EP0344404A1 - Procédé et dispositif pour commander la position d'une porte automatique - Google Patents

Procédé et dispositif pour commander la position d'une porte automatique Download PDF

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Publication number
EP0344404A1
EP0344404A1 EP89102434A EP89102434A EP0344404A1 EP 0344404 A1 EP0344404 A1 EP 0344404A1 EP 89102434 A EP89102434 A EP 89102434A EP 89102434 A EP89102434 A EP 89102434A EP 0344404 A1 EP0344404 A1 EP 0344404A1
Authority
EP
European Patent Office
Prior art keywords
door
image
infrared light
infrared
zone
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
Application number
EP89102434A
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German (de)
English (en)
Other versions
EP0344404B1 (fr
Inventor
Guntram Dipl.-Ing. Begle
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.)
Inventio AG
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Inventio AG
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 Inventio AG filed Critical Inventio AG
Priority to AT89102434T priority Critical patent/ATE89362T1/de
Publication of EP0344404A1 publication Critical patent/EP0344404A1/fr
Application granted granted Critical
Publication of EP0344404B1 publication Critical patent/EP0344404B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/24—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers
    • B66B13/26—Safety devices in passenger lifts, not otherwise provided for, for preventing trapping of passengers between closing doors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F2015/765—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using optical sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
    • E05F2015/767—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using cameras
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/104—Application of doors, windows, wings or fittings thereof for buildings or parts thereof for elevators

Definitions

  • the present invention relates to a method and a device for controlling the door position of an automatic door, the door position being controlled as a function of the presence and behavior of people in the vestibule of the automatic door.
  • the CH patent 607 187 describes an optical-electrical device for monitoring certain areas, consisting of an objective, a prismatic grid moved by one or two axes, receiver groups and evaluation circuit.
  • the prismatic grid is the moving spatial filter, which alternately directs the light of the object pixels onto the recipient groups. Objects or people entering this sensor-swept room change zero interference and produce a signal that is above the zero level.
  • the system has the disadvantages that expensive optical parts are required, that a mechanical drive must be present and that difficult adjustments have to be made. Interfering light influences can impair the function.
  • Patent application GB 2 093 986 describes a similar system in which various optical components and an electronic evaluation are available.
  • One of the optical components is a spatial filter, which is shown as a faceted hemisphere.
  • the present invention has for its object to provide a method and an apparatus which clearly shows the presence, quantity and intentions of people in the vestibule of an entrance and delivers logical signals to a door control.
  • FIG. 1 shows an elevator front level 11 with an elevator entrance 4 and a car 23 present.
  • a shaft door leaf is designated 22 and a car door leaf 21.
  • An infrared camera 1 with a lens 1.1 is installed in the cabin door fighter.
  • an infrared radiator 3 is installed at the bottom, which emit infrared light 3.1 in the direction of the anteroom parallel to an anteroom surface 5.
  • FIG. 2 Above the elevator entrance 4, the infrared camera 1 is located on a camera holder 2 with a control and evaluation unit 10. On the anteroom surface 5 there is a person 7 with feet 6 and legs 6.1, who is in the X direction to the elevator front level 11 moved there.
  • the anteroom area 5 is divided into Y zones 8.1 to 8.4. 9 denotes a camera axis line.
  • X zones are denoted by 12 and an image edge by 13.
  • 1.1 denotes a photo lens
  • 1.2 an LCD microshutter and 1.4 an infrared filter.
  • the LCD microshutter 1.2 has vertical sealing columns 1.8 and a likewise vertically arranged CCD line image sensor 1.5 has sensor cells 1.7.
  • FIG. 5 shows a distorted image 18 of the antechamber surface 5 as it is projected onto the LCD microshutter 1.2.
  • Reflex images 14 originate from the feet 6 and legs 6.1 of the person 7.
  • the projection plane 17 is divided into a used area 15 and an unused area 16.
  • the area 15 used corresponds to the usable projection area on the LCD microshutter 1.2.
  • the images of the X zones 8.1 to 8.4 on the projection plane 17 are designated 8.11, 8.21, 8.31 and 8.41.
  • the infrared light 3.1 emitted by the infrared surface radiator 3 strikes the feet 6 and legs 6.1 of the person 7 located on the anteroom surface and is partially deflected from there towards the infrared camera 1 by reflection.
  • the infrared filter 1.4 only allows this reflected infrared light 3.1 to pass through, and consequently only the reflex images 14 are projected onto the front plane of the LCD microshutter 1.2.
  • the LCD microshutter 1.2 has, for example, 50 individually controllable columns 1.8, which are activated in sequence in a specific cycle and thus produce a periodically horizontally transparent vertical slot opening.
  • the sampling rate can be selected to be very low because a flicker-free image does not have to be generated for an observer and is, for example, at most 10 images per second, an image being understood as an entire horizontal pass through the LCD microshutter 1.2. This results in very small amounts of data, which a special processor system or an existing processor system can process alongside.
  • the image columns scanned in this way are focused by means of the cylindrical lens 1.3 and all on the same line projected onto the CCD line image sensor 1.5.
  • the CCD line image sensor 1.5 is continuously read out for each projected image column and switched on for the next image column.
  • the read values are temporarily stored and processed according to the later description.
  • the image resolution in the X direction is at least five times greater than in the Y direction. This results in the fact that objects moving in the X direction towards the elevator front plane 11 are detected at least five times more sharply than those which move in the Y direction, that is to say parallel to the elevator front plane 11.
  • the reflex images 14 of an object moving in the Y direction in the CCD line image sensor 1.5 are always projected onto the same sensor cells 1.7, from which it can be clearly concluded that this object is not approaching the entrance.
  • the corresponding binary image data combined with the position of the current column opening, can be interpreted as a person's movement parallel to the entrance level 11.
  • FIGS. 2 and 3 A grid with Y zones 8.1 to 8.4 and X zones 12 is shown in FIGS. 2 and 3. This grid does not really exist and is only used to explain the image distortion and the effects derived from it.
  • Y zones closer to the photo lens for example zone 8.1, are shown larger on the projection plane 17 than more distant Y zones such as Y zone 8.4.
  • the practical effect is that a person 7 moving at a constant speed in the X direction towards the elevator front plane 11 generates reflex images 14 which, due to the image distortion on the projection line 17 or on the CCD line image sensor 1.5, decrease in distance from Elevator front level 11 has a continuously increasing speed corresponding to the distortion function.
  • the detection system also has a distance-dependent sensitivity. To a lesser extent, this is also available for object movements in the Y direction.
  • an image resolution or sensitivity that increases progressively with decreasing distance from the elevator front plane 11 is achieved. This is desirable because the urgency of a quick door reaction increases progressively as the distance of a person approaching the entrance decreases.
  • the infrared light 3. 1 emitted by the infrared surface radiators 3 is directed in such a way that the floor of the anteroom surface 5 is not touched by the latter and so that there are no floor reflections due to unevenness, such as carpet edges, etc.
  • the horizontal radiation angle is preferably 120 ° each and the vertical radiation angle is 10 °, for example.
  • the floor call panel 24 shown can also have a numeric keypad for destination call control. With this device, the elevator control knows how many waiting people are on each floor. It is therefore not necessary to monitor the anteroom outside the cabin on every floor with appropriate facilities.
  • the infrared camera 1 above the elevator entrance 4 is inclined downward, for example, at an angle of 45 °, which also corresponds to the image recording angle.
  • the camera holder 2 is of great importance insofar as it is used to set a certain angle to the anteroom area 5, which is both directly determining the degree of distortion and has an influence on the size and position of the antechamber area 5 to be monitored. that no existing vertical surfaces, such as those of an opposite wall, come into the picture.
  • Objects located in infrared light 3.1 completely reflect infrared light 3.2 with correspondingly inclined surface parts and partly with all other more or less perpendicular surface parts facing infrared light 3.1.
  • a partial reflection of the infrared light 3.1 / 3.2 from more or less perpendicular surface parts of a person to the camera is possible because the smallest roughness of a surface causes scattering reflections and therefore the entire surface part of an object located in the infrared light 3.1 and facing it is clearly depicted in the camera becomes.
  • no other light hits the LCD microshutter 1.4, which means that only two image signals, infrared light or nothing, i.e. binary image data, are available right at the start of image processing.
  • the sensitivity to infrared light can therefore be set to a very small threshold value, the wavelength of the infrared area emitters 3 in particular emitted infrared light 3.1 or 3.2 is taken into account.
  • the control and evaluation can take place in a special control and evaluation unit 10 or be carried out by a processor system available for the elevator control.
  • the object detections can provide the following information: - A person is moving in the X direction; - Two or more people are moving in X direction; - A person moves against the X direction; - Two or more people are moving against the X direction; - A person stands at a certain distance in front of the elevator door; - Two or more people stand in front of the elevator door at certain intervals; - A person is moving in the Y direction; - Two or more people are moving in the Y direction.
  • a continuously operating learning algorithm stores object-typical contours and temporal changes in the taken reflex images 14 and supplies in the form of binary image data the basis for comparison for the generation of the logical command signals to the elevator control system.
  • the door control receives information about the intentions of the people 7 who are on the anteroom surface 5 at a certain moment on the basis of their number and behavior and reacts accordingly by holding them open for a long time, closing them prematurely or reversing. Most of the time the door can be opened before an otherwise usual Door hold-open times are closed prematurely, which means an increase in elevator capacity.
  • the device also works independently of the existing light sources in the area of the anteroom area 5 and its surroundings.
  • the antechamber can be illuminated by artificial light of any kind, daylight, sunlight or mixed light. Any reflections of infrared light in the sensitivity range of the camera 1 from artificial or natural light sources are at most perceived by the device, but are also recognized as such by the evaluation because they do not form object-typical reflex images 14 and are accordingly ignored. This is possible, among other things, because they come from light sources that send their light from a different direction than that from the infrared surface radiators 3.
  • two different images are taken in rotation, alternately one with infrared light 3.1 and one without infrared light 3.1.
  • those with infrared light 3.1 illumination are compared with those without infrared light 3.1 illumination and then the difference image data is passed on for further processing.
  • This procedure allows an even better distinction between desired and undesired picture elements and the pulsed operation of the infrared surface radiator 3 enables an increased intensity of the infrared light 3.1.
  • the device can also be installed on both sides of an entrance or passage gate, i.e. in a double version apply. In such an embodiment, it is possible to only let people in or just let them out through a corresponding influence on a door motor control. In this version, it can also be used for counting entering and / or leaving people.
  • the device described can also be installed in rail and road vehicles and also serves as an optimal door control. Another application relates to the registration of the behavior of people in a room or area to be monitored.
  • two or more systems of the type described can be installed next to one another, in addition to the side infrared surface radiators 3 and other infrared surface radiators 3 installed in a lower threshold or embedded in the floor.
  • the infrared surface heaters can be installed at any height.

Landscapes

  • Power-Operated Mechanisms For Wings (AREA)
  • Elevator Door Apparatuses (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
EP89102434A 1988-06-03 1989-02-13 Procédé et dispositif pour commander la position d'une porte automatique Expired - Lifetime EP0344404B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT89102434T ATE89362T1 (de) 1988-06-03 1989-02-13 Verfahren und vorrichtung zur steuerung der tuerstellung einer automatischen tuer.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH210888 1988-06-03
CH2108/88 1988-06-03

Publications (2)

Publication Number Publication Date
EP0344404A1 true EP0344404A1 (fr) 1989-12-06
EP0344404B1 EP0344404B1 (fr) 1993-05-12

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ID=4226059

Family Applications (1)

Application Number Title Priority Date Filing Date
EP89102434A Expired - Lifetime EP0344404B1 (fr) 1988-06-03 1989-02-13 Procédé et dispositif pour commander la position d'une porte automatique

Country Status (6)

Country Link
US (1) US5001557A (fr)
EP (1) EP0344404B1 (fr)
JP (1) JPH0243195A (fr)
AT (1) ATE89362T1 (fr)
DE (1) DE58904310D1 (fr)
ES (1) ES2041850T3 (fr)

Cited By (17)

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EP0534714A2 (fr) * 1991-09-23 1993-03-31 Memco Limited Dispositif de porte d'ascenseur
EP0696670A1 (fr) * 1994-08-11 1996-02-14 Nabco Limited Système pour ouverture et fermeture automatique des portes
DE19522760A1 (de) * 1995-06-27 1997-04-10 Dorma Gmbh & Co Kg Automatische Tür und Verfahren zum Betrieb einer automatischen Tür
DE19613178A1 (de) * 1996-04-02 1997-10-09 Heinrich Landert Verfahren zum Betrieb einer Türanlage und eine nach dem Verfahren arbeitende Türanlage
EP0853299A2 (fr) * 1997-01-13 1998-07-15 Heinrich Landert Procédé et dispositif de commande d'un aménagement pour porte en réponse à la présence des personnes
DE19653026B4 (de) * 1995-12-23 2005-11-03 Geze Gmbh Vorrichtung zur Ansteuerung und/oder Absicherung eines motorisch angetriebenen Flügels einer Tür, eines Fensters oder dergleichen
DE4143703B4 (de) * 1991-09-09 2008-06-19 Daimler Ag Anordnung zur Verbesserung der Sicht in Fahrzeugen
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JP6518872B2 (ja) * 2013-08-29 2019-05-29 オプテックス株式会社 自動ドアセンサ装置
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CN104678450A (zh) * 2015-01-13 2015-06-03 江苏怡龙医疗科技有限公司 水面远光定位搜救仪
CN107709208A (zh) * 2015-05-21 2018-02-16 奥的斯电梯公司 无接触的升降机呼叫按钮
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CN105347156A (zh) * 2015-10-30 2016-02-24 中山市鑫海精密制造科技有限公司 防撞电梯及其使用方法
JP5969147B1 (ja) * 2016-01-13 2016-08-17 東芝エレベータ株式会社 エレベータの乗車検知システム
JP6068694B1 (ja) * 2016-01-13 2017-01-25 東芝エレベータ株式会社 エレベータの乗車検知システム
JP2018090351A (ja) * 2016-11-30 2018-06-14 東芝エレベータ株式会社 エレベータシステム
CN108238533A (zh) * 2016-12-26 2018-07-03 日立电梯（中国）有限公司 一种防电梯门夹乘客的保护装置及方法
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JP7234581B2 (ja) * 2018-10-31 2023-03-08 スズキ株式会社 車両用ドア制御装置
US11346141B2 (en) 2018-12-21 2022-05-31 Rytec Corporation Safety system and method for overhead roll-up doors
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JP6828112B1 (ja) * 2019-09-18 2021-02-10 東芝エレベータ株式会社 エレベータの利用者検知システム
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DE102021115280A1 (de) * 2021-06-14 2022-12-15 Agtatec Ag Automatische Türanordnung mit Sensorvorrichtung und Verfahren zum Betreiben einer solchen automatischen Türanordnung
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DE4143703B4 (de) * 1991-09-09 2008-06-19 Daimler Ag Anordnung zur Verbesserung der Sicht in Fahrzeugen
EP0534714A3 (fr) * 1991-09-23 1993-06-09 Memco Limited Dispositif de porte d'ascenseur
US5284225A (en) * 1991-09-23 1994-02-08 Memco Limited Lift door apparatus
EP0534714A2 (fr) * 1991-09-23 1993-03-31 Memco Limited Dispositif de porte d'ascenseur
EP0696670A1 (fr) * 1994-08-11 1996-02-14 Nabco Limited Système pour ouverture et fermeture automatique des portes
US5583405A (en) * 1994-08-11 1996-12-10 Nabco Limited Automatic door opening and closing system
DE19522760C2 (de) * 1995-06-27 1999-12-16 Dorma Gmbh & Co Kg Automatische Tür und Verfahren zum Betrieb einer automatischen Tür
DE19522760A1 (de) * 1995-06-27 1997-04-10 Dorma Gmbh & Co Kg Automatische Tür und Verfahren zum Betrieb einer automatischen Tür
DE19653026B4 (de) * 1995-12-23 2005-11-03 Geze Gmbh Vorrichtung zur Ansteuerung und/oder Absicherung eines motorisch angetriebenen Flügels einer Tür, eines Fensters oder dergleichen
DE19613178A1 (de) * 1996-04-02 1997-10-09 Heinrich Landert Verfahren zum Betrieb einer Türanlage und eine nach dem Verfahren arbeitende Türanlage
EP0853299A2 (fr) * 1997-01-13 1998-07-15 Heinrich Landert Procédé et dispositif de commande d'un aménagement pour porte en réponse à la présence des personnes
DE19700811A1 (de) * 1997-01-13 1998-07-16 Heinrich Landert Verfahren und Vorrichtung zur Ansteuerung von Türanlage in Abhängigkeit von der Anwesenheit von Personen
EP0853299B1 (fr) * 1997-01-13 2002-07-31 Heinrich Landert Procédé et dispositif de commande d'un aménagement pour porte en réponse à la présence des personnes
US6496220B2 (en) 1997-01-13 2002-12-17 Heinrich Landert Method and arrangement for driving door installations as a function of the presence of persons
DE10310768B4 (de) * 2002-03-13 2016-08-04 Omron Corp. Vorrichtung zur Überwachung in drei Dimensionen
EP2132129A2 (fr) * 2007-03-28 2009-12-16 Khs Ag Procédé de surveillance, de commande et d'optimisation d'installations de remplissage pour produits alimentaires, notamment pour bouteilles à boissons
US9434591B2 (en) 2007-03-28 2016-09-06 Khs Gmbh Method for the monitoring, control and optimization of filling equipment for foods and beverages, such as, for beverage bottles
EP2132129B1 (fr) * 2007-03-28 2017-09-20 KHS GmbH Procédé de surveillance, de commande et d'optimisation d'installations de remplissage pour produits alimentaires, notamment pour bouteilles à boissons
FR2944311A1 (fr) * 2009-04-14 2010-10-15 Renault Sas Procede et systeme de localisation d'un obstacle sur la trajectoire d'un ouvrant de vehicule automobile, et vehicule automobile pourvu de ce systeme de localisation
FR2944370A1 (fr) * 2009-04-14 2010-10-15 Renault Sas Procede et dispositif de detection d'un obstacle sur la trajectoire d'un ouvrant de vehicule automobile, et vehicule automobile pourvu de ce dispositif de detection
CN105417302A (zh) * 2013-12-03 2016-03-23 大连大学 电梯内乘客人数显示系统
RU2682441C2 (ru) * 2014-10-27 2019-03-19 Энтремейтик Белджиум Нв Интеллектуальная автоматически закрывающаяся дверь
BE1022617B1 (nl) * 2014-10-27 2016-06-16 Dynaco Europe Nv Intelligente "auto-close"-deur
WO2016066456A1 (fr) * 2014-10-27 2016-05-06 Dynaco Europe Nv Porte à fermeture automatique intelligente
US10385606B2 (en) 2014-10-27 2019-08-20 Entrematic Belgium Nv Intelligent autoclose door
EP3192762A1 (fr) * 2016-01-13 2017-07-19 Toshiba Elevator Kabushiki Kaisha Système d'ascenseur
US10196241B2 (en) 2016-01-13 2019-02-05 Toshiba Elevator Kabushiki Kaisha Elevator system
CN109592528A (zh) * 2019-01-14 2019-04-09 浙江新再灵科技股份有限公司 基于视觉词带的电梯安全标志物定位方法与系统
WO2022011828A1 (fr) * 2020-07-14 2022-01-20 猫岐智能科技（上海）有限公司 Système et procédé de détection d'un objet qui entre dans et sort d'un ascenseur, système de détection d'objet, rideau lumineux d'ascenseur et dispositif d'ascenseur
CN112723117A (zh) * 2020-12-29 2021-04-30 海安德安机械配件有限公司 一种多维度验证式电梯防夹系统

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EP0344404B1 (fr) 1993-05-12
JPH0243195A (ja) 1990-02-13
DE58904310D1 (de) 1993-06-17
ATE89362T1 (de) 1993-05-15
ES2041850T3 (es) 1993-12-01
US5001557A (en) 1991-03-19

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