JPH031882B2 - - Google Patents
Info
- Publication number
- JPH031882B2 JPH031882B2 JP59154908A JP15490884A JPH031882B2 JP H031882 B2 JPH031882 B2 JP H031882B2 JP 59154908 A JP59154908 A JP 59154908A JP 15490884 A JP15490884 A JP 15490884A JP H031882 B2 JPH031882 B2 JP H031882B2
- Authority
- JP
- Japan
- Prior art keywords
- battery
- information
- charging
- batteries
- work
- 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.)
- Expired - Lifetime
Links
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Classifications
-
- 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
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
-
- 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
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、駆動用バツテリーを備えた移動車を
作業指令情報に基づいて作業用ステーシヨンに、
及びバツテリー交換情報に基づいてバツテリー充
電装置に自動走行させる制御手段を設けると共
に、前記バツテリー充電装置からの充電済バツテ
リーを移動車側に、且つ、前記移動車からの放電
バツテリーを充電装置側に移載するバツテリー移
載装置を設けた自動走行移動車のバツテリー交換
装置に関する。[Detailed Description of the Invention] [Industrial Field of Application] The present invention provides a method for moving a mobile vehicle equipped with a drive battery to a work station based on work command information.
and a control means for causing the battery charging device to automatically run based on the battery replacement information, and transferring the charged battery from the battery charging device to the mobile vehicle side and the discharged battery from the mobile vehicle to the charging device side. The present invention relates to a battery exchange device for an autonomous mobile vehicle equipped with a battery transfer device for carrying a vehicle.
従来では、バツテリー充電装置にバツテリーが
収納されると、直ちにバツテリー充電装置を作動
させるようにしていた。
Conventionally, when a battery is stored in a battery charging device, the battery charging device is immediately operated.
しかしながら、残作業量が少ない時にバツテリ
ー充電を行うと、夜間の安い電力で充電を行うこ
とができるにもかかわらず昼間の高い電力にて不
必要に充電を行つてしまう不利があつた。
However, when battery charging is performed when the amount of remaining work is small, there is a disadvantage that charging is performed unnecessarily using high power during the day, even though charging can be performed using cheap power during the night.
本発明は、上記実情に鑑みて為されたものであ
つて、その目的は、バツテリー充電を経済性の良
い状態でおこなうことができるようにする点にあ
る。 The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable battery charging to be carried out economically.
本発明による自動走行移動車のバツテリー交換
装置の特徴構成は、前記移動車の通行台数情報、
充電完了済バツテリー数情報、運行移動車夫々に
おける前回のバツテリー交換時刻情報、一充電当
たりの移動車稼動時間情報、残作業量情報に基づ
いて、作業完了までに要する充電完了済バツテリ
ー数を判別する手段、及び、それの情報に基づい
て作業完了までの必要バツテリー数が不足する場
合にはバツテリー充電を行い、必要バツテリー数
がある場合にはバツテリー充電を中断するバツテ
リー充電規制手段の夫々をさせ備えた点にあり、
その作用、効果は次の通りである。
The characteristic configuration of the battery exchange device for an autonomous mobile vehicle according to the present invention includes information on the number of vehicles passing through the vehicle;
Determine the number of fully charged batteries required to complete the work based on information on the number of fully charged batteries, information on the last battery replacement time for each moving vehicle, information on vehicle operation time per charge, and remaining work amount information. and a battery charging regulating means that charges the battery if the number of batteries required to complete the work is insufficient based on the information thereof, and suspends battery charging if the number of batteries is sufficient to complete the work. It is in the point that
Its action and effect are as follows.
すなわち、バツテリーが充電装置に収納されて
も、充電済バツテリー数が不足したときのみバツ
テリーの充電を行なわせて、その他の時にはバツ
テリー充電を行わないようにしてある。
That is, even if batteries are stored in the charging device, the batteries are charged only when the number of charged batteries is insufficient, and the batteries are not charged at other times.
従つて、充電バツテリー数が足りているときに
は、充電を行なわないようにして、昼間の高い電
力の使用を極抑力制しながら、夜間の安い電力を
できるかぎり使用して経済性の良い状態でバツテ
リー全ての充電を行うことができるのであり、も
つて、多数の移動車を運転しながら作業するよう
な設備に好適な自動走行移動車のバツテリー交換
装置を得るに至つた。
Therefore, when the number of charging batteries is sufficient, charging is not performed, and while minimizing the use of high power during the day, it is possible to use cheap power at night as much as possible to maintain economic efficiency. All the batteries can be charged, and we have finally obtained a battery exchange device for an autonomous mobile vehicle that is suitable for equipment in which work is performed while driving a large number of mobile vehicles.
以下、本発明の実施例を図面に基づいて説明す
る。
Embodiments of the present invention will be described below based on the drawings.
第４図乃至第６図に示すように、荷役作業用等
のステーシヨンST及びバツテリー充電装置Ａに
亘つて荷運搬用移動車Ｂを自動走行させるための
誘導路形成用光反射テープ１を設けると共に、そ
のテープ１に対する移動車Ｂの横偏位量を検出す
る光センサー２を、移動車側に設け、そして、移
動車推進用左右車輌３，３を各別駆動する電動モ
ータ３Ａ，３Ａ夫々を、前記光センサー２の検出
情報に基づいて変速操作して、移動車Ｂを自動走
行させるように構成してある。又、各移動車Ｂ
夫々に駆動用バツテリー４を備えさせると共に、
バツテリー充電装置Ａからの充電済バツテリーを
移動車側に、且つ、移動車Ｂからの放電バツテリ
ーを充電装置側に移載するバツテリー移載装置Ｃ
を設けて、バツテリー交換作業を自動的に行わせ
るようにしてある。 As shown in FIGS. 4 to 6, a light-reflecting tape 1 for forming a taxiway for automatically traveling a cargo transport vehicle B over a station ST for cargo handling work, etc. and a battery charging device A is provided. , an optical sensor 2 for detecting the amount of lateral deviation of the moving vehicle B with respect to the tape 1 is provided on the moving vehicle side, and electric motors 3A, 3A for separately driving the left and right vehicles 3, 3 for propulsion of the moving vehicle are provided. , the mobile vehicle B is configured to automatically travel by performing a speed change operation based on the information detected by the optical sensor 2. Also, each moving vehicle B
Each is equipped with a driving battery 4, and
Battery transfer device C that transfers the charged battery from battery charging device A to the moving vehicle and the discharged battery from moving vehicle B to the charging device.
is provided to automatically perform battery replacement work.
移動車Ｂを自動走行させる手段について説明を
加えれば、第１図に示すように、作業情報入力部
５を備えたホストコントローラＨにて、作業に使
用する複数移動車Ｂ夫々の情報、各ステーシヨン
STの情報、及び、充電装置Ａの情報夫々を集中
管理させ、各移動車夫々に備えさせたコントロー
ラＩからの情報、ホストコントローラＨからの情
報、及び、バツテリー交換・充電管理用コントロ
ーラＪからの情報が入力される移動車運行管理用
コントローラＫにて、各移動車夫々のコントロー
ラＩに対して行先データ等の情報を出力させるこ
と、及び、バツテリー交換・充電管理用コントロ
ーラＪに移載作業指令や充電開始指令等の情報を
出力させることを行わせるようにしてある。 To explain the means for automatically driving the mobile vehicles B, as shown in FIG.
Information on the ST and information on the charging device A are centrally managed, and information from the controller I provided in each moving vehicle, information from the host controller H, and information from the battery replacement/charging management controller J The mobile vehicle operation management controller K into which information is input outputs information such as destination data to the controller I of each mobile vehicle, and also issues a transfer work command to the battery exchange/charging management controller J. It is configured to output information such as a command to start charging, and a command to start charging.
但し、移動車運行管理用コントローラＫと移動
車側コントローラＩとの情報交換を、各移動車
Ｂ、及び、ステーシヨン等の地上側適宜箇所に設
けた光通信装置６及び７を用いて行わせるように
してあり、又、例示はしないが、移動車Ｂをステ
ーシヨン位置やバツテリー交換用位置に停止させ
るための停止位置を表示するマークを、光反射テ
ープ上に設けると共に、そのマークを前記光セン
サー２の検出情報に基づいて判別させるようにし
てある。 However, information exchange between the mobile vehicle operation management controller K and the mobile vehicle side controller I is performed using optical communication devices 6 and 7 provided at appropriate locations on the ground side of each mobile vehicle B and the station. Although not shown as an example, a mark indicating a stop position for stopping the moving vehicle B at a station position or a battery replacement position is provided on the light reflective tape, and the mark is attached to the optical sensor 2. The determination is made based on the detected information.
バツテリー交換整備について説明を加えれば、
前記充電装置Ａを構成するに、充電用棚部ａの複
数個を、上下方向に並べて設けると共に、各棚部
ａの夫々に、バツテリー収納ケース４Ａに備えさ
せた電気端子S1が嵌合する充電用端子S2を備えさ
せ、さらに、各充電用端子S2への通電を各別に断
続自在な充電用操作回路８を設けてある。 If you add an explanation about battery replacement maintenance,
To configure the charging device A, a plurality of charging shelves a are arranged vertically, and an electric terminal S1 provided in the battery storage case 4A is fitted to each shelf a. A charging terminal S 2 is provided, and a charging operation circuit 8 is provided which can individually turn on and off the power supply to each charging terminal S 2 .
そして、バツテリー移載装置Ｃを構成するに、
縦姿勢のガイド枠９に沿つて駆動昇降自在な昇降
枠１０を設け、バツテリー受け台１１を、縦軸芯
Ｘ周りで駆動回転自在に昇降枠１０に取付け、バ
ツテリー収納ケース４Ａを押引操作する係止部１
２を、バツテリー受け台１１に駆動出退自在に取
付けてある。 Then, to configure the battery transfer device C,
An elevating frame 10 that can be driven up and down is provided along the vertical guide frame 9, and a battery holder 11 is attached to the elevating frame 10 so as to be rotatable around the vertical axis X, and the battery storage case 4A is pushed and pulled. Locking part 1
2 is attached to the battery holder 11 so that it can be driven in and out.
従つて、移動車Ｂがバツテリー交換用位置に停
止されると、それに搭載されているバツテリー４
を収納ケース４Ａと共に取出し、取出したバツテ
リー４を充電用棚部ａに収納させ、次に、充電済
バツテリー４のうちの最も先に充電が完了したも
のを移動車Ｂに装填する順序でバツテリー移載作
業を行わせるように、バツテリー移載装置Ｃを自
動作動させるのである。 Therefore, when mobile vehicle B is stopped at the battery replacement position, the battery 4 mounted thereon is
The batteries 4 are taken out together with the storage case 4A, and the batteries 4 that have been taken out are stored in the charging shelf a, and then the batteries 4 are transferred in the order in which the battery 4 that has been charged first is loaded into the mobile vehicle B. The battery transfer device C is automatically activated to carry out the loading work.
次に、バツテリー自動交換制御について詳述す
る。 Next, automatic battery exchange control will be described in detail.
移動車Ｂに搭載のバツテリー４の充電量が設定
値以下になつたことが検出されるに伴い、バツテ
リー交換情報が出力されて、移動車Ｂがバツテリ
ー交換用位置に自動走行されることになる。次
に、バツテリー移載装置Ｃが作動されてバツテリ
ー交換が行われ、充電済バツテリー４が供給され
た移動車Ｂがストレージ用のホームステーシヨン
等に向けて自動走行される。 When it is detected that the amount of charge in the battery 4 mounted on mobile vehicle B has fallen below the set value, battery replacement information is output, and mobile vehicle B automatically travels to the battery replacement position. . Next, the battery transfer device C is activated to replace the battery, and the mobile vehicle B supplied with the charged battery 4 automatically travels toward a home station for storage or the like.
又、バツテリー充電装置Ａでは、バツテリー４
が収納された充電用棚部ａの操作回路８を入操作
し、バツテリー４の充電を行うことになり、バツ
テリー４の電圧が設定値以上になると操作回路８
を切操作して、充電を完了することになる。 In addition, in battery charging device A, battery 4
The battery 4 will be charged by turning on the operation circuit 8 of the charging shelf a in which the battery 4 is stored, and when the voltage of the battery 4 exceeds the set value, the operation circuit 8 will be activated.
Turn off the battery to complete charging.
そして、第２図のフローチヤートに示すよう
に、バツテリー交換・充電管理用コントローラＪ
からホストコントローラＨ及び移動車運行管理用
コントローラＫに対して、充電装置Ａにバツテリ
ーを収納させた情報や充電を完了した情報が通知
されることになり、且つ、充電処理は、移動車運
行管理用コントローラＫから充電開始指令が通知
された時にのみ行われることになる。 Then, as shown in the flowchart of Fig. 2, the battery replacement/charging management controller J
The host controller H and mobile vehicle operation management controller K are notified of the information that the battery has been stored in the charging device A and the information that charging has been completed, and the charging process is carried out by the mobile vehicle operation management controller. This will be performed only when the charging start command is notified from the controller K.
移動車運行管理用コントローラＫにおける充電
開始指令通知について説明すれば、第３図のフロ
ーチヤートに示すように、バツテリー収納通知を
受けるに伴い、作業に要する移動車Ｂの運行台数
情報、充電装置Ａにおける充電済バツテリー数情
報、運行移動車夫々の残稼動時間情報（但し、こ
の情報は移動車夫々における前回のバツテリー交
換時刻情報、及び、一充電当りの移動車稼動時間
情報にて演算判別される）、及び、残作業量情報
に基づいて、作業完了までに要する充電済バツテ
リー数を判別させ、それの情報に基づいて、作業
完了までの必要バツテリー数が不足する場合には
充電開始指令通知を行い、且つ、必要バツテリー
数がある場合にはバツテリー充電を中断するよう
に、バツテリー充電を規制することになる。 To explain the charging start command notification in the mobile vehicle operation management controller K, as shown in the flowchart of FIG. Information on the number of charged batteries, information on the remaining operating time of each moving vehicle (however, this information is calculated and determined based on the information on the previous battery replacement time of each moving vehicle, and the information on the operating time of the moving vehicle per charge). ) and the remaining work amount information, the number of charged batteries required to complete the work is determined, and based on that information, if the number of batteries required to complete the work is insufficient, a charging start command notification is issued. Battery charging is regulated in such a way that battery charging is interrupted when there is a required number of batteries.
従つて、充電を中断させた収納バツテリー４に
対する充電処理を夜間の安い電力にて行わせるよ
うに、夜間時において自動あるいは手動で操作回
路８を入操作させることにより、バツテリー４の
充電を経済性の良い状態で行わせることができ
る。 Therefore, charging of the battery 4 can be made more economical by automatically or manually turning on the operation circuit 8 at night so that the storage battery 4 whose charging has been interrupted can be charged using cheap electricity at night. It can be done in good condition.
移動車Ｂの具体構成、バツテリー充電装置Ａの
具体構成、及び、バツテリー移載装置Ｃの具体構
成夫々は、各種変更できる。
The specific configuration of the moving vehicle B, the specific configuration of the battery charging device A, and the specific configuration of the battery transfer device C can be changed in various ways.
又、移動車Ｂを自動走行させる制御手段を構成
するに、光反射テープ１に代えて電磁誘導用のト
ウパスワイヤを設けるようにしたり、移動車Ｂと
移動車運行管理用コントローラＫとの信号授受を
誘導無線方式で行わせるようにする等、各部の具
体的手段は使用対象箇所等に応じて各種変更でき
る。 In addition, in configuring the control means for automatically driving the moving vehicle B, a towpath wire for electromagnetic induction may be provided in place of the light reflective tape 1, and a signal exchange between the moving vehicle B and the controller K for managing the operation of the moving vehicle may be controlled. The specific means of each part can be changed in various ways depending on the location to be used, such as using a guided radio method.
第１図は制御用コントローラ間の情報交換の系
統を示すブロツク図、第２図はバツテリー交換・
充電管理用コントローラの制御動作を示すフロー
チヤート、第３図は移動車運行管理用コントロー
ラのバツテリー充電のための制御動作を示すフロ
ーチヤート、第４図は走行経路の概略平面図、第
５図はバツテリー交換設備の一部展開正面図、第
６図は同設備の平面図である。
４……バツテリー、Ａ……バツテリー充電装
置、Ｂ……移動車、Ｃ……バツテリー移載装置。
Figure 1 is a block diagram showing the information exchange system between controllers, and Figure 2 is a diagram showing the system for exchanging information between controllers.
FIG. 3 is a flowchart showing the control operation of the controller for charging management, FIG. 3 is a flowchart showing the control operation for battery charging of the mobile vehicle operation management controller, FIG. 4 is a schematic plan view of the travel route, and FIG. FIG. 6 is a partially exploded front view of the battery exchange facility, and FIG. 6 is a plan view of the facility. 4...Battery, A...Battery charging device, B...Moving vehicle, C...Battery transfer device.
Claims (1)
指令情報に基づいて作業用ステーシヨンSTに、
及びバツテリー交換情報に基づいてバツテリー充
電装置Ａに自動走行させる制御手段を設けると共
に、前記バツテリー充電装置Ａからの充電済バツ
テリーを移動車側に且つ前記移動車Ｂからの放電
バツテリーを充電装置側に移載するバツテリー移
載装置Ｃを設けた自動走行移動車のバツテリー交
換装置であつて、前記移動車Ｂの運行台数情報、
充電完了済バツテリー数情報、移動車夫々におけ
る前回のバツテリー交換時刻情報、一充電当りの
移動車稼動時間情報、残作業量情報に基づいて、
作業完了までに要する充電完了済バツテリー数を
判別する手段、及び、それの情報に基づいて作業
完了までの必要バツテリー数が不足する場合には
バツテリー充電を行い、必要バツテリー数がある
場合にはバツテリー充電を中断するバツテリー充
電規制手段の夫々を備えさせてある自動走行移動
車のバツテリー交換装置。1 Move vehicle B equipped with drive battery 4 to work station ST based on work command information.
and a control means for causing the battery charging device A to travel automatically based on the battery replacement information, and the charged battery from the battery charging device A is transferred to the mobile vehicle side, and the discharged battery from the mobile vehicle B is transferred to the charging device side. A battery exchange device for an autonomous mobile vehicle equipped with a battery transfer device C for transferring, wherein information on the number of operating vehicles B,
Based on information on the number of batteries that have been fully charged, information on the last battery replacement time for each moving vehicle, information on the operating time of the moving vehicle per charge, and remaining work amount information,
A means for determining the number of fully charged batteries required to complete the work, and based on this information, if the number of batteries required to complete the work is insufficient, the battery is charged, and if there is a required number of batteries, the battery is charged. A battery exchange device for an autonomous mobile vehicle, which is equipped with battery charge regulating means for interrupting charging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15490884A JPS6135103A (en) | 1984-07-24 | 1984-07-24 | Battery exchanger of automatic traveling vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15490884A JPS6135103A (en) | 1984-07-24 | 1984-07-24 | Battery exchanger of automatic traveling vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6135103A JPS6135103A (en) | 1986-02-19 |
| JPH031882B2 true JPH031882B2 (en) | 1991-01-11 |
Family
ID=15594587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15490884A Granted JPS6135103A (en) | 1984-07-24 | 1984-07-24 | Battery exchanger of automatic traveling vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6135103A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110184903A1 (en) * | 2010-01-26 | 2011-07-28 | Liam-Yung Sung | Operation System For Providing Backup Batteries For Hybrid Vehicles And/Or Electric Vehicles And Method Thereof |
-
1984
- 1984-07-24 JP JP15490884A patent/JPS6135103A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6135103A (en) | 1986-02-19 |
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