EP1650358A2 - Système de commande pour coordonner les mouvements du bras d'un engin de travaux publics - Google Patents

Système de commande pour coordonner les mouvements du bras d'un engin de travaux publics Download PDF

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Publication number
EP1650358A2
EP1650358A2 EP05109479A EP05109479A EP1650358A2 EP 1650358 A2 EP1650358 A2 EP 1650358A2 EP 05109479 A EP05109479 A EP 05109479A EP 05109479 A EP05109479 A EP 05109479A EP 1650358 A2 EP1650358 A2 EP 1650358A2
Authority
EP
European Patent Office
Prior art keywords
tool
signal
boom
control system
tilt angle
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.)
Withdrawn
Application number
EP05109479A
Other languages
German (de)
English (en)
Other versions
EP1650358A3 (fr
Inventor
Scott Svend Hendron
Judson Paul Clark
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.)
Deere and Co
Original Assignee
Deere and Co
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 Deere and Co filed Critical Deere and Co
Publication of EP1650358A2 publication Critical patent/EP1650358A2/fr
Publication of EP1650358A3 publication Critical patent/EP1650358A3/fr
Withdrawn legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, e.g. self-levelling
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/963—Arrangements on backhoes for alternate use of different tools
    • E02F3/964—Arrangements on backhoes for alternate use of different tools of several tools mounted on one machine

Definitions

  • the invention relates to a system for detecting and automatically controlling the orientation of a working tool with respect to the earth or the direction of gravity.
  • the invention also relates to a work vehicle having a tool control system and a method for linkage coordination of a work vehicle.
  • a work vehicle such as a backhoe loader
  • a first tool such as a backhoe bucket or other structure for lift and material handling functions.
  • a swing frame is pivotally mounted to the vehicle frame in the region of the rear end of the vehicle, a backhoe boom is pivotally mounted on the swing frame, a dipper stick is pivotally mounted on the backhoe boom, and the work implement is pivotally attached to the dipper arm about a work implement pivot axis.
  • An operator of the vehicle adjusts the orientation of the first tool relative to the dipper stick by means of a first tool actuating device.
  • the operator also sets by means of other suitable actuators, the rotational positions of the boom relative to the vehicle frame and the dipper stick relative to the boom.
  • the aforementioned operating devices usually include one or more double-acting hydraulic cylinders and corresponding hydraulic circuits.
  • a loading boom is pivotally mounted on the vehicle frame.
  • a second tool such as a bucket, is pivotally mounted about a bucket rotation axis on the bucket.
  • Load bucket operations have similar problems to those encountered with the backhoe bucket operations.
  • the present invention describes and claims the use of an inclination angle or tilt angle sensor which, when attached to an object such as a tool, detects the inclination angle of the object relative to the ground or to the direction of the gravitational force.
  • the angle of inclination of the tool is detected independently of the vehicle frame orientation and independent of the initial orientation of the tool. The result is a simplified control system and improved tool orientation control relative to the gravitational force direction.
  • the tilt angle or tilt angle sensor utilized in the present invention utilizes the new technology of microelectromechanical structure (MEMS) and is commercially available from Crossbow International, Inc., USA. Also suitable for the present invention are a number of other tilt angle sensors which use, for example, capacitive technology and are commercially available.
  • MEMS microelectromechanical structure
  • the system of the invention automatically controls tool orientation using a tilt or tilt angle sensor attached to the tool which senses the tool angle relative to the earth.
  • a control unit maintains a selected angular position of the work tool.
  • a backhoe loader includes a backhoe assembly and a loader assembly.
  • the backhoe assembly includes a swing frame pivotally mounted to the vehicle frame of the backhoe loader, a backhoe boom pivotally mounted to the swing frame, a backhoe boom actuator for controllably pivoting the boom relative to the swing frame, a dipper stick pivotally attached to the boom, a dipper actuator for controllably pivoting the dipper stick relative to the boom, a backhoe tool pivotally mounted on the dipper stick, a backhoe tool actuator for controllably pivoting the dipper Backhoe tool about its axis of rotation relative to the dipper stick and the aforementioned tilt angle sensor.
  • the backhoe boom, the dipper stick and optionally the swing frame are hereafter generally referred to as the backhoe linkage.
  • a control unit processes the data of the tilt angle sensor and commands movements of the tool actuator in response thereto.
  • the illustrated embodiment of the backhoe structure also includes a backhoe tool command input device to effect the desired operation of the backhoe tool actuator, and a backhoe tool car stop command input device to activate an automatic hold function to maintain the tool in a desired orientation.
  • the loader assembly of the preferred embodiment includes a loader rocker pivotally mounted to the vehicle frame, a load swing actuator for controllably moving the loader arm relative to the vehicle frame, a loading tool pivotally attached to the loader arm, and a loader tool actuator for controllably pivoting the loader tool relative to the loader arm.
  • the loader assembly further includes a loader tool input device to cause the desired operation of the loader tool actuator, and a loader tool hold command input device to activate an automatic hold function to maintain the tool in a desired orientation.
  • the control unit When an automatic hold function is activated, the control unit maintains tool orientation by commanding the tool actuator to move the tool so that the detected angle, ie, the output voltage of the tilt angle sensor, remains approximately the same.
  • the control unit is configured to suspend the automatic hold function when the operator operates the tool command input device to initiate a tool movement.
  • the control unit resumes the automatic hold function for the tool as soon as the operator stops operating the tool command input device and restores initial tool orientation with the new operator-initiated orientation of the linkage.
  • the operator may operate an auto-hold command input device to selectively enable or disable the automatic tool-holding function.
  • the tool control system is intended for a vehicle which has a frame.
  • the tool control system includes a linkage having a first pivotally hinged end to the frame and a second end to which a tool is articulated, at least one linkage actuating device for controllably influencing the movement of the linkage, a tool actuating device for controllably pivoting the tool about the second end and a Control device which communicates with at least one linkage actuating device and the tool actuating device.
  • an inclination angle sensor is mounted on the tool, which detects an inclination of the tool relative to the ground or the gravitational force direction and generates a corresponding tool inclination angle signal.
  • the controller is capable of automatically generating a first tool control signal based on the tool tilt angle signal to control the at least one linkage actuating device and / or the tool actuating device.
  • a storage device is provided which is suitable for receiving and storing a setpoint for the tool tilt angle.
  • the operator can specify a desired setpoint via suitable input means.
  • the controller is expediently designed in such a way that it matches the setpoint value for the tool tilt angle with the detected actual value of the tool tilt angle signal.
  • the controller preferably generates a tool control signal such that the tool is held at an incline that is approximately equal to the desired tool tilt angle.
  • the linkage includes a rocker having a first rocker end and a second rocker end, the first rocker end coinciding with the first end of the linkage and the second rocker end with the second end of the linkage.
  • the linkage actuating device preferably includes at least one rocker actuating device which is capable of controllably pivoting a rocker relative to the frame.
  • a rocker angle sensor is mounted on the rocker, which detects the inclination of the rocker relative to the ground or the gravitational force direction and generates a corresponding rocker angle signal.
  • the control device is capable of being automatically activated on the Produce swing angle signal based second tool control signal and to control a swing operating device and / or the tool operating device due to the Schwing Trentsistswinkelsignals.
  • the linkage comprises at least one boom with a first boom end and a second boom end, and a dipper stick with a first dipper stick end and a second dipper stick end.
  • the first boom end is coincident with the first end of the linkage
  • the second dipper stick end is coincident with the second end of the linkage and the second boom end is hinged to the first dipper stick end.
  • the boom actuating device preferably includes at least one boom actuating device and a dipper stick actuating device, wherein the boom actuating device is capable of controllably pivoting a boom relative to the frame, and the dipper stick actuating device is capable of controllably pivoting a dipper stick relative to the boom.
  • a boom pitch sensor on the boom and / or a dipper stick angle sensor mounted on the dipper stick which detect the inclination of the boom or the dipper stick relative to the earth or the gravitational force direction and generate a corresponding boom pitch signal.
  • the controller is capable of automatically setting a second one based on the boom pitch signal and / or the dipper stick angle signal To generate tool control signal and to control a boom actuator and / or a stick handle actuator and / or the tool actuating device based on these signals.
  • control device is capable of using a rocker angle signal and / or a boom pitch signal and / or a dipper stick angle signal and / or a tool tilt angle signal to calculate the absolute position of the tool with respect to the frame.
  • a frame inclination angle sensor is mounted on the frame, which detects the inclination of the frame relative to the ground or the gravitational force direction and generates a corresponding frame inclination angle signal.
  • the controller is capable of automatically generating a second tool control signal based on the frame pitch angle signal and / or a rocker pitch angle signal and / or a pitch angle signal and / or a dipper stick angle signal and / or a tool pitch angle signal.
  • a tool command input device connected to the control device which, on the basis of an actuation of the tool command input device, generates a first signal which corresponds to a desired tool movement.
  • At least one tilt angle sensor generates a second signal corresponding to the slope relative to the earth or the direction of gravitational force.
  • control device is capable of receiving the first signal and generating first tool control signals which actuate at least one of the drives of the tool, a rocker, a jib and a dipper stick.
  • control device is able to receive the second signal and to generate second tool control signals that drive at least one of the drives of the tool, a rocker, a boom and a dipper stick.
  • a further preferred development of the invention provides an auto-stop command switch connected to the control device, which is capable of outputting a first auto-hold signal on the basis of a first auto-hold operation and a second auto-hold signal on the basis of a second auto-hold operation.
  • the first auto hold signal instructs the controller to ignore the second signal and generate the first tool control signals based on the first signal.
  • the second auto hold signal instructs the controller to generate the second tool control signals based on the second signal.
  • the second auto hold signal instructs the controller to generate a stored tool tilt by automatically storing the tilt of the tool and automatically generate the second tool control signals to continuously adjust the tool actuator so that the current tilt of the tool is approximately equal to that stored tilt is.
  • the invention also relates to a work vehicle with a frame which is equipped by a tool control system according to the invention as described.
  • the invention relates to a method for linkage coordination for a work vehicle.
  • the inclination angle of a tool relative to the earth or the gravitational force direction is detected with a tool inclination angle sensor.
  • a tool tilt angle signal is generated by the tool tilt sensor which matches the tilt angle of the tool.
  • the control device automatically generates a tool control signal based on the tool tilt angle signal.
  • a desired inclination angle relative to the earth or the gravitational force direction is set and recorded with a car stop command switch.
  • the inclination angle of a tool relative to the earth or the gravitational force direction is detected with the tool inclination angle sensor.
  • a tool tilt angle signal is generated by the tool tilt sensor which matches the tilt angle of the tool.
  • the control device automatically generates a tool control signal based on the tool tilt angle signal.
  • the tool control signal causes a tool actuator to maintain the tool tilt angle approximately at the desired tilt angle of the tool.
  • FIG. 1 illustrates a self-propelled work vehicle, such as a backhoe loader 10.
  • the backhoe loader 10 has a frame 12 attached to the ground engaging wheels 14 and 15 that support and drive the vehicle 10.
  • a superstructure 16 In the front area of the vehicle 10 is a superstructure 16 and in the rear area of the vehicle 10 a backhoe body 18 is arranged. Both the loader assembly 16 and the backhoe assembly 18 perform a variety of earthmoving and material handling functions.
  • An operator controls the functions of the vehicle 10 from an operator station 20.
  • the loader assembly 16 includes a bucket 22 and a tool, such as a bucket 24 or other arrangement.
  • the loading arm 22 has a first end 26, which is pivotally mounted about a horizontal loading swing pivot 28 on the frame 12, and a second End 30, to which the loading shovel 24 is pivotally mounted about a horizontal loading sheave pivot axis 32.
  • a load swing actuator includes a load swing hydraulic cylinder 36 that extends between the vehicle frame 12 and the load arm 22 and controllably pivots the load swing arm 22 about the load swing pivot shaft 28.
  • a bucket actuator 38 includes a bucket hydraulic cylinder 40 that extends between the bucket 22 and the bucket 24 and controllably pivots the bucket 24 about the bucket rotation axis 32.
  • the bucket actuator 38 also includes an electro-hydraulic loading bucket 42 which is hydraulically in communication with the bucket hydraulic cylinder 40.
  • the electro-hydraulic loading bucket circuit 42 supplies hydraulic fluid to the bucket hydraulic cylinder 40 and controls it.
  • the operator commands the movement of the loader assembly 16 by manipulating a loader pad command input device 44 and a loading swing command input device 46.
  • the loader command input device 44 is adapted to generate a loader command signal 48 in response to operator manipulation in proportion to a desired bucket movement.
  • a control unit 50 in communication with the bucket command input device 44 and the bucket actuator 38 receives the bucket command signal 48 and responds by generating a bucket control signal 52 received through the electro-hydraulic loading bucket circuit 42 Will be received.
  • the electrohydraulic loader circuit 42 is responsive to the bucket command signal 52 in directing hydraulic fluid to the bucket hydraulic cylinder 40, causing this hydraulic cylinder 40 to move the bucket 24 accordingly.
  • FIG. 2 illustrates an actuator control system in accordance with the invention which is adapted to automatically maintain an output or target bucket orientation with respect to the earth.
  • the present invention uses a bucket tilt angle sensor 54 attached to the bucket 24, which is in communication with the control unit 50.
  • the bucket tilt angle sensor 54 is adapted to detect the angle of the bucket relative to the earth or to the direction of gravitational force and to generate a corresponding bucket tilt angle signal 56.
  • the controller 50 is adapted to receive the bucket tilt angle signal 56 and to generate a corresponding bucket control signal 52 which causes the bucket actuator 38 to adjust the bucket 24 to maintain a desired bucket angle.
  • the target bucket angle is maintained.
  • the control unit 50 may cancel the automatic hold function if the operator commands movement of the bucket 24, i. H.
  • the controller 50 may restore the bucket exit orientation as a target orientation of the bucket 24 immediately after the bucket command signal 48 is completed.
  • the present invention also utilizes a loader car stop command switch 58 in communication with the control unit 50.
  • the loader car stop command switch 58 is adapted to generate a loader car load command signal 60 upon actuation of the car load hold command switch 58 by the operator to activate the automatic hold function for the loader blade 24.
  • the control unit 50 is configured to ignore the bucket tilt angle signal 56 until the control unit 50 receives the loader car load command signal 60 from the loader car stop command switch 58.
  • a Ladeschwingenkippwinkelsensor 57 is on the loading arm 22nd attached, which detects the angle of the loading rocker relative to the earth or to the direction of gravity, and automatically generates a loading swing tilt angle signal 59.
  • the control unit 50 is also capable of receiving the charge swing tilt angle signal 59 generated by the charge swing tilt angle sensor 57 and to automatically generate a charge control signal 52 based on the charge swing tilt angle signal 59.
  • the control unit 50 may also consider frame tilt angle signals 75 of a frame tilt angle sensor 73 shown in FIG. 4 mounted on the vehicle frame 12 in the bucket control.
  • the backhoe assembly 18 includes a swing frame 62, a backhoe boom 64, a dipper stick 66, and a backhoe tool, such as a backhoe bucket 68 or other arrangement.
  • the swing frame 62 has a first swing frame end 70 pivotally attached to the frame 12 on a vertical pivot 72 and a second swing frame end 74.
  • the back lift boom 64 has a first backhoe boom end 76 pivotally attached to a horizontal backhoe boom pivot 78 at the second swing frame end 74
  • the dipper stick 66 has a first dipper stick end 82 pivotally attached to a horizontal dipper axis 84 on the second backhoe boom end 80, and a second end 86 to which the backhoe dipper 76 is pivotally attached to a horizontal dumper rotation axis 88 ,
  • a swing frame actuator includes a swing frame hydraulic cylinder 90 that extends between the vehicle frame 12 and the swing frame 62 and that Swing frame 62 in a controlled manner about the vertical axis of rotation 72 moves.
  • a backhoe boom actuator includes a backhoe boom hydraulic cylinder 92 that extends between the swing frame 62 and the backhoe boom 64 and that moves the backhoe boom 64 in a controlled manner about the backhoe boom pivot axis 78.
  • a dipper actuator includes a dipper hydraulic cylinder 94 that extends between the backhoe boom 64 and the dipper stick 66 and that moves the dipper stick 66 in a controlled manner about the horizontal dipper axis 84.
  • a backhoe bucket actuator 96 includes a backhoe handle hydraulic cylinder 98 that extends between the handle 66 and the backhoe bucket 68 and pivots the bucket 68 in a controlled manner about the horizontal bucket rotation axis 88.
  • the backhoe bucket actuator 96 includes an electro-hydraulic backhoe bucket 100 that is hydraulically in communication with the backhoe bucket hydraulic cylinder 98.
  • the electro-hydraulic backhoe bucket cycle 100 supplies and controls hydraulic fluid to the backhoe bucket hydraulic cylinder 98.
  • the operator commands movement of the backhoe assembly 18 by manipulating a backhoe set command input device 102, a shovel command input device 104, a backhoe boom command input device 106, and a swing frame command input device (not shown).
  • the backhoe command input device 102 is adapted to provide a backhoe command signal 108 in response to the backhoe command input signal To be manipulated by the operator in proportion to a desired backhoe bucket movement.
  • the control unit 50 communicating with the backhoe bucket command input device 102, the arm-shaft command input device 104, the backhoe boom command input device 106 and the backhoe boom actuator 96 receives the backhoe command signal 108 and responds by generating a backhoe control signal 110 received by the electro-hydraulic backhoe bucket 100.
  • the electro-hydraulic backhoe bucket cycle 100 responds to the backhoe bucket command signal 110 by directing hydraulic fluid to the backhoe bucket hydraulic cylinder 98, causing this hydraulic cylinder 98 to move the tail loader bucket 68 accordingly.
  • backhoe bucket 68 During working with the backhoe bucket 68, such as when lifting or excavating material, it is sometimes desirable to maintain a backhoe initial orientation relative to the ground or gravity direction to avoid premature dumping of the material or to maintain a constant excavation cutting angle. Then, when the backhoe boom 64 and the dipper stick 66 are moved during a work operation, to maintain the backhoe bucket exit orientation relative to the direction of gravitational force, the operator must constantly operate the backhoe bucket command input device 102 to adjust the backhoe bucket orientation.
  • FIG. 3 illustrates an actuator control system according to the present invention which is adapted to automatically maintain an initial or target rear bucket orientation with respect to the earth.
  • the present invention uses a rear bucket tilt angle sensor 112 attached to the backhoe bucket 68, which communicates with the control unit 50.
  • the backhoe bucket tilt angle sensor 112 is adapted to detect the angle of inclination of the backhoe bucket 68 relative to the earth or to the direction of the gravitational force, and to generate a corresponding backhoe bucket tilt angle signal 114.
  • the control unit 50 is adapted to receive the backhoe handle tilt angle signal 114 and responsively generate a corresponding backhoe control signal 110 causing the backhoe bucket actuator 96 to adjust the backhoe bucket 68 to maintain a desired backhoe bucket angle with respect to the earth.
  • the target tail-pit angle is maintained.
  • the control unit 50 may cancel the automatic hold function while the operator commands movement of the backhoe bucket 68, ie upon receipt of a backhoe bucket command signal 108.
  • the control unit 50 may Immediately after the backhoe spoon command signal 108 is completed, restore the backhoe output orientation as the target orientation of the backhoe bucket 68.
  • the present invention also utilizes a backhoe truck stop command switch 116 that is in communication with the controller 50.
  • the backhoe truck stop command switch 116 is adapted to generate a backhoe truck stop command signal 118 due to operation of the backhoe truck stop command switch 116 by the operator to activate the automatic backhoe bucket 68 holding function.
  • the control unit 50 is configured to ignore the backhoe bucket tilt angle signal 114 until the control unit 50 receives the backhoe load hold signal 118 from the backhoe load hold command switch 116.
  • the controller 50 may be adapted to ignore the backhoe bucket angle signal 114, except when receiving a backhoe boom command signal 122 from the backhoe boom command device 106 or a shoestring command signal 120 from the spoonstick command input device 104.
  • a backhoe boom tilt angle sensor 63 is mounted on the backhoe boom 64 and a dipper stick tilt sensor 67 is mounted on the dipper stick 66 which detect the relative bearings to the earth or to the direction of gravity.
  • the control unit 50 is also capable of receiving backhoe boom tilt angle signals generated by the backhoe boom tilt angle sensor 63 and dipper tilt angle signals generated by the dipper tilt angle sensor 67 to automatically generate a backhoe control signal 110 based on at least one of the backhoe boom tilt angle signals or dipper tilt angle signals 65.
  • the control unit 50 may also consider frame tilt angle signals 75 of a frame tilt angle sensor 73 shown in FIG. 4 mounted on the vehicle frame 12 in the backhoe control.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP05109479A 2004-10-21 2005-10-12 Système de commande pour coordonner les mouvements du bras d'un engin de travaux publics Withdrawn EP1650358A3 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US10/970,622 US7222444B2 (en) 2004-10-21 2004-10-21 Coordinated linkage system for a work vehicle

Publications (2)

Publication Number Publication Date
EP1650358A2 true EP1650358A2 (fr) 2006-04-26
EP1650358A3 EP1650358A3 (fr) 2012-10-10

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Application Number Title Priority Date Filing Date
EP05109479A Withdrawn EP1650358A3 (fr) 2004-10-21 2005-10-12 Système de commande pour coordonner les mouvements du bras d'un engin de travaux publics

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US (1) US7222444B2 (fr)
EP (1) EP1650358A3 (fr)
JP (1) JP4989874B2 (fr)

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JP4989874B2 (ja) 2012-08-01
JP2006125187A (ja) 2006-05-18

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