CN102089955A - 在规定限制下的无线高电力传送 - Google Patents
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Abstract
本发明提供一种用于车辆的改进型电池充电系统。初级线圈及次级线圈位于其中所述车辆可(例如)通过进入停车空间中而从所述初级线圈接收电力的地方。所述停车空间可具有嵌入地面中的线圈,或可具有嵌入地面中的线圈阵列。本发明揭示一种导引系统,本发明还揭示精细定位。所述车辆中的所述次级线圈还可升高或降低以改进耦合。
Description
根据35U.S.C.§119主张优先权
本专利申请案主张2008年7月8日申请的标题为“在规定限制下的无线高电力传送(WIRELESS HIGH POWER TRANSFER UNDER REGULATORY CONSTRAINTS)”的第61/078,812号临时申请案的优先权,所述申请案已转让给本发明的受让人且在此以引用的方式明确地并入本文中。
背景技术
我们的先前申请案描述了天线之间的磁共振电力传送。天线可为电容性负载的线环或多匝线圈。这些形成将来自初级结构(发射器)的能量经由磁场而有效地耦合到远端定位的次级结构(接收器)的共振天线。将初级线圈与次级线圈两者均调谐到共同共振频率。
我们的先前申请案描述了无线电力作为针对人类安全的电磁干扰及辐射暴露的主要问题。经由磁场耦合的能量传送可能主要通过规定的H场限度而受到限制。可在离辐射结构的经界定距离(例如,10m)处测试是否符合这些限度。
附图说明
图1展示无线电力传送系统的简化框图。
图2展示无线电力传送系统的更详细框图。
图3展示用于本发明的示范性实施例中的环形天线的示意图。
图4展示用于初级线圈及次级线圈的类似大小的两个盘形线圈;
图5展示次级线圈如何降下以实现紧密近接耦合;
图6展示车辆如何在线圈同轴时充电;
图7说明由导引系统控制的车辆;
图8展示通过次级线圈的x-y偏移控制进行的精细对准;
图9展示通过初级线圈的x-y偏移控制进行的精细对准;
图10展示在初级线圈阵列上方通过次级线圈的x-y偏移控制进行的精细对准。
具体实施方式
词语“示范性”在本文中是用以意味着“充当实例、例子或说明”。不必将在本文中描述为“示范性”的任何实施例理解为比其它实施例优选或有利。
以下结合附图阐述的详细描述意图作为本发明的示范性实施例的描述,且不意图表示可实践本发明的仅有实施例。所述详细描述包括用于提供对本发明的示范性实施例的透彻理解的特定细节。对于所属领域的技术人员来说应显而易见的是,可在没有这些特定细节的情况下实践本发明的示范性实施例。在一些例子中,以框图形式来展示众所周知的结构及装置,以便避免使本文中所呈现的示范性实施例的新颖性模糊。
词语“无线电力”在本文中是用以意味着与电场、磁场、电磁场相关联或另外在不使用物理电磁导体的情况下从发射器发射到接收器的任何形式的能量。
图1说明根据本发明的各种示范性实施例的无线发射或充电系统100。将输入电力102提供到发射器104以用于产生用于提供能量传送的辐射场106。接收器108耦合到辐射场106,且产生输出电力110以供存储或供耦合到输出电力10的装置(未图示)消耗。使发射器104与接收器108两者分离一距离112。在一个示范性实施例中,发射器104及接收器108是根据相互共振关系而被配置。当接收器108的共振频率与发射器104的共振频率相等时,发射器104与接收器108之间的发射损失在接收器108位于辐射场106的“近场”中时最小。
发射器104进一步包括用于提供用于能量发射的方式的发射天线114,且接收器108进一步包括用于提供用于能量接收的方式的接收天线118。发射天线及接收天线的大小是根据待与其相关联的应用及装置而确定。如所陈述,通过将能量的大部分在发射天线的近场中耦合到接收天线而非将大多数能量以电磁波传播到远场而发生有效能量传送。当在此近场中时,可在发射天线114与接收天线118之间产生耦合模式。在天线114及118周围可发生此近场耦合的区域在本文中被称为耦合模式区。
图2展示无线电力传送系统的简化示意图。发射器104包括振荡器122、功率放大器124以及滤波器及匹配电路126。振荡器122经配置以在所要频率(例如,13.5MHz)下产生,所述所要频率可响应于调整信号123而进行调整。替代方案使用LF频率(例如,135Khz)。振荡器信号可由功率放大器124使用响应于控制信号125的放大量而放大。可包括滤波器及匹配电路126以过滤掉谐波或其它不需要的频率,且使发射器104的阻抗匹配于发射天线114。
接收器108可包括匹配电路132以及整流器及切换电路134以产生DC电力输出,以如图2所示而为电池136充电或为耦合到接收器的装置(未图示)供电。可包括匹配电路132以使接收器108的阻抗匹配于接收天线118。
如图3所说明,用于示范性实施例中的天线可配置为“环形”天线150,其在本文中也可被称为“磁性”天线。环形天线可经配置以包括空心或例如铁氧体磁心的实心。使用铁氧体磁心可减少外来对象的影响。然而,铁氧体磁心可能需要特定长度才能有效,这当在车辆中使用时可能存在困难。认为空心盘形线圈更适用于集成于汽车中且适用于嵌入地面中。LF铁氧体可用作磁屏蔽以防止场在天线周围环境的金属部分中产生涡电流。
可通过保持其它装置在磁心区域外部而改进效率。
空心环形天线可更容许外来物理装置放置于磁心附近。此外,空心环形天线允许其它元件放置于磁心区域内。另外,空心环形可更容易使接收天线118(图2)能够放置于发射天线114(图2)的平面内,其中发射天线114(图2)的耦合模式区可更有功效。
如所陈述,在发射器104与接收器108之间的匹配共振或接近匹配共振期间发生在发射器104与接收器108之间的有效能量传送。然而,即使当发射器104与接收器108之间的共振不匹配时,能量也可在较低效率下传送。通过将能量从发射天线的近场耦合到驻留于建立此近场的邻域中的接收天线而非将能量从发射天线传播到自由空间中而发生能量传送。
环形或磁性天线的共振频率是基于电感及电容。环形天线中的电感通常就是由环产生的电感,而电容通常添加到环形天线的电感以产生在所要共振频率下的共振结构。作为非限制性实例,可将电容器152及电容器154添加到天线以产生共振电路,所述共振电路产生共振信号156。因此,对于更大直径的环形天线来说,诱发共振所需要的电容的大小随着环的直径或电感的增加而减少。此外,随着环形或磁性天线的直径增加,近场的有效能量传送区域增加。当然,其它共振电路也是可能的。作为另一非限制性实例,可将电容器并联地放置于环形天线的两个端子之间。另外,一般所属领域的技术人员应认识到,对于发射天线来说,共振信号156可为到环形天线150的输入。
本发明的示范性实施例包括在彼此的近场中的两个天线之间耦合电力。如所陈述,近场为在天线周围存在电磁场但其可能不远离于所述天线进行传播或辐射的区域。其通常被限于接近天线的物理体积的体积。在本发明的示范性实施例中,将例如单匝环形天线及多匝环形天线的磁型天线用于发射(Tx)天线系统及接收(Rx)天线系统两者,因为与电型天线(例如,小偶极)的电近场相比,对于磁型天线来说,磁近场振幅趋向于更高。此允许所述对之间的潜在更高耦合。此外,还预期“电性”天线(例如,偶极及单极)或磁性天线与电性天线的组合。
Tx天线可在足够低的频率下且以足够大的天线大小而操作,以在显著大于由前文所提及的远场及电感性方法所允许的距离的距离处实现到小Rx天线的良好耦合(例如,>-4dB)。如果Tx天线的大小经正确地确定,则当将主机装置上的Rx天线放置于经驱动Tx环形天线的耦合模式区内(即,近场中)时,可实现高耦合电平(例如,-2到-4dB)。
应注意,前述方法可应用于各种通信标准,例如,CDMA、WCDMA、OFDM,等等。所属领域的技术人员应理解,可使用各种不同技术及技艺中的任一者来表示信息及信号。举例来说,可通过电压、电流、电磁波、磁场或磁性粒子、光场或光学粒子或其任何组合来表示可在整个上文描述中所参考的数据、指令、命令、信息、信号、位、符号及码片。
本发明的示范性实施例是针对(或包括)下文。
发明者认为共振充电是最佳充电方式,因为对于相同大小线圈来说发热更少且效率更佳。因此,示范性实施例描述磁耦合系统。
在示范性实施例中,可理论上展示:最大可传送电力取决于辐射结构的大小(线圈直径)、初级线圈与次级线圈之间的耦合因子及初级线圈与次级线圈的品质因子(Q因子)。
大小及耦合因子对辐射电平具有强烈影响,从而限制距离及最大可传送电力。之所以这样认为,是因为以下事实:虽然使经传送电力维持恒定,但如果将次级线圈从初级线圈去除以使得耦合变得更弱,则存储于环绕线圈的磁场中的无功能量的量快速地增加。
改进的Q因子使得传送效率更高且降低辐射电平,因此允许更高的可传送电力。
为了示范说明耦合因子与最大可传送电力的关系,针对示范性实施例而假设由两个相同圆形线圈形成的假想能量传送系统。使用适当电容器而针对在135KHz下的共振来调谐初级线圈及次级线圈两者。表1中列出共振电路的线圈参数及Q因子。此可被视为可用于示范性实施例中的线圈的实例。
参数 | 单位 | 初级线圈 | 次级线圈 |
线圈外部半径 | cm | 8 | 8 |
线圈内部半径 | cm | 6.5 | 6.5 |
线圈轴向宽度 | cm | 1 | 1 |
匝数 | 66 | 66 | |
线圈面积 | m2 | 0.0201 | 0.0201 |
共振器的Q因子 | 250 | 250 |
表1
在135kHz下且对于给定线圈面积来说可应用的H场强度限度在10m的距离处为57dBuA/m,见欧洲标准EN 300330(短程装置)。
表2指示初级线圈中的所得r.m.s.电流及电压。表2展示初级线圈上的数千伏特的电压,因此示范说明线圈内的高电压。这可能在电力/热耗散及耐电压方面存在难题。
表2
表2实际上展示所谓的中位距离,其为线圈中心到中心距离,其是针对示范性实施例的1cm厚线圈。因此,线圈的表面之间的实际距离为以厘米为单位的距离减去1cm。因此,表2中的1cm距离为接近零的值:线圈之间的最小可能距离。
已知电池电动车辆或“BEV”支持有限工作半径。示范性实施例描述用于为BEV再充电的无线解决方案。
图4中所说明的示范性实施例形成初级线圈或发射器400及次级线圈或接收器450。初级线圈及次级线圈中的每一者使用类似大小的盘形线圈。初级线圈410为盘形或“扁平”线圈,其中其径向宽度大于其轴向宽度。所述线圈的尺寸经确定以处置高电力且承受将产生的所得高AC电压及电流,例如,表2中所阐述的电压及电流。在示范性实施例中,接收线圈460具有与发射线圈的大小及特性相同的大小及特性。线圈也可由绝缘漆包绞线(Litz wire)形成。
为了使辐射场最小化,线圈直径应尽可能地小。然而,在示范性实施例中,线圈应充分地大以处置高电力且顾及车辆应用中将通常存在的某相对定位误差。
操作频率下的共振是通过添加与线圈串联的适当值高Q电容器而实现。图4展示与发射线圈410串联的电容器415,且展示与接收线圈460串联的电容器465。在示范性实施例中,所述两个电容器的尺寸均经确定以耐受表2中所阐述的高AC电压。
在示范性实施例中,向车辆传递充电电力的初级线圈310可在对应于次级线圈360在车辆上可能所在地方的位置处完全埋入到停车场的土壤中。通过将初级线圈放于地面中,可从较高的电压(例如,220V或440V)对其进行运转。线圈经定位使得不同大小及长度的车辆在初级线圈与次级线圈同轴地对准时均适当地停放。在图5及图6展示的布置中,BEV 500具有安装于提升机构510上的线圈360,提升机构510控制提升及降低线圈。
所述操作可由车辆500中的处理器520控制。一旦线圈同轴地对准且检测到初级线圈,便如图5所示而降低次级线圈460以实现到初级线圈410的紧密近接耦合。接着,处理器可控制初始测试以检查初级线圈410与次级线圈460之间的电力传送的耦合及效率。可使用所述测试来调适链接。电力传送可在这些测试的成功完成后即刻开始。
在另一示范性实施例中,除了x-y精细定位控制之外,还可存在z轴控制。
图6说明车辆500可如何停放于空间600、610及620中的任一者中。这些空间中的每一者具有可用以为车辆充电的被嵌入且被激励的初级线圈。
图7中的示范性实施例可使用导引系统700来帮助驾驶者(或在自动驾驶车辆的状况下为自动驾驶仪(autopilot))准确地定位车辆。导引系统可依赖于使用LF或HF频带的无线电定位原理。举例来说,示范性实施例可感测初级线圈410与次级线圈460之间的耦合程度。可(例如)通过从初级线圈接收电力的车辆来检测耦合量。导引系统可产生指示所述程度的输出(例如,声音或显示)。
在图8所示的另一示范性实施例中,车载子系统可另外提供用于次级线圈的x-y偏移控制800。导引系统仅将用于仅粗略定位,而x-y偏移控制将调整精细对准以允许线圈之间的更佳耦合。
替代地或另外,图9的示范性实施例界定对准控制900作为初级子系统的一部分。此可提供移动初级线圈410的x-y偏移控制。
在图10所示的另一示范性实施例中,使用初级线圈阵列699以代替单一线圈。所述阵列包括紧密组装的线圈700、701、702、703、704。虽然此示范性实施例展示五个这些线圈,但可使用(例如)3个与15个线圈之间的任何数目。
充电控制710是通过开关盒720而连接到所述线圈中的每一者。通过测试到次级线圈的耦合,充电控制710选择阵列699中最靠近于次级线圈160的初级线圈。另外,如在其它示范性实施例中,次级线圈还可使用BEV的x-y偏移控制而对准于最靠近的初级线圈。在一个示范性实施例中,一旦建立链接,仅一个初级线圈即刻将起作用以用于无线充电。所有其它初级线圈均被去激活。此示范性实施例还可使用所述初级线圈的x-y控制,其是通过允许这些初级线圈的精细移动以匹配于次级线圈的位置而进行。
另一示范性实施例描述载运初级线圈的机器人车辆,且初级线圈在车辆下方自动地移动到次级线圈的位置。
另一示范性实施例包含人类存在检测器,其可用以检测人类何时进入或离开车辆。此可使用(例如)红外线检测系统,其使用位于车辆附近的各种位置处的例如215等红外线传感器。当红外线检测系统检测到很可能表示人的类型的热量时,其输出指示人的存在的信号。在示范性实施例中,如果检测到人就使充电终止。此可减轻磁性充电另外对健康有害的某些担心。
另一示范性实施例可包括自动地检测场强度(例如,FCC场强度)且自动地维持值低于FFC限度的电路。
所属领域的技术人员应进一步了解,可将结合本文中所揭示的实施例而描述的各种说明性逻辑块、模块、电路及算法步骤实施为电子硬件、计算机软件,或此两者的组合。为了清楚地说明硬件与软件的此互换性,已在上文大概按照其功能性而描述了各种说明性组件、块、模块、电路及步骤。此功能性被实施为硬件还是软件是取决于特定应用及强加于整个系统上的设计约束。所属领域的技术人员可针对每一特定应用而以变化方式来实施所描述功能性,但这些实施决策不应被解释为会导致脱离本发明的示范性实施例的范围。
结合本文中所揭示的实施例而描述的各种说明性逻辑块、模块及电路可通过通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或其它可编程逻辑装置、离散门或晶体管逻辑、离散硬件组件或其经设计以执行本文中所描述的功能的任何组合而实施或执行。通用处理器可为微处理器,但在替代方案中,处理器可为任何常规处理器、控制器、微控制器或状态机。还可将处理器实施为计算装置的组合,例如,DSP与微处理器的组合、多个微处理器、结合DSP核心的一个或一个以上微处理器,或任何其它此配置。
结合本文中所揭示的实施例而描述的方法或算法的步骤可直接以硬件、以由处理器所执行的软件模块或以此两者的组合来体现。软件模块可驻留于随机存取存储器(RAM)、快闪存储器、只读存储器(ROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)、寄存器、硬盘、可装卸盘、CD-ROM或此项技术中已知的任何其它形式的存储媒体中。将示范性存储媒体耦合到所述处理器,使得所述处理器可从所述存储媒体读取信息及将信息写入到所述存储媒体。在替代方案中,存储媒体可与处理器成一体式。处理器及存储媒体可驻留于ASIC中。ASIC可驻留于用户终端中。在替代方案中,处理器及存储媒体可作为离散组件而驻留于用户终端中。
在一个或一个以上示范性实施例中,所描述功能可以硬件、软件、固件或其任何组合来实施。如果以软件实施,则所述功能可作为一个或一个以上指令或代码而存储于计算机可读媒体上或在计算机可读媒体上传输。计算机可读媒体包括计算机存储媒体及通信媒体两者,通信媒体包括促进计算机程序从一个位置传送到另一位置的任何媒体。存储媒体可为可由计算机存取的任何可用媒体。通过实例而非限制,这些计算机可读媒体可包含RAM、ROM、EEPROM、CD-ROM或其它光盘存储装置、磁盘存储装置或其它磁性存储装置,或可用以载运或存储指令或数据结构的形式的所要程序代码且可由计算机存取的任何其它媒体。又,适当地将任何连接称为计算机可读媒体。举例来说,如果使用同轴电缆、光纤电缆、双绞线、数字用户线(DSL)或例如红外线、无线电及微波的无线技术从网站、服务器或其它远程源发射软件,则同轴电缆、光纤电缆、双绞线、DSL或例如红外线、无线电及微波的无线技术包括于媒体的定义中。如本文中所使用的磁盘及光盘包括压缩光盘(CD)、激光光盘、光学光盘、数字通用光盘(DVD)、软性磁盘及蓝光光盘,其中磁盘通常以磁性方式再生数据,而光盘使用激光以光学方式再生数据。上述各项的组合也应包括于计算机可读媒体的范围内。
提供所揭示的示范性实施例的先前描述以使所属领域的技术人员能够制造或使用本发明。对这些示范性实施例的各种修改对于所属领域的技术人员来说将是显而易见的,且本文中所界定的一般原理可在不脱离本发明的精神或范围的情况下应用于其它实施例。因此,本发明不意图限于本文中所展示的实施例,而是将符合与本文中所揭示的原理及新颖特征一致的最广泛范围。
Claims (31)
1.一种用于无线电力的发射器系统,其包含:
初级天线,其是由在第一频率下共同磁共振的电感性元件及电容器形成,所述初级天线嵌入地面中,且包括定位控制,所述定位控制检测所述磁共振到次级天线的耦合,且自动地调整所述初级天线的对准以改进所述耦合。
2.根据权利要求1所述的系统,其中所述第一频率为135kHz。
3.根据权利要求2所述的系统,其中所述初级天线为线圈,所述线圈具有大于其轴向宽度的径向宽度。
4.根据权利要求1所述的系统,其中所述初级天线包括天线阵列,所述天线彼此紧密地组装,且所述阵列在既定停车空间的规定区域上延伸。
5.根据权利要求4所述的系统,其进一步包含充电控制系统,所述充电控制系统产生在所述第一频率下磁共振的信号,所述信号是在输出到所述初级天线时将电力发射到远程次级天线的类型的信号。
6.根据权利要求5所述的系统,其中所述充电控制系统选择所述阵列的所述线圈中的一者。
7.根据权利要求6所述的系统,其进一步包含切换装置,所述切换装置仅将所述信号切换到所述选定线圈,且不将任何信号发送到任何其它线圈。
8.根据权利要求1所述的系统,其进一步包含充电控制系统,所述充电控制系统产生在所述第一频率下磁共振的信号,所述信号是在输出到所述初级天线时将电力发射到远程次级天线的类型的信号。
9.根据权利要求1所述的系统,其中所述定位控制改变x位置及y位置。
10.一种用于无线电力的发射器系统,其包含:
多个初级线圈,其形成阵列且彼此紧密地组装,且所述初级线圈中的每一者包括电容器,所述电容器使所述初级线圈在第一频率下实质性磁共振,所述初级线圈阵列嵌入地面区域中。
11.根据权利要求10所述的发射器系统,其进一步包含充电控制系统,所述充电控制系统产生在所述第一频率下磁共振的信号,所述信号是在输出到所述线圈中的一者时将电力发射到远程次级线圈的类型的信号。
12.根据权利要求11所述的系统,其中所述第一频率为135kHz。
13.根据权利要求11所述的系统,其进一步包含切换配置,所述切换配置将所述输出信号切换到所述阵列的所述线圈中的任一者。
14.根据权利要求13所述的系统,其进一步包含检测系统,所述检测系统检测所述线圈中的哪一者具有最佳耦合,且使用所述检测来控制所述切换配置。
15.一种用于无线电力的接收器系统,其包含:
接收天线,其由在第一频率下共同磁共振的线圈及电容器形成;以及
用于所述接收天线的提升装置,其基于检测到耦合磁共振而提升及降低所述接收天线。
16.根据权利要求15所述的接收器,其进一步包含x-y对准控制,所述x-y对准控制通过在x方向及y方向上移动所述接收天线而自动地对准所述接收天线以与初级天线更佳地对准。
17.根据权利要求15所述的接收器,其进一步包含导引控制,所述导引控制自动地提 供用于将车辆导引到所述接收天线与发射初级天线更佳地对准的位置的导引信息。
18.根据权利要求15所述的接收器系统,其进一步包含从所述接收天线接收磁诱发信号及从其产生电力的电路。
19.根据权利要求18所述的接收器系统,其中所述电路是在135kHz下共振。
20.根据权利要求15所述的接收器系统,其中所述接收天线及所述提升装置是电池操作车辆的一部分。
21.一种用于无线电力的接收器系统,其包含:
车辆,其基于电力而操作;
接收线圈,其形成于所述车辆中,所述接收线圈是由在第一频率下共同磁共振的线圈及电容器形成,且经连接以产生为所述车辆供电的输出;以及
用于所述接收线圈的对准控制,其经自动地调整以移动所述接收线圈以改进与所述初级线圈的耦合。
22.根据权利要求21所述的接收器,其进一步包含用于所述接收线圈的提升装置,所述提升装置自动地基于检测到来自初级线圈的磁耦合而升高及降低所述接收线圈。
23.根据权利要求21所述的接收器,其进一步包含导引控制,所述导引控制自动地提供用于将所述车辆导引到所述接收线圈与所述初级线圈粗略地对准的粗略位置的导引信息。
24.根据权利要求21所述的接收器系统,其进一步包含从所述接收线圈接收磁诱发信号及从其产生电力且使用所述电力来操作所述车辆的电路。
25.根据权利要求18所述的接收器,其中所述电路在135kHz下共振。
26.根据权利要求21所述的接收器,其中所述对准控制为x-y对准。
27.一种方法,其包含:
在电池操作车辆中以磁性方式接收电力;以及
响应于检测到磁耦合,在所述车辆中采取动作以改进所述电力到车辆系统的耦合。
28.根据权利要求27所述的方法,其中所述采取动作包含精细地定位所述车辆中的接收天线。
29.根据权利要求27所述的方法,其中所述采取动作包含使用所述车辆中的导引系统来进行粗略定位。
30.根据权利要求27所述的方法,其中所述采取动作包含降低所述接收天线以使所述接收天线更靠近于初级天线。
31.一种方法,其包含:
在电池操作车辆中以磁性方式接收电力;以及
响应于检测到磁耦合,使用依赖于无线电定位原理的导引系统来移动所述车辆以改进磁耦合。
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CN104283331A (zh) | 2015-01-14 |
JP2015065805A (ja) | 2015-04-09 |
EP2301133B1 (en) | 2018-10-03 |
CN102089955B (zh) | 2014-10-22 |
EP2584665A3 (en) | 2013-05-15 |
KR101436712B1 (ko) | 2014-09-02 |
EP2584665A2 (en) | 2013-04-24 |
KR20130006706A (ko) | 2013-01-17 |
JP2014039462A (ja) | 2014-02-27 |
JP6158159B2 (ja) | 2017-07-05 |
EP2584665B1 (en) | 2020-01-08 |
WO2010006078A1 (en) | 2010-01-14 |
JP2011527884A (ja) | 2011-11-04 |
KR101459254B1 (ko) | 2014-11-12 |
JP5329660B2 (ja) | 2013-10-30 |
US8466654B2 (en) | 2013-06-18 |
US20130278210A1 (en) | 2013-10-24 |
US20100117596A1 (en) | 2010-05-13 |
US8729859B2 (en) | 2014-05-20 |
KR20110026022A (ko) | 2011-03-14 |
KR20130111647A (ko) | 2013-10-10 |
EP2301133A1 (en) | 2011-03-30 |
CN104283331B (zh) | 2017-12-05 |
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