | 2014-10-29 |
JP2012220326A (ja) | 2012-11-12 |
KR20130137693A (ko) | 2013-12-17 |
TW201303261A (zh) | 2013-01-16 |
JP5736921B2 (ja) | 2015-06-17 |
US20140185058A1 (en) | 2014-07-03 |
EP2696165B8 (en) | 2019-10-30 |
US9243903B2 (en) | 2016-01-26 |
EP2696165B1 (en) | 2019-09-11 |
BR112013025770A2 (ja) | 2018-07-24 |
EP2696165A1 (en) | 2014-02-12 |
MX2013011497A (es) | 2013-11-04 |
RU2013149404A (ru) | 2015-05-20 |
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