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WO2004028951A1 - Unite de commande de portes d'ascenseur - Google Patents

Unite de commande de portes d'ascenseur Download PDF

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Publication number
WO2004028951A1
WO2004028951A1 PCT/JP2003/012156 JP0312156W WO2004028951A1 WO 2004028951 A1 WO2004028951 A1 WO 2004028951A1 JP 0312156 W JP0312156 W JP 0312156W WO 2004028951 A1 WO2004028951 A1 WO 2004028951A1
Authority
WO
WIPO (PCT)
Prior art keywords
door
elevator door
speed
motor speed
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2003/012156
Other languages
English (en)
Japanese (ja)
Inventor
Shigeki Mizuno
Masahiko Kouketsu
Hiroshi Araki
Takashi Yumura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP2004539503A priority Critical patent/JP4488210B2/ja
Priority to EP03798459A priority patent/EP1544152B1/fr
Priority to TW092126441A priority patent/TWI231289B/zh
Publication of WO2004028951A1 publication Critical patent/WO2004028951A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/14—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/14—Control systems or devices
    • B66B13/143—Control systems or devices electrical
    • B66B13/146—Control systems or devices electrical method or algorithm for controlling doors

Definitions

  • the present invention relates to an elevator door control device, and more particularly to an elevator door control device that realizes both high safety and comfort for an elevator user.
  • Elevator doors serve as an interface between the elevator and its users, so it is required to provide both safety and comfort to the users.
  • the problem of safety is how to reduce disasters caused by accidents in which users are caught or pulled in by elevator doors. Reducing the door speed is an effective solution to this problem.
  • the problem of comfort is how to control the waiting time of users when using elevators. To solve this problem, it is effective to transport the user to the destination floor early. Therefore, increasing the door speed or shortening the door opening / closing time is one effective solution.
  • Safety is realized by using torque command information, which is the output of the speed control unit that controls the door speed of the door drive motor that drives the elevator doors. Specifically, it compares the tonnoke command with a pattern for door abnormality determination called an overload detection pattern, and determines that the door opening / closing operation is abnormal when the torque command exceeds the overload detection pattern. It is.
  • the door opening / closing operation abnormality detection In order to improve the operability, multiple overload detection patterns are used based on the relationship that the overload detection pattern used here is such that the torque command increases when the door mass is large and the torque command decreases when the door mass is small. You have selected from among the patterns. Specifically, a large overload detection pattern is selected when the door mass is large, and a small overload detection pattern is selected when the door mass is small.
  • comfort is achieved by selecting an appropriate motor speed pattern from among multiple motor speed patterns, taking into account the magnitude of the torque command (motor current command). Specifically, based on the door mass for each floor and the magnitude of the torque command, the relationship that the torque command increases when the door mass is large and decreases when the door mass is small is used. Therefore, an appropriate motor speed pattern is selected from a plurality of motor speed patterns so that the magnitude of the torque command for each floor is approximately the same.
  • Patent Document 1 Japanese Patent Application Laid-Open No. 2000-159461
  • the door speed is slow when the door mass is large, and the door speed is fast when the door mass is small.
  • the motor speed pattern is selected according to the door mass.
  • Elevator doors are subject to international regulations (eg,
  • AS ME Rule 1 1 2.4 regulates the kinetic energy of doors, especially for door closing movements.
  • the kinetic energy of a door is, as shown in the following equation (1), the door mass (exactly, the mass of the door itself and the mass of the individual members mechanically connected to the door). Sum) and door speed.
  • Average door closing speed (moving distance of door from fully open to fully closed) / (running time) (2)
  • running time (running time)
  • the running time is It is the time required to travel the part except for 25 [mm] from each of the fully open and fully closed positions.
  • the value of the kinetic energy regulation using the average speed is specifically set to 10 [Joules] or less.
  • the average speed was used as the door speed when evaluating the kinetic energy.However, in order to satisfy safety in consideration of shock damage, the instantaneous speed, that is, the maximum speed, was set. I think it is more appropriate to use it. Therefore, hereinafter, the average speed or the maximum speed can be used as the door speed of the kinetic energy shown in the above equation (1). However, the regulation value of the kinetic energy differs depending on the speed used.
  • the conventional elevator door control system only considers the magnitude of the torque command and does not have means for calculating and evaluating the kinetic energy of the door as a component.
  • the door speed has been optimized by making the best use of the kinetic energy regulations to increase the door speed and shorten the door opening / closing time.
  • the present invention has been made to solve the above problems, and has been made to optimize the door speed such that the door speed is increased or the door opening / closing time is shortened as long as the kinetic energy regulation can be observed. It aims to realize an elevator door control device.
  • the elevator door control device includes an elevator door control device that outputs a torque command corresponding to a motor speed pattern selected from a plurality of motor speed patterns to a drive means of the elevator door to control opening and closing of the elevator door.
  • a door parameter calculating means for calculating a door parameter for each floor based on a mass of an elevator door for each floor, and the plurality of door parameters based on a calculation result of a door parameter for each floor by the door parameter calculating means.
  • Speed pattern selecting means for selecting one of the motor speed patterns for each floor as a motor speed pattern for controlling opening and closing of an elevator door for each floor.
  • FIG. 1 is a configuration diagram illustrating an example of an elevator door control device according to Embodiment 1 of the present invention.
  • FIG. 2 is an operation explanatory diagram of speed pattern selecting means in the elevator door control device according to Embodiment 1 of the present invention
  • FIG. 3 shows an example of an elevator door control device according to Embodiment 2 of the present invention.
  • FIG. 4 is a configuration diagram illustrating an example of an elevator door control device according to Embodiment 3 of the present invention.
  • FIG. 5 is an explanatory diagram of the contents of the map storage means in the elevator door control device according to the fourth embodiment of the present invention.
  • FIG. 1 is a configuration diagram showing an example of an elevator door control device according to Embodiment 1 of the present invention.
  • a pulse generator 2 is directly connected to a motor shaft of a door driving motor 1 of an elevator door mechanism for driving an elevator door. Generates pulse information indicating the position. Further, the current detector 3 detects a load current of the door driving motor 1.
  • the door driving motor 1 is assumed to be, for example, a vector control induction motor or a brushless DC motor.
  • the speed command unit 4 stores a plurality of predetermined motor speed patterns, and outputs a speed command corresponding to the plurality of stored motor speed patterns.
  • the addition unit 5 outputs a speed deviation between the speed command output by the speed command unit 4 and the actual motor speed (feedback speed) obtained from the pulse generator 2 via the speed conversion unit.
  • the speed control unit 6 performs a speed control by outputting a motor current command corresponding to the torque command to the door driving motor 1 as a torque command according to the speed deviation output by the adding unit 5.
  • the motor current command output from the speed control unit 6 is obtained by calculating the current deviation from the actual motor current detected by the current detector 3 in the adding unit, and is output to the current control unit 10.
  • the current control unit 10 generates a load current for driving the door driving motor 1 according to the input current deviation, and controls the speed of the motor 1. At the time of this speed control, the current control unit 10 realizes the beta control based on the phase information from the pulse generator 2.
  • the door mass storage unit 7 stores in advance the door mass for each floor
  • the kinetic energy calculating means 9 constitutes a door parameter calculating means for calculating a door parameter for each floor based on the mass of each floor of the elevator door, and the door mass for each floor in the door mass storage unit 7.
  • the kinetic energy of the door as a door parameter is calculated based on the mass and the door speed information such as the average speed or the speed elapsed value.
  • the speed pattern selecting unit 10 uses the motor speed pattern selected from a plurality of motor speed patterns stored in the speed command unit 4 in accordance with the calculation result from the kinetic energy calculating unit 9 to execute the speed command unit 4. More speed command is output.
  • the portion within the broken line in FIG. 1 indicates the same or equivalent part as that of a normal elevator door control device.
  • the basic operation related to motor speed pattern selection will be described, and then a specific example of the operation related to motor speed pattern selection will be introduced for easy understanding.
  • the basic operation related to the selection of the motor speed pattern is as follows. The kinetic energy is calculated for each floor based on the door speed information such as the elapsed value.
  • the kinetic energy calculation results for each motor speed pattern obtained by repeating this for a plurality of motor speed patterns are organized for each floor. Specifically, among the motor speed patterns that satisfy the desired door kinetic energy limit, the motor speed pattern with the shortest door opening and closing time for each floor is set as the motor speed pattern for each floor. It is selected at 10.
  • the speed pattern selecting means 10 selects the motor speed pattern with the shortest door opening / closing time for each floor as the motor speed pattern for each floor.
  • the present invention is not limited to this.
  • a motor speed pattern that maximizes the door kinetic energy may be selected.
  • the door kinetic energy limitation may be a condition including not only the upper limit but also the lower limit, that is, a selection condition based on a door kinetic energy having a range.
  • the average speed which is the door speed information used for the kinetic energy calculation
  • the average speed can be obtained by using the equation (2) in accordance with the above-mentioned rules, and the value obtained by integrating the door speed (elapsed speed value) with the time by the door opening / closing time. It can also be obtained using the numerical result (approximate value) obtained by division.
  • the door speed information is assumed to be an average speed or an elapsed speed value.
  • the speed pattern selecting means 10 if there are a plurality of motor speed patterns having the shortest door opening / closing time for each floor among the motor speed patterns satisfying the desired door kinetic energy limitation, Select the motor speed pattern with the smallest maximum door speed as the speed command.
  • the initial motor speed pattern is
  • the elevator door control device By repeating this, the motor speed pattern is determined where the kinetic energy limit is satisfied. By performing this determination operation for each floor, the elevator door control device according to the first embodiment can be realized.
  • a plurality of motor speed patterns (door closing speed patterns) stored in the speed pattern storage unit in the speed command unit 4 are already arranged in order from the shorter door opening / closing time to the longer one.
  • the door speed can be easily adjusted.
  • the door speed is the fastest or the door opening and closing time is shortest within a range where the kinetic energy regulation can be observed for each floor. Since the speed can be optimized, it is possible to provide an elevator door control device that achieves both safety and comfort for elevator users.
  • the motor speed pattern that has the shortest door opening / closing time for each floor among the plurality of motor speed patterns satisfying the desired door kinetic energy limit is selected as the motor speed pattern for each floor,
  • the motor speed pattern satisfying the desired door kinetic energy limit when there are a plurality of motor speed patterns having the shortest door opening / closing time for each floor, the motor speed pattern having the smallest maximum door speed is selected. As a result, it is possible to find a solution that uniquely realizes the optimization of the door speed such that the door speed is the fastest or the door opening / closing time is short as long as the kinetic energy regulations can be observed.
  • Embodiment 2
  • FIG. 3 shows an example of an elevator door control device according to Embodiment 2 of the present invention. It is a block diagram.
  • the same reference numerals as those in the first embodiment shown in FIG. 1 indicate the same or equivalent components, and thus the description thereof will be omitted.
  • the door / motor speed converter 8 detects the actual motor speed output from the speed converter, and converts the actual motor speed to the door speed. Further, the door mass calculating means 11 calculates the door mass based on the door speed converted by the door / motor speed converter 8 and the torque command output from the speed controller 6.
  • the configuration of the control device for the elevator door according to the second embodiment is almost the same as the configuration of the control device for the elevator door according to the first embodiment shown in FIG. 1, but the door that converts the motor speed to the door speed is used.
  • / Motor speed conversion unit 8 Door Z motor Door mass calculation means for calculating door mass by calculating using door speed obtained from speed conversion unit 8 and torque command output from speed control unit 6 1 1 Is different.
  • the door mass storage unit 7 according to the elevator door control device according to the first embodiment shown in FIG. 1 the door mass for each floor is stored in advance.
  • the door speed obtained from the door Z motor speed conversion unit 8 and the door speed is stored.
  • the door type is assumed to be a door type having a door mechanism that directly transmits the torque of the door driving motor 1 to the door part by a belt instead of a link mechanism.
  • a non-linear generating link using a weight is attached to the door to generate a mechanical door-closing holding force when the power is turned off.
  • the door type here has the characteristic that the door speed and the motor speed, and the door acceleration and the motor acceleration have a linear relationship, that is, a relationship of constant gain times.
  • the motor angular velocity can be easily replaced with the door speed and the motor angular acceleration can be easily replaced with the door acceleration.
  • FIG. 3 shows a configuration diagram using a door speed as an input to the door mass calculating means 11.
  • T is the total torque acting on the door motor
  • Tm is the motor torque command
  • T1 is the torque generated by the non-linear link
  • T2 is the constant door-closing torque
  • T2 is the door driving motor.
  • the torque T 1 and the constant door-closing torque T 2 by the non-linear link are calculated in advance by a function calculation. It is possible to ask. Therefore, the torque T1 and the constant door-closing torque T2 obtained by the nonlinear link generated in advance are added to the motor torque command Tm to obtain the total door torque, and the minimum total door torque T and the motor angular acceleration a are obtained.
  • the door inertia J for each floor can be obtained, and further, the door mass can be calculated from the door inertia J.
  • the elevator door control device according to the second embodiment uses the above-described embodiment. Similarly to the elevator door control device according to the first aspect, the kinetic energy is calculated using the door mass calculated by the door mass calculating means 11, and based on this, the speed pattern selecting means 10 calculates Motor speed putter that can optimize door speed Is selected.
  • the door mass for each floor required for calculating the kinetic energy is calculated numerically based on Equation (3). It can be calculated automatically by processing, eliminating the need for enormous effort to obtain from structural information such as dimensions and materials, thus preventing incorrect door mass from being calculated due to human error. As a result, it is possible to obtain a highly accurate door mass, so that a highly accurate kinetic energy calculation result can be obtained.
  • FIG. 4 is a configuration diagram illustrating an example of an elevator door control device according to Embodiment 3 of the present invention. 4, the same reference numerals as those in the first embodiment shown in FIG. 1 denote the same or equivalent components, and a description thereof will be omitted.
  • the speed limit value calculation means 9a is a door parameter calculation means for calculating the door parameters for each floor based on the mass of each floor of the elevator door.
  • the energy calculating means 9 is provided in place of the elevator mass for each floor based on the mass of the elevator door for each floor from the door mass storage unit 7 and the predetermined door kinetic energy limit value based on the equation (1). It calculates the limit value of the average door speed.
  • the speed limit value calculating means 9a a predetermined door kinetic energy limit based on the mass of the elevator door for each floor according to the floor information and the equation (1) is used.
  • the limit value of the average door speed for each floor is calculated in advance.
  • the average door speed limit value means the condition of the average door speed necessary to satisfy the door kinetic energy limit value.
  • the door kinetic energy limit value includes not only the upper limit but also the lower limit, that is, a selection condition based on a door kinetic energy having a certain range. It may be a matter.
  • the speed pattern selecting means 10 uses the limit value as the condition of the average door speed from the speed limit value calculating means 9a, and among the motor speed patterns satisfying the desired door kinetic energy limit, Similarly to the above, the motor speed pattern with the shortest door opening / closing time for each floor is selected as the motor speed pattern for each floor, and the speed command unit 4 outputs a speed command.
  • the speed pattern selecting means 10 selects a motor speed pattern having the smallest maximum door speed among the motor speed patterns.
  • a speed command may be output.
  • the speed pattern selecting means 10 selects the motor speed pattern with the shortest door opening and closing time for each floor as the motor speed pattern for each floor, the present invention is not limited to this.
  • the average door speed Among the motor speed patterns that satisfy the above limit value, the motor speed pattern that provides the maximum average door speed may be selected.
  • Embodiment 4 As described above, the same effects as those of the first embodiment can also be obtained by the elevator door control device according to the third embodiment.
  • the door parameters were calculated using the kinetic energy calculating means 9 or the speed limit value calculating means 9a as the door parameter calculating means.
  • a configuration including a map storage unit that stores in advance a map (table) in which a plurality of motor speed patterns are associated with the mass of the elevator door may be considered.
  • FIG. 5 is a diagram showing an example of the map storage means. This figure shows an example in which four motor speed patterns VI, V2, V3, and V4 are prepared. The average speed in the figure is a value calculated from the door speed waveform obtained by experiments or computer simulations using these four motor speed patterns. Note that
  • the units in Fig. 5 are the average speed [m / sec], the door kinetic energy [J:], Door mass [kg].
  • each motor speed pattern when the door kinetic energy limit is specified is related to the mass range of the elevator door.
  • Fig. 5 shows the case where the limit value of the door kinetic energy is specified as 8 [J] (corresponding to the part surrounded by a square frame).
  • the pattern V1 use the motor speed pattern V2 if it is in the range of 370 kg to 462 kg, and use the motor speed pattern V3 if it is in the range of 462 kg to 649 kg. It shows that if the motor speed pattern V 4 is used in the range of 665 kg, the door kinetic energy at that time will always be 8 [J] or less.
  • the speed pattern selecting means 10 selects by reading a corresponding motor speed pattern from a map previously stored in the map storage means based on the mass of the elevator door for each floor, and the speed command section 4 Based on the read motor speed pattern, the opening and closing of the elevator door is controlled.
  • the map and the table the actual calculation by the door kinetic energy calculating means 9 and the speed limit value calculating means 9a can be substituted.
  • the door speed can be optimized in consideration of the door parameters related to the kinetic energy regulation, and as a result, the safety and comfort for the elevator user can be improved.
  • An elevator door control device that achieves both can be provided.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Door Apparatuses (AREA)

Abstract

Cette invention concerne une unité de commande de portes d'ascenseur conçue pour optimiser la vitesse des portes en augmentant cette vitesse ou en réduisant le temps d'ouverture/fermeture des portes dans des limites compatibles avec les régulations relatives à l'énergie cinétique. Dans une unité de commande de portes d'ascenseur qui commande l'ouverture/fermeture de telles portes au moyen d'une instruction de couple elle-même fonction d'un mode de vitesse du moteur choisi parmi une pluralité de modes de vitesses de moteur, l'énergie cinétique des portes est calculée d'après la masse des portes d'ascenseur de chaque étage et d'informations de vitesse des portes pendant leur ouverture/fermeture. L'un parmi la pluralité des modes de vitesse de moteur est sélectionné en tant que mode de vitesse moteur pour chaque étage en fonction des résultats du calcul.
PCT/JP2003/012156 2002-09-27 2003-09-24 Unite de commande de portes d'ascenseur Ceased WO2004028951A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2004539503A JP4488210B2 (ja) 2002-09-27 2003-09-24 エレベータドアの制御装置
EP03798459A EP1544152B1 (fr) 2002-09-27 2003-09-24 Unite de commande de portes d'ascenseur
TW092126441A TWI231289B (en) 2002-09-27 2003-09-25 Apparatus for controlling elevator door

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002-283701 2002-09-27
JP2002283701 2002-09-27

Publications (1)

Publication Number Publication Date
WO2004028951A1 true WO2004028951A1 (fr) 2004-04-08

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Family Applications (1)

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PCT/JP2003/012156 Ceased WO2004028951A1 (fr) 2002-09-27 2003-09-24 Unite de commande de portes d'ascenseur

Country Status (6)

Country Link
EP (1) EP1544152B1 (fr)
JP (1) JP4488210B2 (fr)
KR (1) KR20050044626A (fr)
CN (1) CN100390042C (fr)
TW (1) TWI231289B (fr)
WO (1) WO2004028951A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009220997A (ja) * 2008-03-18 2009-10-01 Toshiba Elevator Co Ltd エレベータのドア制御装置
WO2010106863A1 (fr) * 2009-03-18 2010-09-23 三菱電機株式会社 Dispositif de commande de porte d'ascenseur
US8746412B2 (en) 2008-12-19 2014-06-10 Otis Elevator Company Elevator door frame with electronics housing
JP2021155192A (ja) * 2020-03-27 2021-10-07 フジテック株式会社 エレベータのドア装置用の動作設定装置、及び該動作設定装置を用いたドア装置の開閉動作の設定方法。
CN116730155A (zh) * 2023-06-20 2023-09-12 日立楼宇技术（广州）有限公司 一种门控方法、装置、设备及存储介质

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EP1922278B1 (fr) * 2005-09-05 2012-11-14 Kone Corporation Systeme d'ascenseur
KR101114759B1 (ko) 2007-11-07 2012-04-17 미쓰비시덴키 가부시키가이샤 엘리베이터의 도어 제어 장치
DE102009021250B3 (de) * 2009-05-14 2010-10-21 Aufzugswerke M. Schmitt & Sohn Gmbh & Co. Verfahren zur Steuerung einer Aufzugsanlage
JP5630567B2 (ja) * 2011-03-22 2014-11-26 三菱電機株式会社 エレベータのドア制御装置
JP2013040006A (ja) * 2011-08-15 2013-02-28 Mitsubishi Electric Building Techno Service Co Ltd エレベータドア監視装置およびエレベータドア監視方法
DE102013204925B4 (de) 2013-03-20 2018-03-01 Siemens Aktiengesellschaft Steuerung eines Antriebs für ein bewegbares Objekt
US9834414B2 (en) * 2015-06-17 2017-12-05 Mitsubishi Electric Research Laboratories, Inc. System and method for controlling elevator door systems
CN107399652B (zh) * 2015-12-04 2019-07-09 安徽省特种设备检测院 一种应用在电梯检测中的电梯瞬时动能测量装置
CN108217398B (zh) * 2016-12-21 2020-09-22 上海三菱电梯有限公司 门机控制器对轿门驱动电机的控制方法
JP7012488B2 (ja) * 2017-09-11 2022-01-28 株式会社日立製作所 エレベーターのドア制御装置ならびにエレベーターのドア駆動システム
CN114890259B (zh) * 2022-07-12 2022-09-30 菱王电梯有限公司 电梯控制方法、装置、电梯及计算机可读存储介质

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009220997A (ja) * 2008-03-18 2009-10-01 Toshiba Elevator Co Ltd エレベータのドア制御装置
US8746412B2 (en) 2008-12-19 2014-06-10 Otis Elevator Company Elevator door frame with electronics housing
WO2010106863A1 (fr) * 2009-03-18 2010-09-23 三菱電機株式会社 Dispositif de commande de porte d'ascenseur
CN102317194A (zh) * 2009-03-18 2012-01-11 三菱电机株式会社 电梯的门控制装置
CN102317194B (zh) * 2009-03-18 2014-01-22 三菱电机株式会社 电梯的门控制装置
JP2021155192A (ja) * 2020-03-27 2021-10-07 フジテック株式会社 エレベータのドア装置用の動作設定装置、及び該動作設定装置を用いたドア装置の開閉動作の設定方法。
JP7014250B2 (ja) 2020-03-27 2022-02-01 フジテック株式会社 エレベータのドア装置用の動作設定装置、及び該動作設定装置を用いたドア装置の開閉動作の設定方法。
US12371305B2 (en) 2020-03-27 2025-07-29 Fujitec Co., Ltd. Operation setting device for elevator door device, and method for setting opening and closing operation of the door device using the operation setting device
CN116730155A (zh) * 2023-06-20 2023-09-12 日立楼宇技术（广州）有限公司 一种门控方法、装置、设备及存储介质

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EP1544152A1 (fr) 2005-06-22
EP1544152A4 (fr) 2007-11-28
JPWO2004028951A1 (ja) 2006-01-19
EP1544152B1 (fr) 2012-02-08
JP4488210B2 (ja) 2010-06-23
CN1617826A (zh) 2005-05-18
CN100390042C (zh) 2008-05-28
KR20050044626A (ko) 2005-05-12
TW200410891A (en) 2004-07-01

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