JP2009013632A - 建設機械のエンジン制御装置 - Google Patents
建設機械のエンジン制御装置 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K25/00—Auxiliary drives
- B60K25/02—Auxiliary drives directly from an engine shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
- B60L1/003—Supplying electric power to auxiliary equipment of vehicles to auxiliary motors, e.g. for pumps, compressors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/40—Electric propulsion with power supplied within the vehicle using propulsion power supplied by capacitors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
- B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2091—Control of energy storage means for electrical energy, e.g. battery or capacitors
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/43—Engines
- B60Y2400/435—Supercharger or turbochargers
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
- Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Power Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
- Control Of Positive-Displacement Pumps (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
【解決手段】操作装置5がフル操作されたことを検出する操作量検出器10、及びコントローラ9の第1演算部9aを含む負荷状態検出手段と、キャパシタ8の充電量を検出可能な充電量検出手段と、過給圧検出器10とを備え、操作装置5の操作に伴い負荷状態検出手段によりポンプ3の吸収トルクがエンジン1の出力トルクを超えたことが検出されたとき、過給圧検出器10によって検出される過給圧が所定圧以下であると判断され、しかも充電量検出手段によって検出されたキャパシタ8の充電量が、電動機2を所定時間A駆動可能な充電量であると判断された際に、キャパシタ8の電力を電動機2に供給させる処理を行なうコントローラ9の判断処理部9cによって構成される判断処理手段を備えた。
【選択図】図1
Description
また、電動機2は、エンジン1の最大過給時トルクと無過給時トルクとの差分トルクに対応した大きさの出力トルクを有するように設定される。
2 電動機
3 油圧ポンプ
4 油圧アクチュエータ
5 操作装置
6 コントロールバルブ
7 電流制御装置
8 キャパシタ
9 コントローラ
9a 第1演算部(負荷状態検出手段)
9b 第2演算部(充電量検出手段)
9c 判断処理部(判断処理手段)
10 操作量検出器(急操作検出手段)
11 過給圧検出器
Claims (6)
- ターボ式エンジンと、このエンジンによって駆動する電動機及び油圧ポンプと、この油圧ポンプから吐出される圧油によって作動する油圧アクチュエータと、この油圧アクチュエータを操作する操作装置と、上記電動機に電力を供給可能なキャパシタとを備えた建設機械のエンジン制御装置において、上記油圧ポンプの吸収トルクが上記エンジンの出力トルクを超える状態となることを検出する負荷状態検出手段と、上記キャパシタの充電量を検出可能な充電量検出手段と、過給圧検出器とを備えるとともに上記操作装置の操作に伴い上記負荷状態検出手段により上記油圧ポンプの吸収トルクが上記エンジンの出力トルクを超える状態が検出されたとき、上記過給圧検出器によって検出される過給圧が所定圧以下であると判断され、しかも上記充電量検出手段によって検出された上記キャパシタの充電量が、上記電動機を所定時間駆動可能な充電量であると判断されたときに、上記キャパシタの電力を上記電動機に供給させる処理を行なう判断処理手段を備えたことを特徴とする建設機械のエンジン制御装置。
- 上記操作装置の操作量を検出する操作量検出手段を備え、上記負荷状態検出手段は、上記操作量検出手段によって検出される上記操作装置の最大操作量に基づき、上記油圧ポンプの吸収トルクが上記エンジンの出力トルクを超える状態となることを検出するものであることを特徴とする請求項1に記載の建設機械のエンジン制御装置。
- 上記油圧ポンプの吸収トルクを検出する負荷検出手段を備え、上記負荷状態検出手段は、上記負荷検出手段によって検出される上記油圧ポンプの吸収トルクの変化率に基づいて上記油圧ポンプの吸収トルクが上記エンジンの出力トルクを超える状態となることを検出するものであることを特徴とする請求項1に記載の建設機械のエンジン制御装置。
- 発電手段を備え、上記判断処理手段は、上記充電量検出手段によって検出される上記キャパシタの充電量が、上記電動機を所定時間駆動可能な充電量に満たないと判断したときに、上記操作量検出手段による上記操作装置の上記油圧ポンプの吸収トルクの減少方向への操作の検出、または上記負荷検出手段による上記油圧ポンプの吸収トルクの減少の検出により、上記発電手段によって発電される電力を上記キャパシタに充電するよう制御することを特徴とする請求項2または3に記載の建設機械のエンジン制御装置。
- 上記キャパシタは、上記操作装置の操作に伴う上記エンジンの出力トルクに対する上記油圧ポンプの吸収トルクの超過分を補う上記電動機の所定時間の駆動を賄う容量に設定されることを特徴とする請求項1に記載の建設機械のエンジン制御装置。
- 上記電動機は、上記エンジンの最大過給時トルクと無過給時トルクとの差分トルクに対応した出力トルクを有することを特徴とする請求項5に記載の建設機械のエンジン制御装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007175422A JP5096813B2 (ja) | 2007-07-03 | 2007-07-03 | 建設機械のエンジン制御装置 |
CN2008800231225A CN101688384B (zh) | 2007-07-03 | 2008-07-02 | 建筑机械的发动机控制装置 |
PCT/JP2008/061999 WO2009005094A1 (ja) | 2007-07-03 | 2008-07-02 | 建設機械のエンジン制御装置 |
DE112008001715.8T DE112008001715B4 (de) | 2007-07-03 | 2008-07-02 | Brennkraftmaschinensteuersystem für Baumaschine |
US12/667,663 US8321094B2 (en) | 2007-07-03 | 2008-07-02 | Engine control system for construction machine |
KR1020107002357A KR101512207B1 (ko) | 2007-07-03 | 2008-07-02 | 건설 기계의 엔진 제어 장치 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007175422A JP5096813B2 (ja) | 2007-07-03 | 2007-07-03 | 建設機械のエンジン制御装置 |
Publications (2)
Publication Number | Publication Date |
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JP2009013632A true JP2009013632A (ja) | 2009-01-22 |
JP5096813B2 JP5096813B2 (ja) | 2012-12-12 |
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Application Number | Title | Priority Date | Filing Date |
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JP2007175422A Expired - Fee Related JP5096813B2 (ja) | 2007-07-03 | 2007-07-03 | 建設機械のエンジン制御装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8321094B2 (ja) |
JP (1) | JP5096813B2 (ja) |
KR (1) | KR101512207B1 (ja) |
CN (1) | CN101688384B (ja) |
DE (1) | DE112008001715B4 (ja) |
WO (1) | WO2009005094A1 (ja) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2010114030A1 (ja) * | 2009-04-01 | 2010-10-07 | 住友重機械工業株式会社 | ハイブリッド型作業機械 |
JP2011032858A (ja) * | 2009-07-29 | 2011-02-17 | Volvo Construction Equipment Ab | ハイブリッド式建設機械のエンジン回転数変化低減制御システム及び方法 |
WO2012050133A1 (ja) * | 2010-10-15 | 2012-04-19 | 日立建機株式会社 | 建設機械 |
WO2012117750A1 (ja) * | 2011-03-01 | 2012-09-07 | 日立建機株式会社 | 建設機械の制御装置 |
EP2546422A4 (en) * | 2010-06-28 | 2014-01-22 | Volvo Constr Equip Ab | CONTROL SYSTEM FOR HYBRID EXCAVATOR |
JP2014218855A (ja) * | 2013-05-10 | 2014-11-20 | コベルコ建機株式会社 | ハイブリッド式建設機械 |
KR101504754B1 (ko) | 2013-09-16 | 2015-03-20 | 엘에스엠트론 주식회사 | 하이브리드 트랙터의 3점 히치와 pto의 연동에 따른 하이브리드엔진의 구동방법 |
JP2015232246A (ja) * | 2014-06-10 | 2015-12-24 | 日立建機株式会社 | ハイブリッド建設機械 |
JP2016142403A (ja) * | 2015-02-05 | 2016-08-08 | コベルコ建機株式会社 | 建設機械の油圧制御装置 |
KR20170003621A (ko) * | 2014-05-06 | 2017-01-09 | 이턴 코포레이션 | 유체정역학 옵션을 구비하는 유압 하이브리드 추진 회로 및 작동 방법 |
JPWO2015125683A1 (ja) * | 2014-02-24 | 2017-03-30 | 住友建機株式会社 | ショベル及びショベルの制御方法 |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007097665A1 (en) * | 2006-02-20 | 2007-08-30 | Volvo Construction Equipment Ab | A method for optimizing operation of a work vehicle |
JP2012082644A (ja) * | 2010-10-14 | 2012-04-26 | Hitachi Constr Mach Co Ltd | 建設機械 |
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Also Published As
Publication number | Publication date |
---|---|
CN101688384B (zh) | 2013-08-14 |
KR20100057780A (ko) | 2010-06-01 |
KR101512207B1 (ko) | 2015-04-14 |
US8321094B2 (en) | 2012-11-27 |
CN101688384A (zh) | 2010-03-31 |
WO2009005094A1 (ja) | 2009-01-08 |
DE112008001715T5 (de) | 2010-09-16 |
US20100332088A1 (en) | 2010-12-30 |
DE112008001715B4 (de) | 2023-07-27 |
JP5096813B2 (ja) | 2012-12-12 |
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