CN103701398A - 基于霍尔效应的线性电机控制器 - Google Patents
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Abstract
本发明提供一种用于线性控制***中的线性运动控制设备。该线性运动控制设备包括用于驱动线圈的线圈驱动器,所述线圈在被驱动时实现具有磁体的运动设备的线性运动。所述线性运动控制设备还包括用于检测与所述线性运动相关联的磁场的磁场传感器以及用于将所述磁场传感器的输出以及所述线圈驱动器的输入连接到外部控制器的接口。所述接口包括反馈回路以使所述磁场传感器输出信号与所述线圈驱动器输入相关。
Description
本申请是申请日为2008年9月8日、发明名称为“基于霍尔效应的线性电机控制器”的专利申请200880118769.6的分案申请。
技术领域
本发明通常涉及线性运动控制。
背景技术
无论变化的条件如何,为了实现期望的输出(或者维持恒定输出),线性运动控制***中的闭环控制不需要进行调节。典型地,通过执行固件的微控制器执行闭环控制,该固件将***的输出信号与期望的命令进行比较以确定对于该***的驱动。因而,调节驱动输入,直到输出信号与期望的命令相匹配为止。
在一些线性定位应用中,微控制器使用来自包括位置传感器的多个不同部件的输出信号数据。例如,在小型线性电机应用中,可以使用诸如霍尔效应传感器的磁场传感器来感测电机位置,然后微控制器使用该电机位置向该电机提供驱动电流。在没有位置传感器反馈的线性运动控制应用中,可以使用协处理器(例如数字信号处理器)例如通过根据驱动电流特征化线性位移来推导位置信息。
然而,这种类型的闭环控制不是没有问题。为了确保环路稳定性,经常需要很慢地操作***。这样的操作导致对电机位置变化的长响应时间。而且,由于电机机械运动中的滞后,难以实现精确的线性运动控制。
发明内容
通常,按照一个方面,本发明涉及线性运动控制设备(“设备”)。所述设备包括线圈驱动器,用于驱动线圈,所述线圈在被驱动时实现具有磁体的运动设备的线性运动。所述设备还包括磁场传感器,用于检测与所述线性运动相关联的磁场并且响应于所述磁场而产生输出信号。所述设备还包括接口,用于将所述磁场传感器的输出以及所述线圈驱动器的输入连接到控制器。所述接口包括反馈回路以使所述磁场传感器输出信号与所述线圈驱动器输入相关。
本发明的实施例包括下面特征中的一个或者多个。
所述接口可以包括差分放大器,所述差分放大器用于接收所述磁场传感器输出信号以及由所述控制器提供的输入信号作为输入,并且从这些输入产生输出信号。由所述差分放大器产生的所述输出信号在所述线圈驱动器输入端被接收作为输入信号。所述磁场传感器可以包括霍尔传感器或者磁阻传感器。所述线圈驱动器可以连接到所述线圈以沿一个方向或多于一个方向驱动经过所述线圈的电流。所述线圈驱动器可以是音圈驱动器或者利用H桥电路实现的线性电机驱动器。所述线圈驱动器、磁场传感器以及接口可以集成为半导体集成电路。
在另一方面,本发明涉及对照相机模块中的透镜进行调焦的方法。确定对于所述透镜的位移范围并且使用所述位移范围请求所述透镜的期望位移。通过使用内部控制环路调节施加到音圈致动器的线圈的驱动电流,向通过所述音圈致动器使所述透镜发生位移的设备提供所述请求。
本发明的特定实施例可以提供下列优点中的一个或者多个。所述内部传感器到驱动器反馈可以补偿线性运动设备(例如,音圈致动器、线性电机、扬声器)非线性以及机械滞后。在照相机透镜调焦应用中,透镜位移范围的确定连同传感器到驱动器反馈能够校准对于特定透镜组件的控制。
附图说明
通过下面对附图的详细描述,能够更加充分地理解本发明的前述特征以及本发明本身,在附图中:
图1是采用线性运动控制设备的示例性控制***的方框图,所述线性运动控制设备包括磁场传感器、线圈驱动器以及提供传感器到驱动器反馈的接口;
图2是(来自图1)所述接口的示意图;
图3是利用霍尔传感器以及用于驱动外部线性电机的H桥线圈驱动器实现的(来自图1)所述线性运动控制设备的局部框图和局部示意图;
图4是可以用于图3的所述线性运动控制设备的霍尔传感器的方框图;
图5示出了示例性磁体和线圈/磁体组件;
图6示出了所述磁体相对于所述线圈和所述线性运动控制设备的定位(实现为半导体集成电路);
图7是可以利用诸如图1所示的线性运动控制设备的示例性照相机透镜调焦***的方框图;
图8是利用霍尔传感器以及用于驱动诸如图7所示的外部音圈致动器的下侧驱动器实现的(来自图1)所述线性运动控制设备的局部框图和局部示意图;
图9是说明示例性照相机透镜调焦处理的流程图;以及
图10示出了位置输入请求对输出响应以及图7-8中***的实际运动的曲线图。
具体实施方式
图1示出了向定位应用提供闭环线性运动控制的控制***10。控制***10包括连接到线性运动控制设备(或者“设备”)14的控制器12。控制***10还包括运动设备16,该运动设备16包括磁体18和线圈20。在所描述的实施例中,磁体18相对于线圈20可移动。控制***10控制磁体18与线圈20的运动。运动设备16可以是任何类型的线性运动设备,例如线性电机或者线性音圈致动器。该定位应用可以是涉及或者利用这样的运动设备的磁体的线性位移的任何应用。
线性运动控制设备14包括磁场传感器22、线圈驱动器24以及接口26。磁场传感器22可以是任何磁场感测设备,例如霍尔效应传感器(霍尔传感器)或者一些类型的磁阻(MR)传感器。设备14向线圈20提供与从控制器12接收的电输入信号30相关的电流信号28。设备14使用磁场传感器22检测磁场强度32并且基于该检测向控制器12返回电信号(示出为输出信号34)。
仍然参照图1,接口26用于分别经由输出信号34和输入信号30将磁场传感器22接口到控制器12并且将线圈驱动器24接口到控制器12。接口26还将磁场传感器22耦合到线圈驱动器24。接口26接收磁场传感器22的输出作为输入电压信号36并且向线圈驱动器24提供输出电压信号,线圈驱动器24将该电压输出信号转换为要施加到线圈20的驱动电流(电流信号28)。接口26因而提供从磁场传感器22到线圈驱动器24的反馈环路,这将在下面参照图2进行描述。接口26的传感器到驱动器反馈允许用户请求(经由控制器12)单个值并且使***自稳定。换句话说,传感器到驱动器反馈环路允许***基于传感器反馈来校正位置以提供位置反馈信息,而没有控制器12(和/或用户)的干预或者不需要诸如线性定位编码器的其它部件。
参照图2,接口26包括将磁场传感器输出36作为输出信号34传送到控制器12的缓冲器40。此外,接口26包括第一放大器44和第二放大器46。第一放大器44是按照比较器操作的高增益差分放大器。第一放大器44接收来自控制器12的输入信号30以及磁场传感器输出信号36作为输入。第一放大器44基于信号30和36生成输出信号48,并且提供该输出信号48作为到第二放大器46的输入信号之一。另一放大器输入(对于第二放大器46),输入信号50,耦合到线圈驱动器24并且通过感测电阻器54连接到地52。第二放大器的输出信号表示为线圈驱动器输入56。尽管表示为接口26的一部分,但是部件46和54(以及相关联的连接)可以代替地包括作为线圈驱动器24的一部分。在这样的划分中,比较器的输入(输出信号48)将是线圈驱动器24的输入。图2中还示出了将线圈驱动器24连接到外部电源(“VDD”)的电源线56。包括作为反馈元件的比较器44允许实现内部(到设备14)闭环控制。应该意识到,根据特定设计的需要,可以包括例如微控制器接口、信号整形或者滤波部件的其它电路。
由控制器向设备14的接口26提供的信号30可以是脉宽调制(PWM)输入信号或者模拟信号,但是也可以容易地实现串行接口。如果使用PWM输入,则其被转换为模拟基准电压。参照图1-2,线性运动控制设备14按照下面进行操作。接口26的反馈电路驱动通过线圈20的电流。线圈20中的电流发生变化,直到运动设备16的位置产生相对于输入30具有预定关系,例如与输入30相匹配(或者如果使用PWM输入,则将该PWM转换为内部模拟信号,或者串行基准)的磁场传感器输出电压(输出36)。
参照图3,将尤其适合于线性电机驱动和控制的设备14的示例性实施例表示为设备60。可以由这样的设备控制/驱动的线性电机的类型包括小型线性电机,例如仅给出一些示例:振动电机、快门触发器、极化滤波器、扬声器控制。在该实施例中,将磁场传感器22和线圈驱动器24(来自图1)分别实现为霍尔效应传感器(或者霍尔传感器)62以及H桥驱动器64。H桥驱动器提供双向电流流动,因而能够使线性电机在前向和反向方向上运行。驱动电流输出28(来自图1)这里表示为包括连接到外部线圈(图1中的线圈20)一端的第一输出28a以及连接到该外部线圈的另一端的第二输出28b。在所说明的实施例中,利用四个固态开关(图中以S1、S2、S3、S4表示)构建H桥。在S1和S4闭合(并且S2和S3打开)时,电流沿一个方向流经线圈20。打开S1和S4并且闭合S2和S3使电流沿相反方向流经线圈20。
图4示出了能够用于(来自图3)霍尔传感器62的霍尔传感器的一个简化示例。也可以使用其它霍尔传感器设计。霍尔传感器62包括霍尔元件70以及各种信号调整部件,例如动态偏移消除电路72(使用断路器稳定)、放大器74,采样和保持(以及平均)电路76以及低通滤波器78。如所说明的,时钟电路80向动态偏移消除电路72、放大器74以及采样和保持(以及平均)电路76提供时序信号。在与其它类型应用相比绝对偏移不太重要的扬声器应用中,从带宽方面考虑,非断路元件可能是有用的。
在一个示例性实施例中,如图5-6所示,将线性运动控制设备14实现为半导体集成电路(IC)。即,磁场传感器与线圈驱动器和接口的电路集成在单个半导体衬底上。因而,可以作为用于模块设计中的IC制造和销售设备14。
图5-6示出了示例性磁体和设备/线圈组件90。在图5-6所示的机械***中,磁体18相对于静止线圈移动。组件90是电机的一部分(未示出其整体),其可以连接到对于给定应用要移动的设备或者结构。因而,图5和图6描述了将集成设备60安装或者嵌入在电机中的实现。参照图5和图6,集成设备60(包括霍尔元件70)连接到线圈20(表示为驱动线圈20)并且线圈20安装到设备/线圈结构94中的偏置板92。磁体18通过允许磁体18沿着运动的期望路径(由箭头96表示)移动的机械悬挂***(未示出)悬挂在设备/线圈结构94上方。将图中所示的磁体18配置为具有相反取向的一对磁体。即,一个磁体的南磁极和另一磁体(位于磁体对中)的北磁极分别面对霍尔元件70。磁体18按照被称为“双极并排”(bipolar slide-by)的操作模式沿着位于霍尔元件70的感测表面上方的水平面中移动。可以使用其它磁体配置和模式。所说明的配置/模式允许对于较小型磁体行程的改善感测精确度。
参照图6,在线圈20中不存在电流时,偏置板92使磁体18集中到线圈/设备结构94上方(“中央位置”,由附图标记98a表示)。在通过线圈驱动器向线圈20施通电流时,由通电的线圈20产生的通量与由磁体18产生的通量相互作用。该相互作用使磁体18取决于线圈通量的极性而与沿着一个方向或者沿着相反方向的力发生反应。即,或者吸引或者排斥磁体18的适当极以产生该力。电流越强,产生的力就越强。在图6的说明中,向线圈20施加正100mA的驱动电流导致磁体18向左侧位置移动(“左侧位置”,由附图标记98b表示),并且向线圈20施加负100mA驱动电流(即,100mA驱动电流沿着相反方向流经该线圈)导致磁体18向右侧位置移动(“右侧位置”,由附图标记98c表示)。因此,在图3-6的实施例中,设备60在磁体18的两个磁极上操作并且沿着两个方向驱动通过线圈20的电流以实现图5-6中所描述的磁体运动。
如上所述,利用接口26的反馈机制,设备14(图1)可以用于例如使用音圈致动器的应用的各种其它应用中。如图7所示,一个示例是可以用于具有照相机的手机(也被称为拍照手机)中的照相机透镜调焦模块(或者“模块”)100。传统上,数字静止照相机使用步进电机作为致动器。由于步进电机的尺寸、复杂性以及功率需求,步进电机不能很好地适合拍照手机中的照相机模块。对于手机照相机的一个致动器选择是音圈致动器。音圈致动器作为驱动器在有限运动、高频激活应用中是有用的,例如在模块100的透镜驱动设备以及其它精密仪器应用中。
模块100包括执行透镜调焦处理104并且向该模块的其它块提供控制信号的控制器102。控制器102可以控制拍照手机的全部操作并且因而在电话和照相机功能之间切换,或者控制器102可以是专用于照相机操作模式(具有单独的控制器用于处理电话模式)。控制器102连接到设备14,设备14驱动音圈致动器106。如早前参照图3-6中所示的线性电机控制应用所说明的,设备14可以构建为集成在单个衬底上的具有音圈驱动器和磁场传感器的半导体集成电路。而且,该磁体以及设备/线圈组件可以与上面参照图5-6所描述的类似,但是具有用于单向驱动的不同线圈和线圈驱动器。可选地,可以使用具有简单弹簧偏置机制的磁体。
音圈致动器106控制光学组件110的透镜108的线性移动以调节透镜焦距。设备14的线圈驱动器24控制音圈致动器106。模块100还包括图像传感器112、信号处理器(SP)114以及帧存储器116。现在将描述该模块的操作。
假设控制器102已经切换到照相机功能或者处于照相机模式,激活图像传感器112,并且控制器102经由控制线118向图像传感器112发送控制信号(时序信号)以开始图像捕获处理。扫描由透镜108投射到图像传感器112上的图像并且将其施加到SP114。控制器102激活信号处理器114以开始自动调焦处理。SP114对从图像传感器112输出的图像信号执行采样、放大和A/D转换并且输出数字图像数据。帧存储器116临时存储从SP114顺序输出的数字图像数据。SP114根据存储在帧存储器116中的图像数据确定该图像的对比度值。每次通过图像传感器112捕获图像并且将该图像存储在帧存储器116中,SP114就读取该图像数据并且计算对比度值。
控制器102向线性运动控制设备14输出控制信号30以开始调焦调节。设备14的驱动器部分根据来自控制器的输入信号30以及来自磁场传感器22的反馈信号36生成驱动信号28。通过音圈致动器106的透镜位置调节使图像锐度发生变化。SP114确定由图像传感器112顺序捕获的图像数据的对比度值并且在透镜移动之前和之后捕获的图像之间对该值进行比较。SP114检测到在检测到峰值对比度值时获得具有最佳锐度的图像并且向控制器102发送检测信号。控制器102发送适当的控制信号(向设备14)以将透镜108移动回到获得峰值对比度值的位置,即,实现最佳锐度的精确位置以完成调焦调节。尽管所描述的SP114确定对比度值,但是可以通过SP144计算表示最优焦点位置的其它参数。
由控制器提供到设备14的接口26的信号30可以是PWM输入信号。如果使用PWM输入,则将其转换为模拟电压。如早前描述的,接口26的反馈电路用于通过外部音圈驱动电流。线圈中的电流发生变化,直到透镜组件的位置导致相对于输入具有预定关系,例如与输入相匹配(或者如果使用PWM输入,则将该PWM转换为内部模拟信号)的霍尔传感器输出。霍尔传感器输出也可经由接口26的输出34用于控制器102。在一个实施例中,如将参照图9所描述的,控制器102使用该输出电压经由PWM输入实现调焦控制方案。这样的调焦控制能够利用反馈回路的闭环控制以消除机械滞后并且使照相机调焦模块中的致动器转换功能非线性线性化。
参照图8,将能够用于驱动音圈致动器106(来自图7)的设备14的示例性实施例表示为设备120。在该实施例中,磁场传感器22和线圈驱动器24(来自图1和图7)分别实现为霍尔传感器62和下侧音圈驱动器122。图中示出的音圈驱动器122包括作为输出驱动器的MOSFET126(除了部件46和54之外)。音圈驱动器122仅提供单向电流流动。表示为输出28b的音圈驱动器电流输出连接到外部线圈的下侧(图1中的线圈20)。
设备120还包括用户控制的睡眠输入124,其在设备120处于睡眠模式时降低电流消耗。终端用户能够通过向睡眠输入施加逻辑电平信号来控制设备120的电流消耗。该低功率特征使得设备对于诸如蜂窝电话和数字照相机的电池操作应用很理想。
制造公差以及透镜取向(相对于重力下拉和类似加速度的施加负载等等的方向)不考虑响应于施加到线圈的电流的透镜移动。控制器102(图7)采用的透镜调焦处理104不仅移除机械滞后(通过使用传感器到驱动器反馈),而且允许将控制***精确校准到具体的透镜调焦模块,这将参照图9进行描述。
参照图9,示出了由控制器102执行的透镜调焦处理(“处理”)104。一旦初始化了该处理(方框130),在没有电流施加到线圈(0电流驱动)时读取该设备的输出值(即,按照霍尔传感器提供到控制器的形式由该霍尔传感器产生的输出)并且将该值作为第一值“0IV”进行存储(方框132)。处理104在输入30处发送请求以向线圈提供电流来实现透镜的最大位移(或者“行程”)(最大电流驱动)(方框134)。处理104再次读取与最大透镜行程相对应的输出值(从霍尔传感器)并且将该值作为第二值“MIV”进行存储(方框136)。处理104使用所述第一值和第二值确定与占空比中每一帧的行程相对应的行程值,具体地说,确定这两个值之间的差(即,MIV-0IV)并且将该差值除以帧的数量(方框138)。将透镜行程范围除以期望的帧数量定义了对于运动的固定步长大小。将每一帧值保存作为第三值“T”。因而,通过在没有电流施加到线圈时测量基线磁场并且然后在最大行程/位移处再次测量,处理104能够确定透镜的行程范围。因而可以将目前由方框132、134、136和138代表的处理104的处理行为看作校准处理。校准处理将线性运动控制校准到单独的透镜调焦模块,用于独立于组件的制造变化的精确调焦。因而校准模式有利地降低了自动调焦应用期间的调焦时间。
仍然参照图9,一旦确定了行程范围,处理104在设备14的输入处请求期望行程(值“D”)(方框140)。通过使值“0IV+T”乘以“帧号”确定值“D”,其中“帧号”与当前帧号码相对应。用户可以请求位于两个极限之间的任何值并且***将基于该***中的反馈自调节到该位置。处理104捕捉当前帧的图像(方框142)。处理104确定当前帧是否是最大帧(方框144)。如果确定当前帧不是最大帧,则处理104进行到下一帧(通过增加帧号)(方框146)并且对应于新的透镜位置,返回到方框140以请求新的期望行程。如果当前帧是最大帧,则处理104选择该“最佳”帧(即,具有最佳锐度的帧,如由SP114确定)位于焦点上并且移动到该帧(方框148)。移动到所选择的帧涉及将透镜移动到合适位置并且因而对于所选择的帧(以及帧号)请求到设备14的“D”输入。处理104使得对于所选择的“最佳”帧能够拍取图片(以完整分辨率)(方框150),使透镜移动到终点位置(home position)(方框152)并且在方框154处终止。如果睡眠模式可用(经由睡眠输入,如先前参照图8描述的),则在方框130处被禁止并且在方框154处被使能。
在诸如参照图7-9描述的数字照相机应用中,线性运动控制设备14的闭环控制电路简化了透镜调焦处理。其提供了透镜的精确移动(与由于透镜行程中的滞后导致的磁变化无关),具有更少的调焦步骤。结果,模块100可以在较短的时段中操作,这降低了照相机***中的功率消耗。其还允许先前调焦位置的精确再创建。
图10说明了在活动范围期间位置输入请求(标记为“PWM”,伏特)、输出响应(标记为“FBout”,伏特)以及就位置变化而言的实际移动(标记为“德耳塔位置”,微米)之间的关系。活动范围以0微米的初始位置(等同于“0高斯”)和220微米处的完全位置变化为基础。从图中可以看出,具有内部反馈的线性运动控制设备的使用能够产生高线性的响应。
将这里引述的全部文献的全部内容结合进来作为参考。
已经描述了本发明的优选实施例,但是对于本领域的普通技术人员来说很明显可以使用结合其概念的其它实施例。因而,这些实施例不应该局限于所公开的实施例,而是应该仅由所附权利要求的精神和范围限定。
Claims (7)
1.一种对具有音圈致动器的照相机模块中的透镜进行调焦以使所述透镜发生位移的方法,包括:
确定所述透镜的位移范围值;
基于所述透镜的所述位移范围值和期望的帧数量来确定每一帧值;
使用所述每一帧值和当前的帧号来确定与所述透镜的期望位移相对应的值;以及
将包括所述值的请求作为输入提供给一设备,所述设备根据所述值和所述设备中的内部反馈环路来调节供应给所述音圈致动器的线圈的驱动电流,直到所述音圈致动器已经使所述透镜发生了所述期望位移。
2.如权利要求1所述的方法,还包括:
在帧中捕获通过所述透镜投射的图像;
确定所述帧是否是最大帧;以及
如果确定所述帧不是最大帧,则使所述当前的帧号递增并且返回到使用所述每一帧值和所述当前的帧号来确定与所述透镜的期望位移相对应的值的所述步骤。
3.如权利要求2所述的方法,还包括:
如果确定所述帧是所述最大帧,则确定哪一个帧位于焦点上;
选择被确定位于焦点上的帧;
使所述透镜移动到所选择的帧的位置;以及
对所选择的帧拍取照片。
4.如权利要求3所述的方法,其中使所述透镜移动到所选择的帧的位置包括:
向所述设备提供请求,以使所述设备根据所述请求和所述设备中的所述内部反馈环路来调节供应给所述线圈的驱动电流,直到所述透镜已经移动到所选择的帧的位置。
5.如权利要求1所述的方法,其中确定所述位移范围值包括:
获得与在没有电流供应给所述线圈时所述透镜的位置相对应的第一值;
获得与在将最大驱动电流供应给所述线圈时所述透镜的第二位置相对应的第二值,其中获得所述第二值包括向所述设备提供最大电流驱动请求,以将所述最大驱动电流供应给所述线圈;以及
确定所述第一值与所述第二值之间的差。
6.一种对具有音圈致动器的照相机模块中的透镜进行调焦以使所述透镜发生位移的方法,包括:
通过以下操作来确定所述透镜的位移范围值:
获得与在没有电流供应给所述音圈致动器的线圈时所述透镜的位置相对应的第一值;
获得与在将最大驱动电流供应给所述线圈时所述透镜的第二位置相对应的第二值,其中获得所述第二值包括向设备提供最大电流驱动请求,以将所述最大驱动电流供应给所述线圈;以及
确定所述第一值与所述第二值之间的差;
基于所述位移范围值来确定与所述透镜的期望位移相对应的值;以及
将包括所述值的请求提供给所述设备,使所述设备根据所述值和所述设备中的内部反馈环路来调节供应给所述线圈的驱动电流,直到所述音圈致动器已经使所述透镜发生了所述期望位移。
7.一种对照相机模块中的透镜进行调焦的方法,包括:
确定所述透镜的位移范围;
使用所述位移范围来请求所述透镜的期望位移;以及
通过使用内部控制环路来调节供应给音圈致动器的线圈的驱动电流,向通过所述音圈致动器使所述透镜发生位移的设备提供所述请求,其中所述内部控制环路包括磁场传感器。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US11/865,118 | 2007-10-01 | ||
US11/865,118 US8084969B2 (en) | 2007-10-01 | 2007-10-01 | Hall-effect based linear motor controller |
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CN109579879A (zh) * | 2017-09-28 | 2019-04-05 | 新思考电机有限公司 | 位置检测、驱动、透镜驱动、光学、照相装置和电子设备 |
CN113691189A (zh) * | 2021-08-26 | 2021-11-23 | 聚辰半导体股份有限公司 | 一种修正闭环音圈马达磁铁零磁区非线性的方法 |
CN113691189B (zh) * | 2021-08-26 | 2024-04-23 | 聚辰半导体股份有限公司 | 一种修正闭环音圈马达磁铁零磁区非线性的方法 |
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US20120008929A1 (en) | 2012-01-12 |
US8084969B2 (en) | 2011-12-27 |
WO2009045680A2 (en) | 2009-04-09 |
JP5841632B2 (ja) | 2016-01-13 |
US9784594B2 (en) | 2017-10-10 |
KR101502828B1 (ko) | 2015-03-16 |
JP5530359B2 (ja) | 2014-06-25 |
JP5921592B2 (ja) | 2016-05-24 |
JP2014131484A (ja) | 2014-07-10 |
DE112008002613T5 (de) | 2010-08-19 |
US20090085558A1 (en) | 2009-04-02 |
JP2014167637A (ja) | 2014-09-11 |
US8716959B2 (en) | 2014-05-06 |
JP2010541529A (ja) | 2010-12-24 |
US20120014682A1 (en) | 2012-01-19 |
CN101884166B (zh) | 2014-01-29 |
CN103701398B (zh) | 2017-06-30 |
KR20100082829A (ko) | 2010-07-20 |
CN101884166A (zh) | 2010-11-10 |
WO2009045680A3 (en) | 2010-05-27 |
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