The present invention relates to a spar-type floating offshore wind power generation facility that is installed on a relatively deep-water sea.
Power generation methods such as hydroelectric power generation, thermal electric power generation, and nuclear electric power generation have hitherto been almost exclusively adopted. In recent years, however, wind power generation that generates electric power through the utilization of natural wind has drawn attention from the viewpoints of environment and effective utilization of natural energy. Wind power generation facilities are classified into land installation types and water installation (mainly sea installation) types. It should be noted that, in Japan that contains mountainous regions from coastal areas towards backhand, the tracts of flat lands where stable wind is expected are small in coastal areas. On the other hand, Japan is surrounded by sea on all four sides and thus is advantageous in that wind suitable for power generation can easily be obtained on the sea and, at the same time, there is little or no restriction on installation. Accordingly, many floating offshore wind power generation facilities have recently been proposed.
For example, JP2001-165032A proposes a wind power generation apparatus including: a trigonal planar floating body that includes a combination of hollow quadrilateral prismatic structures and floats on water; and a windmill for power generation, provided on the floating body. The floating body is called a “pontoon type” because the floating body floats on the water.
JP2007-160965A proposes a floating body structure including: a plurality of floating bodies with, articles being mounted on the upper part thereof; connections that are formed of a longitudinal rigid body that has a predetermined center with an inner end of the rigid body connected thereto, is extended from the inner end in a horizontal radial direction and has an outer end with the floating body connected thereto; and a tensioning portion that produces a tensile force between the floating bodies.
JP2007-331414A proposes a floating body structure including: a plurality of floating bodies that float on water; connections that are formed of a rigid body and annularly connect the floating bodies to each other; a mooring unit that moors an annular substantially central portion at a water bottom; a position detecting means that detects the position of the floating body; a tidal current detecting means that detects a tidal current; helms that are mounted on the plurality of floating bodies in such a manner that the angle to the tidal current is variable; and a position control unit that allows the position of the floating bodies to be varied by regulating the angle of the helms to the tidal current with the annular substantially central portion presumed to be central. The floating body structures in JP2007-160965A and JP2007-331414A described above are called a “semi-submerged type” because the floating body structure floats with the floating bodies being submerged below water.
Further, JP2009-18671A proposes a floating body structure for offshore wind power generation, the floating body structure including: a lower floating body including upper and lower lids and cylindrical precast concrete blocks continuously installed between the upper and lower lids, the upper and lower lids being integrally joined to the concrete blocks with a PC steel material; and an upper floating body integrally joined to the lower floating body with a PC steel material, the upper floating body including precast concrete blocks having a smaller diameter than, the precast concrete blocks in the lower floating body, and upper lids, wherein a plurality of ballast tanks are formed on the lower inner side of the lower floating body by partition walls and a plurality of water-tight compartments are formed on the inner side of the upper floating body by partition walls. The floating body structure of JP2009-18671A floats in a standing state like bobbers for fishing and is thus called, a “spar type.”
Only one spar-type floating body of the above type can be mounted on one floating body. The spar-type floating body, however, is superior in cost effectiveness to other types of floating bodies, that is, a pontoon-type and semi-submerged floating bodies and, at the same time, is excellent in stability of the floating body.
Accordingly, the present applicant also has proposed, in JP2010-223113A, a spar-type offshore wind power generation facility 50 as shown in
Windmill types are classified into upwind types where blades are mounted on a windward side of nacelles and are provided to face windward, to receive wind from the front side, and downwind types where blades are mounted on a leeward side of nacelles with the back side of the blades facing upwind to receive wind from the back side. In general, when an obstacle exists on the upwind side of the blades, the efficiency is said to be lowered. Thus, upwind types are mainly adopted. In this case, in order to prevent the blade from coming into contact with the tower by flexing of the blade, the rotation axis of the windmill has a predetermined upward angle θ (=about 5 to 10°) to a horizontal line, as shown in
When the wind, power generation, facility is of the floating body type, the lower end of the tower is not fixed to the ground. Therefore, since the tower is tilted by wind pressure toward a leeward side, as shown in
In the floating body-type offshore power generation facility, when wind blows against the windmill, the rotary force (yaw) occurs around a vertical axis in the floating body and consequently reduces wind-induced resistance, disadvantageously posing problems of a lowered power generation efficiency and significant tilting during a storm that results in an increased load acting on the mooring cable.
Further, in JP2010-223113A, a method is adopted in which mooring points are installed on the sea surface to render the working point of the mooring high and thus to increase the suppressing force of the floating body movement. This method, however, poses a problem that the provision of mooring points on the sea surface leads to danger, that is, an increased possibility of contact of approaching boats and ships with the mooring.
On the other hand, in the offshore wind power generation facility disclosed in JP2010-223113A, that is, in the offshore wind power generation facility 50 that includes a concrete floating body structure 51A including a plurality of concrete precast cylindrical bodies that have been, stacked on top of each other in the direction of height and integrally joined to each other, a large bending stress acts on the concrete floating body structure 51A, for example, in assembly and transportation of the concrete floating body structure 51A and erecting of the offshore wind power generation facility 50. Here, after installation, since the concrete floating body structure 51A has such a support structure in which both ends are substantially free ends, axial force mainly acts and, thus, no significant bending stress acts. In particular, in the structure including a precast cylindrical body formed of a plurality of circumferentially split precast cylindrical bodies that have been joined to each other, the resistance to bending is so low that there is a possibility that deformation or damage occurs in assembly, transportation and erecting. Accordingly, to cope with bending, for example in assembly, a frame for reinforcement should be separately provided for temporary use. This is disadvantageous in that large-scale work is necessary and, at the same time, the cost is increased.
Accordingly, a main object of the present invention is to provide a spar-type floating offshore wind power generation facility that suppresses a lowering in power generation efficiency caused by tilting of the tower, suppresses rotary movement (yaw movement) around a vertical axis, prevents contact of boats and snips with mooring cables, and, at the same time, keeps a proper tilted posture of the tower.
The second object of the present invention is to further suppress the rotary movement (yaw movement) around a vertical axis particularly in a storm.
The third, object of the present invention is to facilitate assembly or other work and, at the same time, to reduce cost.
In order to solve the above problems, in aspect one of the present invention there is provided, a floating offshore wind power generation facility including a floating body, a mooring cable, a tower, and a windmill installed, at the top of the tower, the windmill including a nacelle and a plurality of blades, wherein
the rotation axis of the windmill has a predetermined upward angle, and the windmill is of a downwind, type in which the blades are attached to the leeward side of the nacelle and installed with the back surfaces of the blades facing windward, and
the mooring point of the mooring cable to the floating body is set at a position below the surface of the sea and higher than the center of gravity of the floating body.
In the invention of aspect one, from the viewpoint of avoiding contact between the blade and the tower, a downwind type is adopted in which a predetermined upward angle is provided in the rotation axis of the windmill and the blade is mounted on a leeward side of the nacelle with the back side of the blade facing upwind. Accordingly, in a calm state, as shown in
Further, in the upwind type, due to the structure in which the blade is supported from the back side, a yaw moment is likely to occur, whereas, in the downwind type according to the present invention, since the blade is mounted, on a leeward, side of the nacelle, the blade is pulled in the front side for supporting, contributing to an advantage that the yaw moment is less likely to act.
The mooring point of the mooring cable to the floating body is set at a position that is below the sea surface and above the center of gravity of the floating body. Thus, the contact of boats and ships with mooring cables can be prevented. Further, since the mooring point is located at a position above the gravity center of the floating body, the moment of resistance with the center of gravity of the floating body presumed to be central is produced at the mooring point so as to prevent excessive tilting of the floating body, and thus, the tilted posture of the tower can be properly kept.
In aspect two the invention, there is provided a floating offshore wind power generation facility according to aspect one, wherein the lower side of the floating body has a concrete floating body structure formed of a plurality of concrete precast cylindrical bodies stacked on top of each other in the direction of height and the upper side of the floating body has a steel floating body structure formed of a steel member.
In aspect two the invention, a concrete floating body structure formed of a plurality of concrete precast cylindrical bodies stacked on top of each other in the direction of height is adopted as the lower-side floating body, and a steel floating body structure formed of a steel member is adopted as the upper-side floating body. The adoption of this composite structure can realize a lowered, center of gravity and an increased moment of resistance by an increase in arm length. In subsequent descriptions of this aspect two of the invention, the stacked concrete precast cylindrical bodies comprising the concrete floating body structure are referred to as “split” precast cylindrical bodies joined by “splitting the precast cylindrical body in a circumferential direction.” This is intended to be equivalent to stating, for example, that the concrete floating body structure is comprised of a plurality of individual concrete precast cylindrical bodies joined, to each other as a stack to form an integral concrete precast cylindrical body.
In aspect three of the invention described, there is provided a floating offshore wind power generation facility according to aspect one or two, wherein a plurality of yaw-suppressing fins protruded from a circumferential surface of the lower side of the floating body are provided in a circumferential direction while providing spacing between the yaw-suppressing fins.
In aspect three of the invention, a plurality of yaw-suppressing fins protruding from a circumferential surface of the lower side of the floating body are provided in a circumferential direction while providing spacing between the yaw-suppressing fins. The adoption of the downwind type can realize a reduction in the occurrence of a yaw moment as compared with the upwind type. The floating body type is disadvantageous in that only the tensile force of the mooring cable can be expected and, once the yaw moment occurs, the yaw cannot be controlled, without difficulties. To overcome this drawback, a method has been adopted in which, yaw-suppressing fins are provided on the lower side of the floating body, preferably at a position of a water-depth of 30 m or less, to provide rotational resistance of the floating body, thereby suppressing yaw movement.
In aspect four of the invention, there is provided a floating offshore wind, power generation facility according to any one of aspect one to three, which includes ballasts having a weight that has been regulated so that, when the wind acts at an average wind velocity, the rotational plane of the blades is a substantially vertical plane.
In aspect four of the invention, in connection with the construction described in aspect one where the mooring point of the mooring cable to the floating body is sat to a position below the sea surface and above the center of gravity of the flowing body, the tilting of the rotational plane of the blade can be kept so that the wind receiving area is increased by regulating the magnitude of moment of resistance produced by this construction, that is, by regulating the weight of ballasts so that, when the wind acts at an average wind velocity, the rotational plane of the blades is a substantially vertical plane.
In aspect five of the invention, there is provided a floating offshore wind power generation facility according to aspect two, wherein the concrete floating body structure is composed of a plurality of split precast cylindrical bodies joined to each other, the split precast cylindrical bodies having been formed by splitting the precast cylindrical body in a circumferential direction, and an outer cable with a tensioning force introduced thereinto is circumferentially wound around the outer circumference of the precast cylindrical body.
In aspect five of the invention, the concrete floating body structure is composed of a plurality of split precast cylindrical bodies joined to each other, the split precast cylindrical bodies having been, formed by splitting the precast cylindrical body in a circumferential direction, and an outer cable with a tensioning force introduced thereinto is circumferentially wound around the outer circumference of the precast cylindrical body. Even in the plurality of split precast cylindrical bodies, since an outer cable with prestress introduced thereinto is wound in a circumferential direction to fasten the precast cylindrical body, the strength against bending of the precast cylindrical body is increased. Accordingly, even when a bending stress acts on the concrete floating body structure, for example, in assembly work and transportation work, and erecting of the floating offshore wind power generation facility, deformation and damage of the concrete floating body structure can be prevented and, at the same time, the necessity of providing temporary frames and the like can be eliminated, contributing to a reduced cost.
In aspect six of the invention, there is provided a floating offshore wind power generation facility according to aspect five, wherein a plurality of the outer cables are provided in an axial direction of the precast cylindrical body while providing spacing between the outer cables.
In aspect six of the invention, since a plurality of the outer cables are provided in an axial direction of the precast cylindrical body while providing spacing between the outer cables, the concrete floating body structure can be evenly reinforced in the axial direction.
In aspect seven of the invention, there is provided a floating offshore wind power generation facility according to aspect five or six, which includes two anchorage devices for the outer cable that face each other in a diametrical direction of the precast cylindrical body, the anchorage device including a lifting fitting for lifting the precast cylindrical body.
In aspect seven of the invention described, two anchorage devices for the outer cable that face each other are provided in a diametrical direction of the precast cylindrical body, the anchorage device including a lifting fitting that lifts the precast cylindrical body, and, thus, the bending stress load of the precast cylindrical body can be further suppressed.
In aspect eight of the invention, there is provided a floating offshore wind power generation facility according to any one of aspects five to seven, wherein the outer cable is temporarily provided and is removable in installing the floating offshore wind power generation facility.
In aspect eight of the invention, after the installation of the floating offshore wind power generation facility, since no significant bending stress acts, a construction can be adopted in which the anchorage device and an unbonded, wire rod are temporarily provided and removable after the installation of the floating offshore wind power generation facility.
As described above in detail, in spar-type floating offshore wind power generation facilities, a lowering in power generation efficiency by tilting of the tower can be suppressed, the rotational movement (yaw movement) around the vertical axis can be suppressed, the contact of boats and ships with, the mooring cable can be prevented, and, at the same time, the tilted posture of the tower can be properly kept.
Further, the rotational movement (yaw movement) around the vertical axis can be further suppressed particularly in storm.
Furthermore, assembly or other work can be facilitated, and, at the same time, the cost can be reduced.
Embodiments of the present invention will be described in detail with, reference to the accompanying drawings.
As illustrated in
As shown, in
The offshore wind power generation facility 1 will be described in more detail.
The lower concrete floating body structure 2A includes concrete precast cylindrical bodies 12, 12 . . . and a lower half portion of a composite precast member 13. As shown in
In addition, to reinforcing bars 20, sheathes 21, 21 . . . for insertion of PC steel rods 19 are buried within a wall surface circumferentially at proper intervals. Sheath, diameter expansion portions 21a that can allow a coupler for coupling between the PC steel rods 19 to be inserted, are formed at the lower end of the sheathes 21, 21, . . . , and blockout portions 22 for fitting of anchor plates for anchoring are formed on the upper part. A plurality of lifting fittings 23 are provided at the top surface.
The precast cylindrical bodies 12 are connected to each other as follows. As shown in
Next, as shown in
Next, as shown in
The upper steel floating body structure 2B includes the upper half of the composite precast, member 13 and the steel cylindrical bodies 14, 15. The lower portion of the lower steel cylindrical body 14 has an outer diameter identical to the composite precast member 13 and is connected, to the composite precast, member 13, for example, by a bolt or welding (fastening with a bolt being shown in the drawing). The upper part of the steel cylindrical body 14 has a circular truncated cone shape having a gradually reduced diameter.
The upper steel cylindrical body 15 is a cylindrical body that has an outer diameter identical to the upper part outer diameter of the lower steel cylindrical body 14 and is continued from the upper part of the lower steel cylindrical body 14. The upper steel cylindrical body 15 is joined to the lower steel cylindrical body 14, for example, by a bolt or welding (fastening with a bolt being shown in the drawing).
On the other hand, the tower 4 is formed of a steel material, concrete or PRC (prestressed reinforced concrete) and is preferably formed of a steel material and has a small total weight. The outer diameter of the tower 4 is substantially identical to the outer diameter of the upper steel cylindrical body 15, and the outer shape is free from a difference in level and is vertically continued. In an example shown in the drawing, a ladder 3 is provided at the upper part of the upper steel cylindrical body 15, and a corridor anchorage 10 is circumferentially provided, at a substantial boundary between the tower 4 and the upper steel cylindrical body 15.
As shown in
On the other hand, the nacelle 6 is a device loaded with, for example, a generator that converts the rotation of the windmill 5 to electricity, or a controller that can automatically change the angle of the blade.
As shown, in
According to existing literature (Proceedings of the Fourth Lecture Meeting “(5) Futai Shiki Yojo Furyoka Hatsuden No Kaihatu (Development of floating body-type offshore wind power generation),” National Maritime Research Institute), as shown in
On the other hand, in the present invention, as shown in
Ballast materials such as water, gravels, fine or coarse aggregates, or metallic particles are introduced into the hollow portion of the floating body 2. Preferably, the amount of the ballast material, introduced, is regulated so that, when wind acts at an average wind velocity, the rotational plane S of the blades 7 is a substantially vertical plane.
On the other hand, in the present invention, as shown in
The lower concrete floating body structure 2A may be such that the precast cylindrical bodies 12 and 13 have been integrated with each other in a circumferential direction. Alternatively, in large-scale offshore wind power generation facilities, as shown in
The joint structure of the precast cylindrical bodies 12 and 13 may be a publicly known one. However, a joint structure of precast concrete members disclosed in JP2009-235850A is suitable. In the joint structure of the precast concrete members, embedded members for anchoring respectively joined, to reinforcing bars disposed in plural stages in the vertical direction are embedded in a joint end face of one precast concrete member. Pocket-shaped, notched grooves with an opening thereof facing the outside are formed, in the embedded member for anchoring. At the same time, notched grooves having the same shape as the above notched grooves are formed in a vertical direction of concrete. Thus, vertical grooves that are vertically continued, are formed. At the joint end face of the other precast concrete member, reinforcing bars are disposed vertically in plural stages so as to be protruded to the outside, and anchorage members fitted to the pocket-shaped notched, grooves are fixed to the tip end of the protruding reinforcing bars. Anchorage members of the reinforcing bars provided in a protruded form at the joint end face of the other precast concrete member are inserted along the vertical grooves of the one precast concrete member to join the precast concrete members to each other. In such a state that the anchorage members of the other precast concrete member are positioned in the pocket-shaped notched grooves of the embedded members for anchoring of the one precast concrete member, a grout material is filled into gaps. According to this joint structure, the necessity of welding work at the work site can be eliminated, and, at the same time, the necessary amount of grout used can be reduced. Thus, shortening of working hours and a reduced construction cost can be realized. Further, when the width of the joint portion is reduced, a good appearance can be realized.
In the outer cable 31, both ends are anchored by an anchorage device 30 that serves as a tensioning end in introducing the tensioning force. As shown in
As shown in
In such a state that the outer cable 31 is inserted respectively into the hole 34a and the opening 34b provided in the side plates 34, 34, the bearing plate 35 is provided in a pair parallel to each other on both sides of the outer cable 31. Two support walls 39, 39 perpendicular to the bearing plates 35, 35 are provided upright between adjacent bearing prates 35, 35 corresponding to adjacent outer cables 31, 31.
The anchorage device 30 is preferably provided in two places that face each other in a diametrical direction of the precast cylindrical body 12, whereby one outer cable 31 provided in a tensioned state between the anchorage devices 30, 30 on both sides is provided, so as to fasten an approximately half circumference of the precast cylindrical body 12.
A lifting fitting 36 that lifts the precast cylindrical body 12 is provided in each of the anchorage devices 30, 30 on both sides. Accordingly, the necessity of separately assembling a stand for lifting can be eliminated, and the precast cylindrical body 12 can be lifted with a crane.
The outer cable 31 is provided so that, with respect to the anchorage device 30, an outer cable provided halfway around one side of the precast cylindrical body 12 and an outer cable provided halfway around the other side of the precast cylindrical body 12 are disposed substantially alternately. In the example shown in the drawing, as shown in
The outer cable 31 may be formed, of a PC steel rod or a PC steel strand. Preferably, however, as shown in
Next, the procedure of assembling the lower concrete floating body structure 2A will be explained. As shown in
Next, at the second, step, as shown in
At the third step, as shown in
Thereafter, as shown in
At the fourth step, water-resistant coating is applied on an outer surface and an inner surface of the ring-shaped precast cylindrical body 12.
At the fifth step, as shown in
At the sixth step, as shown, in
At the seventh step, as shown in
At the eighth step, an adhesive is applied, to an end face of a joint between an already installed and connected precast cylindrical body 12 and a precast cylindrical body 12 to be newly connected, and the cylindrical bodies are axially connected to each other as stated above. Specifically, as shown in
The second to eighth steps are repeated to complete a concrete floating body structure 2A.
In the floating offshore wind power generation facility 1 according to the present invention, even when the lower concrete floating body structure 2A is formed by joining split precast cylindrical bodies obtained by circumferentially splitting a precast cylindrical body 12, since an outer cable 31 with a tensioning force introduced thereinto is circumferentially wound, the precast cylindrical body 12 is fastened in a circumferential direction, contributing to an increased bending strength. As a result, even when a bending stress acts on the lower concrete floating body structure 2A, for example, in work for the connection of the precast cylindrical body 12 and work for erecting the floating offshore wind power generation facility 1, deformation and damage of the concrete floating body structure 2A can be prevented.
The outer cable 31 may be continuously installed even after the installation of the floating offshore wind power generation facility 1. Alternatively, since no significant bending stress acts after the installation of the floating offshore wind power generation facility 1, a method may be adopted in which the outer cable 31 is temporarily provided in assembling the floating offshore wind power generation facility 1 and can be removed after the installation of the floating offshore wind power generation facility 1.
Number | Date | Country | Kind |
---|---|---|---|
2013-050180 | Mar 2013 | JP | national |
Filing Document | Filing Date | Country | Kind |
---|---|---|---|
PCT/JP2014/055228 | 3/3/2014 | WO | 00 |
Publishing Document | Publishing Date | Country | Kind |
---|---|---|---|
WO2014/141911 | 9/18/2014 | WO | A |
Number | Name | Date | Kind |
---|---|---|---|
2690769 | Brown | Oct 1954 | A |
2810424 | Swartswelter | Oct 1957 | A |
3490983 | Lee | Jan 1970 | A |
4248062 | McLain | Feb 1981 | A |
4336415 | Walling | Jun 1982 | A |
4728224 | Salama | Mar 1988 | A |
5048441 | Quigley | Sep 1991 | A |
5188872 | Quigley | Feb 1993 | A |
5555838 | Bergman | Sep 1996 | A |
5803668 | Seki | Sep 1998 | A |
5875728 | Ayers | Mar 1999 | A |
5908049 | Williams | Jun 1999 | A |
6016845 | Quigley | Jan 2000 | A |
6220303 | Secher | Apr 2001 | B1 |
6305427 | Priest, II | Oct 2001 | B1 |
6402431 | Nish | Jun 2002 | B1 |
6470645 | Maliszewski | Oct 2002 | B1 |
6575665 | Richter | Jun 2003 | B2 |
6648074 | Finn | Nov 2003 | B2 |
6772840 | Headworth | Aug 2004 | B2 |
6805201 | Nish | Oct 2004 | B2 |
6817309 | Horton | Nov 2004 | B2 |
6851231 | Tadros | Feb 2005 | B2 |
7096940 | Baxter | Aug 2006 | B2 |
7156586 | Nim | Jan 2007 | B2 |
7160085 | de Roest | Jan 2007 | B2 |
7377225 | Finn | May 2008 | B2 |
7393158 | Caldwell | Jul 2008 | B2 |
7770343 | Montaner Fraguet | Aug 2010 | B2 |
8066033 | Quigley | Nov 2011 | B2 |
8197208 | Sharples | Jun 2012 | B2 |
8281547 | Hettick | Oct 2012 | B2 |
20010002757 | Honda | Jun 2001 | A1 |
20030000448 | Kruger | Jan 2003 | A1 |
20030140838 | Horton, III | Jul 2003 | A1 |
20080240864 | Belinsky | Oct 2008 | A1 |
20090072544 | Pao | Mar 2009 | A1 |
20090120345 | Sveen | May 2009 | A1 |
20090196756 | Althoff | Aug 2009 | A1 |
20090211173 | Willey | Aug 2009 | A1 |
20090266004 | Willey | Oct 2009 | A1 |
20090309271 | Miller | Dec 2009 | A1 |
20090317585 | Bech | Dec 2009 | A1 |
20110037264 | Roddier | Feb 2011 | A1 |
20110061321 | Phuly | Mar 2011 | A1 |
20110061332 | Hettick | Mar 2011 | A1 |
20110062639 | Miller | Mar 2011 | A1 |
20110138704 | Bagepalli | Jun 2011 | A1 |
20110138721 | Bagepalli | Jun 2011 | A1 |
20110162748 | Morand | Jul 2011 | A1 |
20110169190 | Miller | Jul 2011 | A1 |
20110173978 | Rekret | Jul 2011 | A1 |
Number | Date | Country |
---|---|---|
2001-165032 | Jun 2001 | JP |
2005-240785 | Sep 2005 | JP |
2007-160965 | Jun 2007 | JP |
2007-331414 | Dec 2007 | JP |
2008-542630 | Nov 2008 | JP |
2009-018671 | Jan 2009 | JP |
2009-235850 | Oct 2009 | JP |
2010-223113 | Oct 2010 | JP |
2010-223114 | Oct 2010 | JP |
WO2010110330 | Oct 2010 | JP |
WO2011138824 | Nov 2011 | JP |
2012-012974 | Jan 2012 | JP |
2012012974 | Jan 2012 | JP |
2012-149531 | Aug 2012 | JP |
2012149531 | Aug 2012 | JP |
WO-03004869 | Jan 2003 | WO |
WO-2011138824 | Nov 2011 | WO |
Number | Date | Country | |
---|---|---|---|
20160025074 A1 | Jan 2016 | US |