(19)

(11)

EP 2 480 946 A1

(12)

(43) Date of publication: 01.08.2012 Bulletin 2012/31 (21) Application number: 10776192.6 (22) Date of filing: 22.09.2010

(51) International Patent Classification (IPC):  G05D 23/19(2006.01) (86) International application number: PCT/JP2010/005742 (87) International publication number: WO 2011/036875 (31.03.2011 Gazette 2011/13)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR (30) Priority: 25.09.2009 JP 2009221518 (71) Applicant: Panasonic Corporation Kadoma-shi Osaka 571-8501 (JP)	(72) Inventors: URATANI, Yutaka Kadoma-shi Osaka 571-8686 (JP) YAMASHITA, Mikihiro Kadoma-shi Osaka 571-8686 (JP) (74) Representative: Appelt, Christian W.  Boehmert & Boehmert Pettenkoferstrasse 20-22 80336 München 80336 München (DE)