WO2017150454A1 - 作業機および作業機の操作システム - Google Patents
作業機および作業機の操作システム Download PDFInfo
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- WO2017150454A1 WO2017150454A1 PCT/JP2017/007514 JP2017007514W WO2017150454A1 WO 2017150454 A1 WO2017150454 A1 WO 2017150454A1 JP 2017007514 W JP2017007514 W JP 2017007514W WO 2017150454 A1 WO2017150454 A1 WO 2017150454A1
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- signal
- work machine
- operation signal
- unit
- control unit
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
Definitions
- the present invention relates to a work machine and a work machine operation system. More specifically, the present invention relates to a work machine and an operation system having a configuration that serves as an alternative to the operation device when the operation device of the work machine fails.
- the mobile crane is equipped with a control device and various operation devices (for example, Patent Document 1).
- the operator can change the settings of the vehicle and the crane device by operating the operation device. When this operating device breaks down, the worker cannot operate the mobile crane and is difficult to recover.
- an object of the present invention is to provide a work machine and an operation system having a configuration that is an alternative to the operation device when the operation device of the work machine fails.
- the work machine-related invention is sent by an operated function unit, an operation unit for sending an intrinsic operation signal related to the operation of the operated function unit, and an operation terminal connected to the work machine via an external network.
- a control unit that controls the operated function unit based on one of the pseudo operation signal and the intrinsic operation signal.
- An invention relating to a work machine operation system of the present invention includes the work machine described above and an operation terminal connected to the work machine via an external network, and the operation terminal receives a pseudo operation signal for operating the work machine.
- the control unit controls the function unit to be operated of the work machine based on one of the pseudo operation signal and the intrinsic operation signal sent by the operation unit of the work machine.
- Embodiment 1 of the present invention will be described with reference to the drawings.
- the operation system A according to the first embodiment of the present invention is applied to various working machines described later.
- the work equipment includes a mobile crane, an aerial work vehicle, a railroad vehicle, and a hydraulic excavator.
- the operation system A is particularly suitable for a large mobile crane.
- an operation system A for operating the mobile crane 1 will be described.
- the operation system A includes a mobile crane 1 that is a work machine, an operation terminal 21, and an external network 20.
- the mobile crane 1 includes a control device 11, an operation device 12, a display device 13, and a converter 14. These components are connected to each other via the in-vehicle network 10.
- the in-vehicle network 10 includes a communication line that connects in-vehicle devices (control device 11, operation device 12, display device 13, converter 14 and the like) to each other.
- the communication protocol of the in-vehicle network 10 is not particularly limited. Examples of protocols for the in-vehicle network 10 include various protocols used for vehicle control such as CAN, LIN, and FlexRay.
- the control device 11 is an in-vehicle computer that includes an input terminal, an output terminal, a CPU, a memory, and the like.
- the control device 11 is a control unit and has a function of controlling the mobile crane 1.
- the number of control devices 11 is not limited to one.
- a plurality of control devices 11 may be provided for each function.
- a control device for vehicle control that controls a vehicle of the mobile crane 1
- a control device for crane control that controls the crane device of the mobile crane 1
- a control device that controls the overload prevention device are individually provided. It may be provided as a control device.
- the vehicle of the mobile crane 1, a crane apparatus, an overload prevention apparatus, etc. are the to-be-operated function parts of a working machine.
- various structures and various functions included in the mobile crane 1 are operated function units.
- the operation device 12 is an operation unit, and is a switch or a lever used to operate the mobile crane 1.
- the operating device 12 is provided in the cab of the mobile crane 1 or the like.
- the number of operating devices 12 is not particularly limited, but the number of operating devices 12 is usually plural.
- the operating device 12 includes, for example, traveling of the mobile crane 1, operation of an outrigger (for example, overhang, storage), operation of a boom (for example, undulation, expansion / contraction, turning), operation of a hook (for example, lifting) , Descent), and switches and levers (hereinafter referred to as crane operation units) related to operations such as jib actuation (eg, overhang, retract).
- the operating device 12 is connected to the control device 11 via the in-vehicle network 10.
- the operation device 12 sends a specific operation signal to the in-vehicle network 10 according to the operation of the worker.
- the operation signal is input to the control device 11 via the in-vehicle network 10.
- the control device 11 controls the mobile crane 1 based on the received operation signal. Thereby, the worker can operate the mobile crane 1 using the operation device 12.
- the operating device 12 may be a vehicle system switch, for example.
- Vehicle system switches include a suspension level setting switch, a four-wheel drive / two-wheel drive switch, a steering mode (normal, clamp, club, rear) switch, and the like.
- the display device 13 is a liquid crystal display or the like.
- the display device 13 is provided in the cab of the mobile crane 1 or the like.
- the display device 13 is, for example, a display of an overload prevention device.
- the number of display devices 13 may be one or plural.
- the display device 13 is connected to the control device 11 via the in-vehicle network 10.
- the control device 11 outputs a work machine information signal indicating various information of the mobile crane 1 to the in-vehicle network 10.
- the work implement information signal is input to the display device 13 via the in-vehicle network 10.
- the display device 13 displays various information of the mobile crane 1 based on the work implement information signal. Thereby, the worker can grasp the state of the mobile crane 1 through the display device 13.
- the converter 14 has a function of converting the communication protocol of the in-vehicle network 10 and the communication protocol of the external network 20.
- An operation terminal 21 is connected to the external network 20. That is, the operation terminal 21 is connected to the converter 14 via the external network 20.
- the converter 14 is detachable from the in-vehicle network 10 and is connected to the in-vehicle network 10 only when necessary.
- the converter 14 may not be detachable from the in-vehicle network 10. That is, the converter 14 may be always connected to the in-vehicle network 10.
- the external network 20 may be a wireless network or a wired network.
- Examples of the wireless network include Wi-Fi, Bluetooth (registered trademark), and the like.
- An example of a wired network is USB.
- the operation terminal 21 is a general-purpose computer configured with a CPU, a memory, and the like.
- the operation terminal 21 is, for example, a personal computer, a tablet terminal, or a smartphone. Depending on the configuration of the external network 20, the operation terminal 21 can be arranged outside the cab of the mobile crane 1.
- An application for operating the mobile crane 1 is installed in the operation terminal 21.
- An operator operates the mobile crane 1 by operating the operation terminal 21 and executing this application.
- a specific operation signal is sent from the operation terminal 21 to the external network 20.
- the operation signal is input to the converter 14 via the external network 20.
- the converter 14 converts the operation signal into a protocol and outputs it to the in-vehicle network 10.
- the operation signal is input to the control device 11 via the in-vehicle network 10.
- the control device 11 controls the mobile crane 1 based on the operation signal. Thereby, the worker can operate the mobile crane 1 using the operation terminal 21.
- the operation signal sent out by the controller device 12 is referred to as an “intrinsic operation signal”.
- the operation signal sent out by the operation terminal 21 is referred to as a “pseudo operation signal”.
- the genuine operation signal and the pseudo operation signal may have the same message configuration or different message configurations. An identifier for identifying the genuine operation signal and the pseudo operation signal may be added in the message. Without adding such an identifier, the genuine operation signal and the pseudo operation signal may be indistinguishable.
- the operation terminal 21 When the operator operates the operation terminal 21, the operation terminal 21 sends a pseudo operation signal to the external network 20.
- the pseudo operation signal is transmitted to the control device 11 via the external network 20 and the in-vehicle network 10.
- the control device 11 controls the mobile crane 1 based on the pseudo operation signal.
- the worker can operate the mobile crane 1 using the operation terminal 21. Thereby, the worker can use the operation terminal 21 as an alternative means of the operation device 12 when the operation device 12 breaks down.
- the operation system A also has a function of displaying various information of the mobile crane 1 on the operation terminal 21. Details will be described below.
- the control device 11 stores various information of the mobile crane 1.
- the control device 11 outputs a work machine information signal indicating various information of the mobile crane 1 to the in-vehicle network 10.
- the work implement information signal is input to the converter 14 via the in-vehicle network 10.
- the converter 14 converts the work machine information signal into a protocol and outputs it to the external network 20.
- the work machine information signal is input to the operation terminal 21 via the external network 20. That is, the work implement information signal is transmitted to the operation terminal 21 via the in-vehicle network 10 and the external network 20.
- the operation terminal 21 displays various information of the mobile crane 1 based on the work implement information signal.
- the control device 11 constantly outputs the work implement information signal to the in-vehicle network 10.
- the converter 14 converts the work machine information signal input from the in-vehicle network 10 into a protocol and constantly outputs it to the external network 20.
- the operation terminal 21 displays various information of the mobile crane 1 on the display unit based on the work machine information signal input from the external network 20. When the work information signal is updated, the operation terminal 21 updates the display content of the display unit.
- the operation terminal 21 may be capable of switching between start and stop of constant output of the work implement information signal to the external network 20 by the converter 14. Specifically, for example, the following configurations can be considered.
- the operation terminal 21 When the operator performs a start operation on the operation terminal 21, the operation terminal 21 outputs a start signal to the converter 14. Thereafter, converter 14 constantly outputs a work implement information signal to external network 20.
- the operation terminal 21 When the worker performs a stop operation on the operation terminal 21, the operation terminal 21 outputs a stop signal to the converter 14. Thereafter, the converter 14 does not output the work machine information signal to the external network 20.
- Embodiment 2 ⁇ 2.
- an operation system according to Embodiment 2 of the present invention will be described. Since the configuration of the operation system of the present embodiment is the same as that of the operation system A of the first embodiment, the description thereof is omitted (see FIG. 1).
- the control device 11 controls the mobile crane 1 based on a pseudo operation signal sent from the operation terminal 21 when a failure of the operation device 12 is detected.
- the failure of the operation device 12 is detected as follows.
- the operation device 12 always outputs an intrinsic operation signal to the in-vehicle network 10.
- examples of the signal that the controller device 12 always outputs include a signal indicating that the controller device 12 is not operated. Further, the signal that the controller device 12 always outputs may be a signal indicating that the controller device 12 is operating normally. In any case, the control device 11 may receive a signal that the controller device 12 always outputs as a normal signal.
- an intrinsic operation signal is constantly input (received) to the control device 11. If the controller device 12 fails, the genuine operation signal is not transmitted. When the genuine operation signal cannot be detected, the control device 11 determines that the operation device 12 has failed.
- the controller device 12 may send an abnormality notification signal indicating a failure of the controller device 12 to the control device 11 when detecting a failure of the controller device 12.
- failure detection of the controller device 12 is performed by, for example, a control unit (not shown) of the controller device 12.
- the abnormality notification signal is sent out by the control unit.
- the control device 11 determines that the operation device 12 has failed when the abnormality notification signal is received from the operation device 12.
- control device 12 may periodically send a state confirmation signal toward the operation device 12. Then, when the confirmation signal from the operation device 12 with respect to the state confirmation signal cannot be received, the control device 12 determines that the operation device 12 has failed.
- the control device 11 when the control device 11 detects a failure of the operation device 12, the control device 11 controls the mobile crane 1 based on the pseudo operation signal sent from the operation terminal 21. At this time, the control device 11 is in a state where it does not accept the genuine operation signal of the operation device 12. For this reason, the mobile crane 1 is not operated simultaneously by both the operating device 12 and the operating terminal 21, and it is safe.
- control apparatus 11 controls the mobile crane 1 based on the genuine operation signal sent from the operation apparatus 12, when the failure of the operation apparatus 12 is not detected.
- information regarding the operation signal may be displayed on the display device 13.
- the information on the operation signal is information on whether the control device 11 controls the mobile crane 1 based on the genuine operation signal (that is, the operation device 12) or the pseudo operation signal (that is, the operation terminal 21). is there.
- Information regarding the operation signal is input from the control device 11 to the display device 13 via the in-vehicle network 10.
- an operator sitting in the driver's seat of the mobile crane 1 can recognize whether the mobile crane 1 is operated by the operation device 12 or the operation terminal 21.
- Embodiment 3 ⁇ 3.
- an operation system according to Embodiment 3 of the present invention will be described. Since the configuration of the operation system of the present embodiment is the same as that of the operation system A of the first embodiment, the description thereof is omitted (see FIG. 1).
- the control device 11 of the present embodiment does not accept the pseudo operation signal and based on the true operation signal.
- the mobile crane 1 is controlled. That is, the control device 11 gives priority to the operation of the operation device 12.
- the genuine operation signal and the pseudo operation signal are identified based on an identifier added in the message.
- the control device 11 controls the mobile crane 1 based on the input operation signal.
- the control device 11 may control the mobile crane 1 based on the pseudo operation signal only when a failure of the operation device 12 is detected. That is, the control device 11 does not need to control the mobile crane 1 based on the pseudo operation signal when the failure of the operation device 12 is not detected.
- control device 11 gives priority to the intrinsic operation signal transmitted from the operation device 12. For this reason, the mobile crane 1 is not operated simultaneously by both the operating device 12 and the operating terminal 21, and it is safe.
- the display device 13 may display whether the control device 11 controls the mobile crane 1 based on the genuine operation signal or the pseudo operation signal.
- the work machine operation system includes a control device that controls the work machine, a control device that is connected to the control device via an in-vehicle network, a communication protocol for the in-vehicle network, and a communication protocol for an external network.
- a converter that converts the converter and an operation terminal connected to the converter via an external network, the operation terminal outputs a pseudo operation signal for operating the work machine to the external network, and the converter receives a pseudo signal input from the external network.
- the operation signal may be converted into a protocol and output to the in-vehicle network, and the control device may control the working machine based on a pseudo operation signal input from the in-vehicle network.
- the work machine since the pseudo operation signal output from the operation terminal is transmitted to the control device, the work machine can be operated using the operation terminal. Therefore, the operating terminal can be used as an alternative means of the operating device when the operating device fails.
- the control device includes an operation device that is connected to the control device via an in-vehicle network and that constantly outputs an intrinsic operation signal for operating the work device to the in-vehicle network.
- the work implement may be controlled based on the pseudo operation signal.
- the control device when the control device detects a failure of the operation device, the work device is controlled based on the pseudo operation signal output from the operation terminal. Is safe without being manipulated.
- the controller is connected to the control device via the in-vehicle network and includes an operation device that outputs an intrinsic operation signal for operating the work device to the in-vehicle network.
- the control device may control the work implement based on the intrinsic operation signal when the intrinsic operation signal and the pseudo operation signal are input.
- the display device connected to the control device via the in-vehicle network is provided in Reference Example 2 or Reference Example 3, and the control device includes the intrinsic operation signal and the pseudo operation. It may be displayed which of the signals controls the work implement.
- the worker can recognize which of the operating device and the operating terminal is operating the work machine.
- the control device outputs a work machine information signal to the in-vehicle network
- the converter converts the work machine information signal input from the in-vehicle network into a protocol and externally converts the work machine information signal.
- the operation terminal may display the information on the work implement based on the work implement information signal input from the external network.
- the control device always outputs the work machine information signal to the in-vehicle network, and the converter performs protocol conversion on the work machine information signal input from the in-vehicle network.
- the operation terminal may always output to the external network, and the operation terminal may display the information on the work implement based on the work implement information signal input from the external network.
- the work implement information signal is constantly input to the operation terminal, the work implement information can be displayed in real time.
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Abstract
Description
つぎに、本発明の実施形態1について図面に基づき説明する。
本発明の実施形態1に係る操作システムAは後述の各種作業機に適用される。作業機は移動式クレーン、高所作業車、軌陸車、油圧ショベルなどである。操作システムAは特に大型の移動式クレーンに好適である。以下、移動式クレーン1を操作するための操作システムAについて説明する。
図1に示すように、操作システムAは、作業機である移動式クレーン1と、操作端末21と、外部ネットワーク20と、を備えている。
移動式クレーン1は、制御装置11と、操作装置12と、表示装置13と、コンバータ14と、を備えている。これら各構成は、車載ネットワーク10を介して互いに接続されている。
車載ネットワーク10は車載機器(制御装置11、操作装置12、表示装置13、コンバータ14など)を相互に接続する通信線などで構成されている。車載ネットワーク10の通信プロトコルは特に限定されない。車載ネットワーク10のプロトコルとして、例えば、CAN、LIN、FlexRayなどの車両制御に使用される各種プロトコルが挙げられる。
制御装置11は、入力端子、出力端子、CPU、およびメモリなどで構成された車載コンピュータである。制御装置11は、制御部であって、移動式クレーン1を制御する機能を有する。制御装置11の数は1つに限定されない。制御装置11は機能ごとに複数設けられてもよい。例えば、移動式クレーン1の車両を制御する車両制御用の制御装置と、移動式クレーン1のクレーン装置を制御するクレーン制御用の制御装置と、過負荷防止装置を制御する制御装置とが個々の制御装置として設けられてもよい。なお、移動式クレーン1の車両、クレーン装置、および過負荷防止装置などが作業機の被操作機能部である。その他、移動式クレーン1が備える各種構造および各種機能が被操作機能部である。
操作装置12は、操作部であって、移動式クレーン1を操作するのに用いられるスイッチやレバーなどである。操作装置12は移動式クレーン1の運転室などに設けられる。操作装置12の数は特に限定されないが、操作装置12の数は通常複数である。具体的には、操作装置12は、例えば、移動式クレーン1の走行、アウトリガーの作動(例えば、張り出し、格納)、ブームの作動(例えば、起伏、伸縮、旋回)、フックの作動(例えば、上昇、降下)、およびジブの作動(例えば、張り出し、格納)などの操作に関するスイッチおよびレバー(以下、クレーン操作部という)を含む。
表示装置13は液晶ディスプレイなどである。表示装置13は移動式クレーン1の運転室などに設けられる。表示装置13は例えば過負荷防止装置のディスプレイである。表示装置13の数は1つでもよいし、複数でもよい。
コンバータ14は車載ネットワーク10の通信プロトコルと外部ネットワーク20の通信プロトコルとを変換する機能を有する。外部ネットワーク20には操作端末21が接続されている。すなわち、操作端末21は外部ネットワーク20を介してコンバータ14と接続されている。
操作端末21はCPUやメモリなどで構成された汎用コンピュータである。操作端末21は、例えばパーソナルコンピュータ、タブレット端末、スマートフォンである。外部ネットワーク20の構成にもよるが、操作端末21は移動式クレーン1の運転室の外に配置できる。
つぎに、操作装置12が故障した場合を例に操作システムAの処理を説明する。
操作装置12が故障した場合、作業員はコンバータ14を車載ネットワーク10に接続する。つぎに、作業員が操作端末21を操作し、操作用のアプリケーションを起動する。そして、操作端末21が外部ネットワーク20に接続される。
つぎに、本発明の実施形態2に係る操作システムを説明する。本実施形態の操作システムの構成は実施形態1の操作システムAと同様であるため、説明を省略する(図1参照)。
つぎに、本発明の実施形態3に係る操作システムを説明する。本実施形態の操作システムの構成は実施形態1の操作システムAと同様であるため、説明を省略する(図1参照)。
作業機の操作システムの参考例1として、作業機の操作システムは、作業機を制御する制御装置と、制御装置と車載ネットワークを介して接続され、車載ネットワークの通信プロトコルと外部ネットワークの通信プロトコルとを変換するコンバータと、コンバータと外部ネットワークを介して接続された操作端末と、を備え、操作端末は作業機を操作する擬似操作信号を外部ネットワークに出力し、コンバータは外部ネットワークから入力された擬似操作信号をプロトコル変換して車載ネットワークに出力し、制御装置は車載ネットワークから入力された擬似操作信号に基づき前記作業機を制御してもよい。
1 移動式クレーン
10 車載ネットワーク
11 制御装置
12 操作装置
13 表示装置
14 コンバータ
20 外部ネットワーク
21 操作端末
Claims (8)
- 作業機であって、
被操作機能部と、
前記被操作機能部の操作に関する真性操作信号を送出する操作部と、
前記作業機に外部ネットワークを介して接続される操作端末が送出する疑似操作信号と前記真性操作信号との何れか一方の信号に基づいて前記被操作機能部を制御する制御部と、を備える、
作業機。 - 前記制御部は、前記操作部からの異常通知信号を受領した場合に、前記疑似操作信号に基づいて前記被操作機能部を制御可能な状態となる、請求項1に記載の作業機。
- 前記操作部が、正常動作中に定期的に正常信号を送出し、
前記制御部は、前記正常信号を受領できない場合に、前記疑似操作信号に基づいて前記被操作機能部を制御可能な状態となる、請求項1に記載の作業機。 - 前記制御部は、前記操作部に向けて状態確認信号を定期的に送出し、
前記制御部は、前記状態確認信号に対する前記操作部からの確認信号を受領できない場合に、前記疑似操作信号に基づいて前記被操作機能部を制御可能な状態となる、請求項1に記載の作業機。 - 前記制御部は前記真性操作信号と前記擬似操作信号とが入力された場合に、前記真性操作信号を受け付けず、前記真性操作信号に基づき前記被操作機能部を制御する、請求項1に記載した作業機。
- 前記制御部が前記真性操作信号と前記擬似操作信号とのうちの何れの信号に基づいて前記作業機を制御しているかを表示する表示部を、さらに備える、請求項1に記載した作業機。
- 前記制御部が、前記作業機の状態に関する情報であって、前記操作端末の端末表示部に表示される作業機情報信号を前記操作端末に送信する、請求項1に記載の作業機。
- 請求項1に記載の作業機と、
前記作業機に外部ネットワークを介して接続された操作端末と、を備え、
前記操作端末は前記作業機を操作する擬似操作信号を前記外部ネットワークに送出し、
前記制御部が、前記疑似操作信号と前記作業機の操作部が送出する真性操作信号との何れか一方の信号に基づいて前記作業機の被操作機能部を制御する、
作業機の操作システム。
Priority Applications (5)
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US16/073,481 US10829348B2 (en) | 2016-03-03 | 2017-02-27 | Working machine and operation system for working machine |
CN201780013989.1A CN108698805B (zh) | 2016-03-03 | 2017-02-27 | 作业机械以及作业机械的操作系统 |
EP17759920.6A EP3424866A4 (en) | 2016-03-03 | 2017-02-27 | WORKING MACHINE AND OPERATING SYSTEM FOR WORKING MACHINE |
KR1020187023063A KR102000411B1 (ko) | 2016-03-03 | 2017-02-27 | 크레인 및 크레인의 조작 시스템 |
JP2017541125A JP6259958B1 (ja) | 2016-03-03 | 2017-02-27 | 作業機および作業機の操作システム |
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JP2016040682 | 2016-03-03 | ||
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EP (1) | EP3424866A4 (ja) |
JP (1) | JP6259958B1 (ja) |
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CN (1) | CN108698805B (ja) |
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Cited By (1)
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Also Published As
Publication number | Publication date |
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JP6259958B1 (ja) | 2018-01-10 |
US10829348B2 (en) | 2020-11-10 |
EP3424866A4 (en) | 2019-12-18 |
US20190031476A1 (en) | 2019-01-31 |
JPWO2017150454A1 (ja) | 2018-03-08 |
KR20180097753A (ko) | 2018-08-31 |
EP3424866A1 (en) | 2019-01-09 |
KR102000411B1 (ko) | 2019-07-15 |
CN108698805A (zh) | 2018-10-23 |
CN108698805B (zh) | 2019-09-10 |
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