EP1999734A1 - Method and system for wirelessly transmitting control commands for a controller for lifting gear - Google Patents
Method and system for wirelessly transmitting control commands for a controller for lifting gearInfo
- Publication number
- EP1999734A1 EP1999734A1 EP07712529A EP07712529A EP1999734A1 EP 1999734 A1 EP1999734 A1 EP 1999734A1 EP 07712529 A EP07712529 A EP 07712529A EP 07712529 A EP07712529 A EP 07712529A EP 1999734 A1 EP1999734 A1 EP 1999734A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- receiving part
- assignment
- unit
- control
- receiving
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims description 26
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000003825 pressing Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 238000005352 clarification Methods 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
- G08C23/04—Non-electrical signal transmission systems, e.g. optical systems using light waves, e.g. infrared
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C2201/00—Transmission systems of control signals via wireless link
- G08C2201/20—Binding and programming of remote control devices
Definitions
- the invention relates to a method for the wireless transmission of control commands for a control of a hoist, wherein a wireless control unit has a firmly embossed unmistakable address and a receiving part of the hoist has a selectable identifier, with a clear assignment of the control panel to a receiving part of a hoist ,
- operating switches are used in the field of crane technology, via which the operator controls the movements of the crane.
- These control switches or keypads for example, corresponding buttons for "raise / lower" movements of the load and possibly other buttons for the process of the crane, z.
- Wireless transmission has the advantage over wireline transmission in these applications that the operator's freedom of movement is not limited by the range of cables or by permanently installed operator stations.
- control commands in the transmission additional unique Add address characteristics that are evaluated in the receiving part, so that only those commands are executed that contain the address feature of the associated keypad.
- this is achieved by providing the corresponding units, operating part or receiving part, each with a unique and unmistakable address firmly embossed by the manufacturer.
- the impressed unique address is permanently transmitted to the corresponding unit or exchanged with each other.
- Wireless transmission systems according to the illustrated prior art have the disadvantage that in case of failure of one of the units with the impressed unique address, the system must be set up with the new address of the replacement device, which is associated with the cost of a re-commissioning of the system.
- control panel and receiving part are inherently spatially separated and in many cases the receiving part z. B. is difficult to access in crane systems, downtime and costs are significant, if it is necessary to open the receiving part to change the firmly embossed, unique and distinctive address. In applications where the failure or loss of the control unit is intolerable, a replacement control unit is made with the same address. However, this requires special safety measures of the operator of the system in order to exclude the dangers of misuse or unintentional parallel use of both keypads. If transmitting and receiving part are provided with separate addresses that are exchanged during commissioning, both control panel and receiving part must each have a transmitting and receiving unit, which increases the cost of their production. The administration of the unique unmistakable addresses of the control units and receiving parts is complex.
- the object of the invention is to reduce the outlay for the unambiguous assignment of the operating part and receiving part of a wireless transmission system and to enable the provision of replacement control units without security risks. Furthermore, the commissioning of a control unit or a spare unit should be carried out quickly with little effort. In addition, the structure of the systems should be simplified and made cheaper and the cost of managing the unique addresses should be reduced.
- the address of a keypad is a multi-digit number that is assigned only once. In the event of a loss or defect of the operating unit, a new operating unit with a different address must therefore be used.
- a characteristic of a receiving part is preferably a two-digit number between 01 and 99 is used, which represents the crane number in the simplest case.
- a particular selected flag indicates that a receiver is not assigned. This is preferably the identifier "00".
- the inventive method allows a simplification of the structure of the control unit and the receiving part, since now only a transmitting unit in the control panel and a receiving unit in the receiving part are necessary.
- the receiving part accepts the assignment telegram only in the unassigned state.
- This is an assignment telegram recognizes the receiving part of the structure, z. B. a header of the received telegram.
- the receiving part in the unassigned state receives no control commands.
- the receiving part in the unassigned state receives no control commands.
- the security of the method is given because the receiving part only allows an assignment of a control unit at initial startup or in the reset state and in this unassigned state, however, receives no control commands for the control or passes on.
- the receiving part In the assigned state, the receiving part therefore receives control commands only from the assigned operating unit when they are transmitted paired with a valid address feature. This is done z. B. in the form of a command telegram.
- the keypad must be in assignment mode to broadcast an assignment telegram. This mode is selected by a special unusual key sequence or turned on, so that in turn unintentional assignment is impossible or difficult. It is also preferable if the operating part stores the identifier of the assigned receiving part after the transmission of the assignment telegram. This allows, inter alia, the waiver of a "handshaking" protocol with the receiving part for positive feedback.
- the receiving part is preferably connected to the controller in such a way that control commands are transmitted only in the assigned mode and also the power supply of the controller is controlled by the receiving part. So the controller z. B. be switched via a contact of the receiving part. Then an unwanted movement of the hoist is not possible.
- the receiving part has a signal unit for acknowledging the successful assignment of a control panel.
- the signal unit outputs an optical and / or acoustic signal.
- means for resetting the receiving part to the unassigned original state may be provided. This also allows for a reset if the assigned keypad, which is otherwise used for reset, is lost or defective.
- the system for the wireless transmission of control commands consists of a mobile control unit with transmitting unit for the wireless transmission and a spatially separated receiving part for receiving the control commands and the output of corresponding control signals to a controller of a hoist.
- the control panel is equipped with commanders for manual input of control commands. It is preferably made with electrical energy from a
- Battery / battery supplies and sends the control commands wirelessly preferably via radio or infrared signals.
- the receiving part receives the wirelessly transmitted signals by means of a receiving unit, evaluates them selectively and recognizes the transmitted address feature Assignment to a control panel. For this purpose, the received and the stored in the receiving unit address feature for the associated keypad to match are compared.
- the receiving part can assume the states “assigned” or “unassigned” and change between these states.
- the receiving part In the "unassigned" state, the receiving part has not stored a valid address of a keypad or license plate, in which state wirelessly transmitted signals can be received and evaluated, but no control commands can be issued ". This condition can only be changed by the assignment procedure with a keypad.
- the receiving part has stored a valid address feature, ie a combination of the associated operating part and its identifier
- control commands can be received and output, but only those control commands are issued or passed on to the controller which has the have stored address feature or were paired with this in the transmission, for example in the form of a command telegram.
- An assigned or assigned receiving part can be remotely controlled with the associated control panel or by means of the receiving part, z. For example, reset a reset button to the "unassigned" state.
- the address of the keypad becomes a valid address feature for the transmission of control commands, such that it is supplemented or combined by at least one additional tag that is assigned by the operator to distinguish the receiving parts or machines.
- the input of the additional flag occurs during the assignment procedure, which is executable with the keypad.
- the assignment procedure stores the additional identifier in the keypad and transmits it to an unassigned native receiver that stores the combination of the keypad keypad and additional keypad combination as a valid address feature for receiving control commands.
- the receiving part assigned in this way can optically / acoustically acknowledge the successful assignment with a signal and then "assigns" the status.
- the keypad may be equipped with a display having the entered identifier, e.g. B. can display a two-digit crane No. and the operator in other operations can display messages.
- control commands for the controller are thus wirelessly radiated to the receiving part with the associated control unit, wherein the control commands are paired with the valid address feature consisting of the unique address of the keypad and the selected identifier of the receiving part in a command telegram.
- a wireless transmission control system control system for a hoist control is thus provided with a wireless control panel having a unique address and a transmission unit and a receiving part associated with a selectable tag and having a receiving unit and the controller is connected to receive from the keypad originating control commands and pass it to the connected controller, wherein the receiving unit is configured with a verification unit, the assignment of the keypad to the receiving part by storing a combination of the address of the associated keypad and the selected flag as valid Address feature in the receiving part makes when the receiving part is in the unassigned state.
- the checking unit is preferably a logic unit that is programmed and / or interconnected to carry out the check.
- Fig. 1 is a schematic overview of a system of control panel and receiver and
- Fig. 2 is a schematic overview of the sequence of assignment of an operating part to a receiving part.
- the designated as a whole with 1 system comprises in the present case, a control panel 2 and a receiving part 3, which is a manual control of a cable or Kettenhubwerks, the z. B. by means of a trolley is movable.
- the receiving part 3 is connected to a machine control 4 such that it receives the movement commands to be executed of the hoist and the trolley from the receiving part 3 and at the same time supplies the turn connected electric drives 6 with power.
- a signal unit 5 is also arranged, which serves to acknowledge the successful assignment of a control unit 2.
- the signal unit 5 outputs an acoustic signal.
- the signal may consist of a sequence of tones that allows a conclusion on the assignment of the control unit 2.
- the signal unit 5 can also output further signals, the z. For example, you can see the reset or the failed association.
- a receiving unit in the receiving section 3 for receiving signals 10 emitted from the operating section 2. Also not designated is a device for inputting or setting a flag, such as crane number 8, and means for resetting the receiving unit 3 in the unassigned state ,
- the control panel 2 is a wireless handset with command generator 7, so if necessary multi-level buttons for the movement of the hoist and / or the trolley to be executed, with a battery compartment 8 for the supply of energy and with a display 9 for displaying the crane number assigned to the receiving part or the current operating state.
- the signals 10 may be radio or IR signals.
- the following steps are carried out, wherein the receiving part 3 is in the unassigned state, that is, has a code "00".
- the keypad 2 broadcasts its unique address, which address is paired with a generally valid tag of a receiving part that has been selected or entered by the operator. This is triggered by appropriate key combinations of the keys 7, this being so provided that no unintentional actuation of the assignment procedure is possible. Subsequently, an assignment telegram is emitted by the transmitting unit as a signal 10, which contains an address feature.
- the assignment telegram contains a special header, on which the receiving part 3 recognizes that it is a telegram for assignment.
- the address of the control unit 2 is thereby a valid address feature for the transmission of control commands, that it is supplemented by at least one additional identifier, which is awarded by the operator to distinguish the receiving part 3 or crane.
- the entry of the additional identifier takes place during the assignment procedure, which is executable with the control panel 2.
- the valid marks are between "01" and "99".
- the license plate is stored in the control panel 2 and transmitted to the not yet assigned receiving part 3, which stores the combination of impressed address of the control unit 2 and additional flag as a valid address feature for the reception of control commands.
- This telegram is received in the receiving part 3 of the receiving unit.
- an assignment of the operating part 2 to the receiving part 3 is then made if the receiving part 3 is actually in the unassigned state and it is an assignment telegram. Command telegrams are thus ignored in the unassigned state. If this is the case, the address of the associated control unit 2 in the receiving part 3 is stored together with its selected identifier.
- the receiving part 3 in the unassigned state receives no control commands and in the assigned state controls commands only from the associated control section 2.
- commands emitted by the operating unit 2 must be paired with the valid address feature, so that the receiving part 3 can check the correctness of the commands.
- the received and stored in the receiving unit address feature or only the address for the associated control panel 2 are compared to match in the verification unit.
- a distinctive address must be provided only in the easily accessible control unit 2 and not in the receiving part 3. There it is sufficient to provide a license plate for the receiving part 3, the selected in a simple way as a crane number once on site by the operator, easily visible attached to the crane and during the assignment procedure is input via the keypad and transmitted to the receiving part.
- the method according to the invention makes it possible to simplify the construction of the operating part 2 and the receiving part 3, since now only one transmitting unit in the operating part 2 and one receiving unit in the receiving part 3 are necessary.
- the receiving part 3 acknowledges the successful assignment of the operating part 2 to the signal unit 5, which outputs an acoustic signal.
- An assigned receiving part can be remotely controlled with the associated control unit or by means of the receiving part itself, z. Normally, this is done by a corresponding procedure from the control panel
- the means at the receiver itself are intended only for emergency, ie the loss or defect of the assigned control panel.
- step S1 After switching on a control panel 2, which is not yet assigned, that is in the unassigned state, for example by pressing the stop button longer, its display shows 9 as a crane number or flag "00" (step S1). This displays the unassigned state of keypad 2.
- the display 9 would display its identification or crane number.
- step S2 In order to assign an unassigned operating part 2 to a certain likewise unassigned receiving part 3, a change is first made to the mode for changing the settings by a predetermined sequence of keys (step S2).
- the display 9 now shows “0” and flashes.
- step S3 The operator can now by pressing appropriate buttons, eg. "Left” and “right” select the two-digit flag by incrementing or decrementing the displayed number (step S3). Subsequently, by pressing the signal button for the signal unit, the selected flag is confirmed and continuously displayed on the display (step S4A). If the present display is only a one-digit display, the method just described can be repeated for each digit of the two-digit crane number.
- step S5A The selected characteristic of the receiving part 3 is then stored in the operating part 2 (step S6).
- the selected identifier and the address of the control unit 2 are transmitted as a telegram in the form of a suitable signal 10 to the corresponding receiving part 3 (step S7).
- step S8A This acknowledges the reception and the successful assignment by means of a double actuation of the signal unit 5, thus, for example, a double horn (step S8A), and stores the combination of the unique address of the control unit 2 and selected indicator of the receiving part 3 as a valid address feature.
- both the control unit 2 and the hoist of the receiving part 3 are in stop mode.
- the display 9 now displays the assigned identifier of the receiving part 3.
- the method just described can be left or canceled at any time by pressing the stop button or timing without input (time out), which is indicated by corresponding arrows in Fig. 2.
- the receiving part 3 can now only be controlled via the assigned operating part 2 in order to receive control commands for the machine control 4 or to be reset to the new assignment.
- To cancel the assignment of an operating part 2 and a receiving part 3 is as above procedure, with the new flag "00" is selected. Subsequently, both the corresponding operating part 2 and the receiving part 3 are in the unassigned state.
- the steps S4B, S5B and S7 are accordingly likewise run through, these differing from their "A" counterparts in that an assignment takes place only if the new flag is "00".
- step S8B an acknowledgment is also made by the signal unit 5 in the form of a triple horn.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Selective Calling Equipment (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006012471A DE102006012471B4 (en) | 2006-03-18 | 2006-03-18 | Method and system for the wireless transmission of control commands for control of a hoist |
PCT/EP2007/052452 WO2007107496A1 (en) | 2006-03-18 | 2007-03-15 | Method and system for wirelessly transmitting control commands for a controller for lifting gear |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1999734A1 true EP1999734A1 (en) | 2008-12-10 |
EP1999734B1 EP1999734B1 (en) | 2013-01-23 |
Family
ID=38117920
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP07712529A Active EP1999734B1 (en) | 2006-03-18 | 2007-03-15 | Method and system for wirelessly transmitting control commands for a controller for lifting gear |
Country Status (12)
Country | Link |
---|---|
US (1) | US8350672B2 (en) |
EP (1) | EP1999734B1 (en) |
JP (1) | JP2009530209A (en) |
KR (1) | KR20080108088A (en) |
CN (1) | CN101379535B (en) |
AU (1) | AU2007228826B2 (en) |
BR (1) | BRPI0706928B1 (en) |
CA (1) | CA2641467A1 (en) |
DE (1) | DE102006012471B4 (en) |
ES (1) | ES2404158T3 (en) |
RU (1) | RU2405209C2 (en) |
WO (1) | WO2007107496A1 (en) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2332018B1 (en) * | 2008-09-22 | 2013-06-12 | Nxp B.V. | Automatic address selection for controllable devices |
KR101271622B1 (en) * | 2011-09-21 | 2013-06-11 | 삼성중공업 주식회사 | Wireless control device and wireless control method |
EP2650820B1 (en) | 2012-04-12 | 2014-10-08 | Nxp B.V. | Control method and computer program product |
DE102013212071A1 (en) * | 2013-06-25 | 2015-01-08 | Friederike Brendel | Radio control system for controlling at least one machine, in particular a crane |
DE102013110681A1 (en) * | 2013-09-26 | 2015-03-26 | Terex Mhps Gmbh | Control switch for operating a machine, in particular a wireless, portable and hand-operated remote control for a crane |
WO2015173773A2 (en) | 2014-05-16 | 2015-11-19 | Laird Technologies Inc. | Method, system and related devices for operating multiple cranes in unison |
USD766843S1 (en) | 2014-08-22 | 2016-09-20 | Warn Industries, Inc. | Winch remote control |
USD762179S1 (en) * | 2015-01-20 | 2016-07-26 | Abb Technology Ltd | Remote control station for cranes |
CN109983517B (en) * | 2016-11-21 | 2021-06-15 | 皇家飞利浦有限公司 | Remote control device and user device using identification signal |
JP2018087931A (en) * | 2016-11-29 | 2018-06-07 | キヤノン株式会社 | Processing device, processing system, and article production method |
JP6380516B2 (en) * | 2016-12-05 | 2018-08-29 | ウシオ電機株式会社 | Ozone generator |
DE102017114396B4 (en) * | 2017-06-28 | 2022-09-08 | Konecranes Global Corp. | Control device and system for operating a machine, in particular a hoist or crane, and method therefor |
USD880431S1 (en) * | 2017-09-12 | 2020-04-07 | Warn Industries, Inc. | Remote |
DE102018109109A1 (en) | 2018-04-17 | 2019-10-17 | Konecranes Global Corporation | Control switch for operating a crane |
DK3838830T3 (en) * | 2019-12-20 | 2022-09-12 | Hiab Ab | STABILIZER LEG CONTROL SYSTEM, VEHICLE, AND METHOD |
Family Cites Families (17)
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US4456132A (en) * | 1980-12-08 | 1984-06-26 | Par Systems Corp. | Control system for automatic material handling crane |
ATE35472T1 (en) * | 1983-01-08 | 1988-07-15 | Schwing Gmbh F | REMOTE CONTROL FOR CONSTRUCTION MACHINERY, IN PARTICULAR FOR CONCRETE PUMP INTERACTING WITH A PLACING BOOM. |
DE3618464A1 (en) * | 1986-06-02 | 1987-12-03 | Stein Gmbh | Facility for allocating radio-frequency transmitting and receiving devices |
DE3821572A1 (en) * | 1988-06-25 | 1989-12-28 | Graetz Nokia Gmbh | REMOTE CONTROL ARRANGEMENT |
DE4111736C1 (en) * | 1991-04-08 | 1992-08-27 | Mannesmann Ag, 4000 Duesseldorf, De | |
DE4240291A1 (en) | 1992-12-01 | 1994-06-30 | Licentia Gmbh | Radio remote controlled tractive device - pulls cable garland between two high voltage masts before removing old cable from between them |
US5506905A (en) * | 1994-06-10 | 1996-04-09 | Delco Electronics Corp. | Authentication method for keyless entry system |
US5680134A (en) * | 1994-07-05 | 1997-10-21 | Tsui; Philip Y. W. | Remote transmitter-receiver controller system |
US5661804A (en) * | 1995-06-27 | 1997-08-26 | Prince Corporation | Trainable transceiver capable of learning variable codes |
JP3302903B2 (en) * | 1997-05-22 | 2002-07-15 | 株式会社日立製作所 | Wireless device for remote control of hoist type overhead crane |
JP2001320783A (en) * | 2000-05-11 | 2001-11-16 | Futaba Corp | Setting information change method of radio receiver for control |
US6995682B1 (en) * | 2000-10-30 | 2006-02-07 | Ramsey Winch Company | Wireless remote control for a winch |
JP2003026389A (en) * | 2001-07-16 | 2003-01-29 | Daido Steel Co Ltd | Remote operation centralized management method |
DE10209965A1 (en) * | 2002-03-06 | 2003-10-02 | Integrated Electronic Systems Sys Consulting Gmbh | Process for controlling industrial or construction equipment |
JP2004193842A (en) * | 2002-12-10 | 2004-07-08 | Matsushita Electric Ind Co Ltd | Resource reservation method and packet communication system |
GB0229700D0 (en) * | 2002-12-19 | 2003-01-29 | Koninkl Philips Electronics Nv | Remote control system and authentication method |
DE10357971A1 (en) * | 2003-12-11 | 2005-07-07 | Voll-Elektronik Gmbh | Remote control unit for a hoist or construction machinery has a transmitter with transmitter units that have transmitter identifiers programmed into them in the factory and which can operate in programming or operation modes |
-
2006
- 2006-03-18 DE DE102006012471A patent/DE102006012471B4/en not_active Expired - Fee Related
-
2007
- 2007-03-15 BR BRPI0706928-6A patent/BRPI0706928B1/en active IP Right Grant
- 2007-03-15 WO PCT/EP2007/052452 patent/WO2007107496A1/en active Application Filing
- 2007-03-15 AU AU2007228826A patent/AU2007228826B2/en active Active
- 2007-03-15 KR KR1020087020055A patent/KR20080108088A/en not_active Application Discontinuation
- 2007-03-15 US US12/281,695 patent/US8350672B2/en not_active Expired - Fee Related
- 2007-03-15 CN CN2007800043185A patent/CN101379535B/en active Active
- 2007-03-15 CA CA002641467A patent/CA2641467A1/en not_active Abandoned
- 2007-03-15 EP EP07712529A patent/EP1999734B1/en active Active
- 2007-03-15 ES ES07712529T patent/ES2404158T3/en active Active
- 2007-03-15 RU RU2008133708/08A patent/RU2405209C2/en active
- 2007-03-15 JP JP2008558823A patent/JP2009530209A/en active Pending
Non-Patent Citations (1)
Title |
---|
See references of WO2007107496A1 * |
Also Published As
Publication number | Publication date |
---|---|
BRPI0706928A2 (en) | 2011-04-19 |
CA2641467A1 (en) | 2007-09-27 |
RU2405209C2 (en) | 2010-11-27 |
US8350672B2 (en) | 2013-01-08 |
DE102006012471A1 (en) | 2007-09-27 |
AU2007228826A1 (en) | 2007-09-27 |
JP2009530209A (en) | 2009-08-27 |
BRPI0706928B1 (en) | 2019-11-05 |
CN101379535B (en) | 2011-01-12 |
CN101379535A (en) | 2009-03-04 |
WO2007107496A1 (en) | 2007-09-27 |
EP1999734B1 (en) | 2013-01-23 |
AU2007228826B2 (en) | 2010-05-13 |
DE102006012471B4 (en) | 2010-08-26 |
ES2404158T3 (en) | 2013-05-24 |
US20090009358A1 (en) | 2009-01-08 |
KR20080108088A (en) | 2008-12-11 |
RU2008133708A (en) | 2010-04-27 |
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